JPH0386611A - Controller for movable agricultural machine - Google Patents

Abstract

PURPOSE:To stabilize traveling by carrying out rolling control or pitching control in preference either larger one of the lateral inclination and longitudinal inclination of a car body, in a controller for a tractor, etc. CONSTITUTION:A lateral inclination sensor detects the lateral inclination of a car body 2, and a longitudinal inclination sensor detects the longitudinal inclination, and the degree of the inclination is compared. The larger inclination is controlled in preference. In other words, when the lateral inclination is larger, rolling control is carried out in preference by a rolling cylinder 21, while if the longitudinal inclination is larger, pitching control is carried out in preference by driving a pitching cylinder 10. With this constitution, traveling can be stabilized.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention provides a rolling control device that controls the rolling of a vehicle body by raising and lowering a pair of left and right traveling devices relative to the vehicle body, and a pitching control device that performs pitching control. This relates to a control device for mobile agricultural machinery that has a combine harvester,
Can be used for tractors, seedling planting machines, etc.

Prior Art and Problems to be Solved by the Invention When the vehicle body tilts from side to side while driving, the rolling control device controls the rolling of the vehicle body, and when the vehicle body tilts back and forth, the pitching control device controls the pitching of the vehicle body. , the vehicle runs in a stable position.

However, when the vehicle body tilts in the longitudinal and horizontal directions while driving, if you try to correct the tilt of the vehicle body by simultaneously performing pitching control and rolling control, it is necessary to balance these surface controls. There is a high possibility that the slope correction control will not converge with the constantly changing slope information. Therefore, from the viewpoint of stabilizing the tilt correction control, it is desirable to give priority to either the front/rear or the left/right tilt.

Therefore, the present invention attempts to stabilize the running of the vehicle body by appropriately performing tilt correction control when the vehicle body tilts longitudinally and horizontally at the same time.

Means for Solving the Problems The present invention includes a rolling control device 3 that controls the rolling of the vehicle body 2 by raising and lowering a pair of left and right traveling devices 1 relative to the vehicle body 2, and a pitching control device 4 that performs pitching control. In a mobile agricultural machine, the control device is configured to perform rolling control or pitching control with priority given to the larger of the left-right inclination and longitudinal inclination based on the left-right and front-rear inclination of the vehicle body 2. .

Functions and Effects of the Invention When the vehicle body 2 tilts left and right while driving, the rolling control device 3 performs rolling control of the vehicle body 2 by raising and lowering the pair of left and right traveling devices 1 relative to the vehicle body 2, and the vehicle body 2 is moved forward and backward. When the vehicle is tilted, the pair of left and right running devices 1 are raised and lowered relative to the vehicle body 2, and the pitching control device 4 performs pitching control of the vehicle body 2, and the left and right and front and rear inclinations of the vehicle body 2 are corrected and the vehicle body 2 travels.

When the vehicle body 2 tilts left and right and front and rear at the same time, if the left and right tilt is larger among the left and right tilt and the front and rear tilt,
Priority is given to rolling control, then pitching control, and when the longitudinal inclination is large, pitching control is given priority and then rolling control is performed.

Rolling control or pitching control is performed with priority given to the one with a larger inclination.

In this way, when the vehicle body 2 tilts left and right and front and back at the same time, the larger the inclination is, the higher the urgency is, so the corrective control is given priority to the larger inclination, so that appropriate control is performed and the control Stabilization can be achieved.

Embodiment In the example shown in FIG. 1, vehicle body frames 5 in the longitudinal direction are provided on the left and right sides of the lower part of the vehicle body 2, and a pair of left and right traveling devices 1 are attached to the front ends of the left and right vehicle body frames 5, respectively. The left and right running shaft pipes 7 of the running transmission case 6 that transmits power are attached.

A pitching cylinder 10 for swinging the left and right pitching arms 9 is attached to one side of the vehicle body frame 5, and a pitching cylinder 10 for swinging the left and right pitching arms 9 is provided on the support shaft 8 so as to be integrally rotatable with the right and left pitching arms 9 projecting forward. It is set up. Links 11 are rotatably provided at the tips of the left and right pitching arms 9, respectively.

A pitching frame 12 configured as a framework is provided inside these left and right vehicle body frames 5. A traveling frame 14 is provided below the lateral outer side of the pitching frame 13 on both the left and right sides of the pitching frame 12 in the front-rear direction. A plurality of transfers 15 are rotatably provided on the outside of these left and right running frames 14, and the running frame 14 is provided at the rear end.
A tension wheel 16 is provided which can be freely moved in and out.

