JPH04109610U - Tilt control device for traveling vehicles - Google Patents

Abstract

(57) [Summary] (with modifications) [Purpose] To prevent inadvertent tilt control of the traveling aircraft. [Structure] When the automatic tilt control is set, the traveling vehicle is automatically tilt-controlled based on the tilt sensor 22 so that the traveling vehicle maintains the tilt angle preset by the setting dial 19. Run. At this time, unless the main shift lever 27 is at the forward position and when the pre-processing section is at the predetermined raised position, the suspension means 46 suspends the operation of the tilt control drive control means 45.

Description

[Detailed explanation of the idea]

0001

[Industrial application field]

The present invention relates to a traveling vehicle having a traveling body supported by a pair of left and right traveling devices. It is especially suitable for application to combine harvesters, and in detail, it is suitable for automatically tilting the traveling machine. This invention relates to an automatic tilt control device that performs automatic tilt control.

0002

[Conventional technology]

Generally, combine harvester tilt control is performed by the operator using a manual control lever. Raise and lower the aircraft relative to the left and right running gear, and raise and lower the aircraft parallel to the running gear. or automatically move the aircraft to a horizontal position or set tilt based on the tilt sensor. Control to maintain the tilt angle (automatic tilt control).

0003 Conventionally, a combine harvester having the automatic tilt control device has an automatic tilt main stand. When the switch is on, automatic tilt control remains active unless the aircraft is stopped. held.

0004

[Problem that the idea aims to solve]

As a result, automatic tilt control may be activated inadvertently even under conditions other than normal work driving conditions. However, problems may occur. For example, when turning a combine harvester on a headland. , the automatic tilt control operates even when going backwards or stopping, preventing the aircraft from tilting unexpectedly or When mowing in reverse, one crawler traveling device rides on the ridge, causing an unnecessary inclination. Control may be performed. Furthermore, when traveling on headlands, it is unnecessary due to rough headlands, etc. When you start mowing again, you will not be able to correct a slope that is larger than necessary. It is necessary to

[0005] Therefore, the present invention operates only when automatic tilt control is required and prevents careless driving. The purpose is to prevent tilt control of the aircraft and thereby solve the above-mentioned problems. It is.

[0006]

[Means to solve the problem]

The present invention was made in view of the above-mentioned circumstances, and includes, for example, FIGS. 1, 2, and 3. , the traveling body (3) is moved by a pair of left and right traveling devices (2), (2'). Hydraulic cylinders (16), ( In the traveling vehicle (1) in which the traveling body is controlled to ascend and descend through the a tilt sensor (22) for detecting the left and right inclination angle of the traveling aircraft; a setting means (19) for presetting the left and right inclination angles, the inclination sensor and the setting hand; Based on the signal from the stage, the traveling aircraft is adjusted to the setting value set by the setting means. drive control means (46) for driving and controlling the hydraulic cylinder to achieve the A travel operation means (27) for switching the direction of movement of the device, and a travel operation means (27) in which the travel operation means is in a forward position. A stop means (47) for stopping the operation of the drive control means except in the case of It is characterized by the fact that it becomes

[0007] Further, the tilt sensor (22), the setting means (19), and the drive control means (45) In addition, a working part (6) that is supported by the traveling body so as to be able to rise and fall freely, and a working part (6) that is When the drive control means is at a position that has risen by a predetermined amount from the position, the drive control means stops operating. A stop means (47) is provided.

[0008]

[Effect]

Based on the above configuration, when the vehicle (1) is in the automatic tilt control set state, , based on the inclination sensor (22), the traveling aircraft (3) is set in advance by the setting means (19). The vehicle runs while automatically controlling the tilt to maintain the set tilt angle. child At this time, unless the travel control means (27) such as the main gear shift lever is in the forward position, the lever is Based on the signal from the bar switch (29), the stop means (47) is activated to control the tilt control drive. Since the operation of the control means (46) is suspended, for example, when reversing on a headland, the drive control is disabled. The operation of the control means (46) is stopped, and the traveling aircraft (3) is maintained in the state before moving backward. .

[0009] Further, when the working part (6) such as the pre-processing part is in a predetermined raised position, the drive control hand Since the operation of the stage (46) is stopped, the traveling vehicle (1), for example, a combine harvester, is stopped on the headland. When entering and ascending the working section (6), the automatic tilt control is stopped and the traveling aircraft (3) The machine is maintained at a predetermined tilt state, so when you start mowing again, the machine will not tilt significantly. It will not be operated diagonally.

0010

[Effect of the idea]

As explained above, according to the present invention, the traveling operation means (27) is in the above position. Automatic slope control does not operate unless the machine is used on headlands or when mowing When the body (3) turns, etc., the tilt control may be activated inadvertently, causing hunting, etc. It can prevent cheating.

