JPH0386690A - Travelling device for travelling agricultural vehicle - Google Patents

Abstract

PURPOSE:To realize a stabilized travel by controlling right and left travelling devices so that they are raised relative to a car body to reduce the road clearance, when the vehicle body is inclined above specified values from side to side or back and forth during travelling. CONSTITUTION:Bell cranks 13 are provided so that they can oscillate about supporting shafts 12 on the front and rear of a vehicle body frame 7, their lower ends are pivoted on a travelling frame 9, and their upper ends are connected to a connecting rod 15. The bell cranks 13 are oscillated up and down integrally with each other by expansion and contraction of right and left hydraulic cylinders 16 to lift and lower the vehicle body 1. A lateral inclination sensor 18 and a longitudinal inclination sensor 19 are provided to the vehicle body 1, and a sensor 17 for detecting the operating stroke of the hydraulic cylinder 16 is provided. When the vehicle body 1 is at a height exceeding a specified value, and a CPU has judged that the inclinations detected by the sensors 18, 19 are above the specified values, a solenoid is operated to contract the right and left hydraulic cylinders 16, and as a result, travelling devices 2 are raised relative to the vehicle body 1 to reduce the road clearance. The stability of travelling can thus be improved.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a traveling device for a mobile agricultural machine. The present invention relates to a traveling device for a mobile agricultural machine such as a combine harvester or a tractor, which is equipped with a horizontal control device that controls the raising and lowering of the left and right traveling devices in order to maintain the vehicle body horizontally in the left and right directions based on the inclination.

PRIOR ART AND PROBLEMS TO BE SOLVED BY THE INVENTION In a mobile agricultural machine equipped with such a horizontal control device, when the horizontal control by the horizontal control device is released, the left and right traveling devices are moved upwards relative to the vehicle body. There is a technology in which 1 can control left and right or front and back. However, since the vehicle body is maintained horizontally horizontally by horizontal control, depending on the soil condition, if the horizontal control is canceled and the vehicle height is lowered, the vehicle body may tilt to the left or right, which may hinder future driving. Sometimes.

Therefore, in this invention, when the horizontal control is canceled, the vehicle body is maintained in a horizontally controlled posture, and if the vehicle body is at a height higher than a predetermined height at this time, the vehicle height is adjusted based on the inclination of the vehicle body while driving. The aim is to lower this and ensure stable and safe driving.

Means for Solving the Problems This invention maintains and controls the vehicle body 1 horizontally by raising and lowering the left and right traveling devices 2, 2 separately relative to the vehicle weight based on the left and right inclination of the vehicle body 1. 3, and when the left and right running devices 2, 2 are released, the vehicle body 1 is at a height of more than a predetermined height, and the vehicle body 1 is tilted left and right or front and back by more than a predetermined value while driving. , left and right traveling device 2
, 2 above the vehicle body 1, and the vehicle body 1 controls the left and right or front and back directions.

Effect of the invention When the vehicle body 1 tilts to the left or right while driving, the horizontal control device W3 controls the left and right travel control. 2 and 2 are raised and lowered separately relative to the vehicle body 1, and the vehicle body 1 is controlled to be maintained horizontally horizontally. If the vehicle body 1 is at a predetermined height or higher when the horizontal control of the vehicle body 1 is released, if the vehicle body 1 tilts to the left or right or front and back by more than the predetermined value while driving, the left/right running system! 12.2 is raised relative to the vehicle body 1, the vehicle body 1 is lowered, and the vehicle height is lowered.

Effects of the Invention Therefore, when the horizontal control of the vehicle body 1 by the horizontal control device 3 is released and the vehicle height remains controlled high, the vehicle body 1 will move horizontally or longitudinally by more than a predetermined value while driving. Since the vehicle height is controlled to be lowered when the vehicle is tilted, even if the operator runs on the vehicle body 1 without noticing that the vehicle height is high, the vehicle will not become unstable and can run stably and safely. .

Embodiment Note that the "rotary" designation refers to a combine harvester, in which a car body 1 has left and right traveling devices 2, 2 consisting of crawlers, a reaping device 5 for reaping the culm, and a culm to be harvested and transported by the reaping device 5. A rear threshing device 6 is installed to receive and thresh the grain.

A vehicle body frame 7 is provided in the longitudinal direction on the lower left and right sides of the vehicle body l,
A drive sprocket 8 is attached to the front end of the vehicle body frame 7. A traveling frame 9 is provided on the outer lower side of the left and right vehicle body frames 7Q in a parallel manner in the front-rear direction, and a plurality of transfer frames 10 are rotatably supported on the lateral outer side of the traveling frame 9, and a tensioner is provided at the rear end of the traveling frame 9. A transfusion body 11 is provided. These drive sprockets 8, transfer 10. and ring body l
The traveling device 2 is constructed by winding a crawler around l.

Swingable bell cranks 13 are provided around the front and rear supports #12 of the vehicle body frame 7, and the lower ends of these front and rear bell cranks 13 are respectively pivoted to the traveling frame 9 14, and the upper ends are connected by a connecting rod 15. It is structured as follows.