These wheels 16, the plurality of wheels 15, and the driving sprocket 48 at the tip of the left and right running shaft pipe 7 of the running transmission case 6.
The traveling device 1 is constructed by winding a crawler around the vehicle.

At the front and rear of the pitching frame 12, support shafts 17 are provided on the lower side between the left and right pitching frames 13, and rolling arms 18 are provided at both left and right ends of these front and rear support shafts 17 protruding from the pitching arm 3. Each is provided. One end of these rolling cylinders 8 is rotatably connected to a pin 19 of the traveling frame 14, and the other end side connects the front and rear rolling arms 18 with connecting rods 2o, and the other end side of the rear rolling arm 18 A rolling cylinder 21 is provided between the tip of the pitching frame 13 and the pitching frame 13. As the rolling cylinder 21 expands and contracts, the front and rear rolling arms 18 are swung about the front and rear support shafts 17, and the traveling frame 14 is configured to move up and down with respect to the pitching frame 12.

The left and right sides of the front support shaft F of the pitching frame 12 are rotatably supported on the lower parts of the left and right vehicle body frames 5, respectively, and the left and right sides are rotatably supported on the bottoms of the left and right vehicle body frames 5. Link 11 of pitching arm 9
The tip is rotatably attached.

When the pitching arm 9 rotates around the support shaft 8 due to the extension of the pitching cylinder 10, the pitching frame 12 and the left and right traveling frames 4 are integrally rotated about the support shaft 17 of ## through the ring 11. It is configured to be interlocked so that it can be rotated downward.

When the rolling cylinder 21 is extended, the front and rear rolling arms 18 are integrally rotated about the front and rear support shafts 17, and the traveling frame 14 is rotated by the pitching frame 13.
It is configured so that it can be moved downward while maintaining a parallel state to. The center of rotation of the front rolling arm 18 and the center of rotation of the pitching frame 12 are the same.

A stroke sensor 23 is provided for detecting the amount of operation of the pitching cylinder 10, and left and right stroke sensors 24 are provided for the left and right rolling cylinders 21, respectively, for detecting the amount of operation of these rolling cylinders 21.

A left-right tilt sensor 25 that detects the left-right tilt of the vehicle body 2 and a front-rear tilt sensor 26 that detects the front-rear tilt are provided. Further, a vehicle height up/down lever is provided which operates the left and right rolling cylinders 21 to raise and lower the left and right traveling device 1 to adjust the vehicle height. Alternatively, a manual tilting lever is provided that operates the pitching cylinder 10 to tilt the vehicle body 2 back and forth or left and right.

A reaping device for reaping the culm is mounted on the front part of the vehicle body 2 with an elevating cylinder 2.
7, and is provided with a lifting lever for raising and lowering the reaping device.

FIG. 2 shows a hydraulic circuit, in which a solenoid valve 29 is provided in the oil path from the hydraulic pump 28 to the pitching cylinder 10, and a solenoid valve 3 is provided in the oil path to the left rolling cylinder 21L.
1 is provided, and a solenoid valve 30 is also provided in the oil path to the right rolling cylinder 21R. Reaping device lifting cylinder 27
An up solenoid valve 32 and a down solenoid valve 33 are provided in the oil passage. 34 is an unload valve.

For a controller equipped with a rolling control device 3 and a pitching control device 4, there is a manual tilt switch 3 that is turned on by tilting the manual tilt lever forward, backward, left, and right.
5, detection information of the vehicle height up/down switch 36 which is turned on by the up/down operation of the vehicle height up/down lever, detection information of the reaping lift switch 37 which is turned on by the up/down operation of the lift lever, and the detection information of the vehicle height up/down switch 37 which is turned on by the up/down operation of the up/down lever. The vehicle body horizontal switch 385 maintains the longitudinal inclination information of the vehicle body 2 by the longitudinal inclination sensor 26, the left and right inclination information of the vehicle body 2 by the left and right inclination sensor 25, and the detection information of the operating amount of the pitching cylinder IO by the stroke sensor 23.

When the detection information of each actuation amount of the left and right rolling cylinders 21 by the left and right stroke sensor 24 and the shell culm detection information of the shell culm sensor 39 are input, the controller activates the left-up solenoid of the solenoid valve 31 in response to these information. 40.
Left-down solenoid 41° Right-up solenoid 42 of solenoid valve 30, right-down solenoid 43, front-up solenoid 44, front-down solenoid 45 of solenoid valve 29. It is configured to control so as to be outputted to the reaping up solenoid valve 32, the reaping down solenoid valve 33, and the unloading valve 34, respectively. 46 is a sensitivity changing means, and 47 is an upper and lower limit switch for the lifting cylinder 27.