Hydraulic cylinders 16 are provided between the upper ends of the rear bell cranks 13 and the vehicle body frame 7 side, and as the hydraulic cylinders 16 expand and contract, the front and rear bell cranks 13 are integrally swung up and down. Against running frame 9
It has an interlocking structure in which it is raised and lowered. Stroke sensor 17 detects the operating stroke of the left and right hydraulic cylinders 16
are provided for each.

The vehicle body 1 includes a left and right tilt sensor 18 that detects the left and right tilt of the vehicle body 1, and a front and rear tilt sensor 19 that detects the front and back tilt of the vehicle body 1.
and.

These left and right tilt sensors 18. The outputs of the left and right stroke sensors 17L and 17R are input to the CPU via the input interface 20, and the CPU determines the operating direction of the left and right hydraulic cylinders 16 based on this information, and as a result, the output interface 21, a left up solenoid 22, a left down solenoid 23, a right up solenoid 24, which correspond to the left and right hydraulic cylinders 16. By operating the right lower solenoid 25, the left and right hydraulic cylinders 16
are simultaneously output so as to operate in opposite directions, such that when one is extended, the other is contracted, thereby maintaining and controlling the vehicle body 1 horizontally.

26 is a horizontal control switch for the vehicle body 1.

When the horizontal control switch 26 is set to 0FFL, if the CPU determines that the detected values of the left and right stroke sensors 17L and 17R are greater than a preset value, that is, the vehicle body 1
is at a height higher than a predetermined value, and when the CPU determines that the left-right or front-rear tilt detected by the left-right tilt sensor 18 or the front-rear tilt sensor 19 has exceeded a preset value, the left-up solenoid 22 and right up solenoid 2
4 is actuated to contract the left and right hydraulic cylinders 16, and the left and right traveling devices 2 are positioned above the vehicle body 1 so that the vehicle body 1 controls the left and right or front and back.

These hydraulic cylinders 1 are included in the left and right hydraulic cylinders 16.
Limits are provided on the left and right stroke sensors F so as to detect when the stroke sensor F has reached the limit of its movable range and the vehicle body 1 can no longer be lowered. By detecting the limit of this stroke sensor 17, the left-up solenoid 2
2 and the right-up solenoid 24 are controlled so that their operations are stopped.

When the horizontal control switch 26 is turned on while the vehicle is running, the horizontal control device 3 performs horizontal control of the vehicle body 1.

When the vehicle body l tilts in the left-right direction, this tilt is detected by the left-right tilt sensor 18 and input to the CPU. C.P.
Based on this detection information, U is simultaneously output in opposite directions so as to extend the hydraulic cylinder 3 on the inclined side and contract the hydraulic cylinder 3 on the oppositely inclined side.

Then, of the left and right traveling devices 12.2, the inclined side traveling device 2 is lowered with respect to the vehicle body 1, and the opposite side traveling device 3 is raised with respect to the vehicle body 1, so that the vehicle body 1 is maintained horizontally horizontally. controlled.

Horizontal control is stopped when the horizontal control switch 26 is turned OFF, but at this time the left and right stroke sensors 17L, 17
Based on the detection of R, when the vehicle height is higher than a predetermined height, the left and right tilt sensor 18 is activated while driving.
, and when the CPU determines that the left and right or front and rear inclinations detected by the longitudinal inclination sensor 9 are greater than a predetermined value, the left and right hydraulic cylinders 6 are contracted to move the left and right traveling devices 2, 2 to the vehicle body 1. The vehicle is controlled to rise and lower the vehicle height.

When the horizontal control of the vehicle body 1 is released, if you drive without noticing that the vehicle height is high, if there is a large slope from side to side or front to back, the center of gravity will be high and there is a risk of falling, but there is a risk of falling. Or, if the vehicle tilts forward or backward by more than a predetermined value, the vehicle height is controlled to be lowered, allowing stable and safe driving.

[Brief explanation of drawings]

The figures show one embodiment of the present invention, with FIG. 1 being a control block diagram and FIG. 2 being an overall side view of the combine harvester. In the figure, reference numeral indicates the vehicle body, 2 indicates the traveling device, and 3 indicates the horizontal control device.

Claims (1)

[Claims] Based on the left and right inclination of the vehicle body 1, the left and right traveling devices 2, 2
It has a horizontal control device 3 for controlling and maintaining the vehicle body 1 horizontally on the left and right sides by raising and lowering them separately relative to the vehicle body 1, and left and right traveling devices 2, 2 are provided so as to be able to control the elevation and descent integrally with respect to the vehicle body 1. In the mobile agricultural machine, when the horizontal control by the horizontal control device 3 is released, the vehicle body 1 is at a height higher than a predetermined height,
The present invention is characterized by controlling the left and right traveling devices 2, 2 to be raised with respect to the vehicle body 1 to lower the vehicle height due to the vehicle body 1 tilting left and right or front and rear by more than a predetermined value while driving. A traveling device.