When the longitudinal inclination sensor 26 detects the longitudinal inclination of the vehicle body 2,
The pitching control device 4 of the controller operates the front up solenoid 44 or the front down solenoid 45 to switch the solenoid valve 29, and the pitching cylinder IO is expanded and contracted, so that the vehicle body 2 is pitched horizontally in the longitudinal direction. When the left-right tilt sensor 25 detects the left-right tilt of the vehicle body 2, the rolling control device 3 of the controller operates the right-up solenoid 42 or the right-down solenoid 43, the left-up solenoid 40, or the left-down solenoid 41 to activate the solenoid valve 30. 31 is switched, the left and right rolling cylinders 21 expand and contract, and the vehicle body 2 is controlled to roll horizontally in the left and right directions.

When the vehicle body 2 is simultaneously tilted longitudinally and horizontally, and the longitudinal tilt sensor 26 and the left/right tilt sensor 25 detect the tilt of the vehicle body 2 at the same time, the detected values of the longitudinal tilt and the left/right tilt are compared in the controller, and the detected values of the longitudinal tilt and the left/right tilt are compared to determine whether the tilt is large. When the vehicle body 2, which has a configuration in which rolling control or pitching control is performed giving priority to the left side, tilts to the left or right while running, this tilt is detected by the left and right tilt sensor 25, and this detection information also includes Rolling control is performed by the rolling control device 3 so that the rolling cylinder 21L and the right rolling cylinder 21R are expanded and contracted, the left and right traveling device 1 is raised and lowered with respect to the pitching frame 12, and the vehicle body 2 is maintained horizontally. When the vehicle body 2 tilts in the longitudinal direction while driving, this tilt is detected by the longitudinal tilt sensor 26, and based on this detection information, the pitching cylinder 10 is expanded or contracted, and the pitching frame 1 is moved relative to the vehicle body 2.
2 rotates, the left and right traveling device 1 moves up and down as a unit, and the vehicle body 2 is maintained horizontally in the front and back.
Pitching control is performed by a pitching control device [14].

When the vehicle body 2 tilts forward, backward, left, and right at the same time, the longitudinal and leftward inclinations are detected and compared in the controller, and pitching control or rolling control is performed with priority given to the one with the larger inclination.

For example, when the longitudinal inclination is large, the pitching control device 4 expands and contracts the pitching cylinder 10, and performs pitching control such that the pitching frame 12 and the left/right traveling device 1 integrally rotate downward about the support shaft 17. is carried out with priority, and then the rolling control device 3 expands and contracts the left and right rolling cylinders 21, and rolling control is performed so that the left and right traveling gears [1] move up and down separately with respect to the pitching frame 12, and the rolling control device 3 extends and contracts the left and right rolling cylinders 21. Tilt is corrected.

In this way, when the vehicle body 2 is simultaneously tilted forward, backward, left, and right, the correction control is performed with priority given to the one with a larger inclination, so that the control can be stabilized.

Note that the sensitivity of the pitching control by the pitching control device 5!3 may be made lower than the sensitivity of the rolling control by the rolling control device 4. While the vehicle body 2 is running, the longitudinal inclination is There are few sudden changes, and in many cases a working device such as a reaping device is installed at the front of the vehicle body 2, but in such cases, the sensitivity of pitching control can be made less sensitive because it has little effect on work. However, there is little trouble even if the

[Brief explanation of drawings]

The drawings show an embodiment of the present invention; FIG. 1 is a control circuit diagram, FIG. 2 is a hydraulic circuit diagram, FIG. 3 is a side view, and FIG. 4 is a plan view thereof. In the figure, reference numeral 1 indicates a traveling device, 2 indicates a vehicle body, 3 indicates a rolling control device, and 4 indicates a pitching control device.

Claims (1)

[Claims] A mobile agricultural machine having a rolling control device 3 that controls the rolling of the vehicle body 2 by raising and lowering a pair of left and right traveling devices 1 relative to the vehicle body 2, and a pitching control device 4 that performs pitching control of the vehicle body 2. A control device characterized by performing rolling control or pitching control based on the inclination, giving priority to the larger of the left-right inclination and the front-back inclination.