[0011] Also, when the working part (6) is in the raised position, the automatic tilt control will not operate. When the traveling machine turns around on a headland, etc., the inclination is unnecessarily large due to the inclination or roughness of the rice field. will no longer operate, and the tilt of the machine will be significantly corrected when starting work such as reaping. , it is possible to prevent problems from occurring in the work.

0012 Note that the numbers in parentheses mentioned above are in contrast to the drawings, but do not indicate any structure. It is not limited.

[0013]

【Example】

Embodiments of the present invention will be described below with reference to the drawings.

[0014] As shown in Fig. 3, the combine 1 has a pair of left and right crawler traveling devices 2, 2'. The traveling body 3 is supported by a frame 5, and the traveling body 3 is mounted on a frame 5. It is equipped with an automatic threshing machine, a paddy tank, a driver's seat, etc., as well as a pre-processing section in front. The part 6 is supported so that it can be raised and lowered. The crawler traveling device 2 includes a driving sprocket 7, A driven sprocket 9, a large number of rolling wheels 10, and a clock wound around these. The drive sprocket 7 is mounted on the running frame 5. It is supported by the mission case, and the driven sprocket 9 and many wheels 10 are supported by the transmission case. It is supported by the rack frame 12 in a slidable or swingable manner. Furthermore, the running flexibility A pair of front and rear swing arms 13 and 15 are supported on the arm 5. The frames 13 and 15 have one end connected to the truck frame 12 and the other end connected to the track frame 12. They are connected to each other via a connecting rod 14. Then, the rear swing arm 15 The other end is extended, and the piston end of the hydraulic cylinder 16 is connected to the extension. The other end of the hydraulic cylinder 16 is connected to the traveling frame 5. In addition, the above explanation , describes the left crawler traveling device 2, but the right crawler traveling device 2' is described. are configured in the same way.

[0015] In addition, the driver's seat of the traveling aircraft 3 is equipped with tilting controls in the left-right and front-back directions, as shown in Figure 2. It has a built-in control lever 17, a tilt setting dial 19, and a lamp 20a. A tilt automatic main switch 20 and the like are provided. The operating lever 17 is tilted forward. Aircraft 3 is lowered by the motion operation, raised by the backward tilt operation, and tilted to the right. The aircraft tilts downward to the right when the operation is performed, and the aircraft tilts downward to the left when the tilt operation is performed to the left. Operate. Furthermore, the driver's seat has a side clutch lever consisting of a single lever, and a main shift lever. A speed lever, pre-processing section lift lever, cutting height setting dial, etc. are provided for ease of operation. When the rider operates the clutch lever left and right, the corresponding side clutch is activated. The switch is disconnected, and the handbrake is activated to steer the traveling aircraft 3 and also to control the main vehicle. By operating the speed change lever 27 in the forward and reverse directions, the continuously variable transmission and Controlling a forward/reverse switching clutch to shift the traveling device in the forward or reverse direction; Furthermore, when the pre-processing section lift lever is operated in the upward direction, the pre-processing section 6 is raised and the corresponding When the lift lever is operated in the downward direction, the lowering position is set in advance using the setting dial. The pre-processing section 6 is lowered until Additionally, a clutch pedal is installed below the driver's seat. By depressing this pedal, the main (travel) clutch is engaged and engaged. Furthermore, the left and right dividers provided at the front end of the preprocessing section 6 each have a left and right divider. The automatic direction control device 23 (for horizontal mowing) and the automatic direction control device 25 (for row mowing) are (See Figure 1), and these automatic direction control devices each issue left and right turn commands. and inching the side clutch.

[0016] FIG. 1 shows the connection of the above-mentioned operating means, actuating means, various sensors, etc. FIG. The control unit U includes the above-mentioned automatic tilt switch 20 and operation lever 17. four switches operated by the inclination setting dial which constitute the setting means; A signal from a potentiometer 19a operated by a lever 19 is input. The control unit U also detects the stroke positions of the left and right hydraulic cylinders 16, 16'. potentiometers 21a, 21a' of stroke sensors 21, 21', and From the potentiometer 22a of the tilt sensor 22 that detects the left and right tilt of the traveling body 3 signal is being input. Furthermore, in the control unit U, the main gear shift lever 27 is in the forward position. is activated by the lever switch 29 and clutch pedal 30, which detects that the switch 30 and the potentiometer of the cutting height sensor 32 that detects the height of the pre-processing section 6. A signal from the meter 32a is input, and the left and right automatic direction sensors 23, 25 Left and right rotation command signals operated by the left and right rotation command signals and the side clutch lever. A signal from switch 26 is input. On the other hand, from the control unit U, the above-mentioned automatic step The lamp 20a of the switch 20, the left and right hydraulic cylinders 16, 16' for tilting the aircraft. It outputs to the solenoid valves 33 and 35 to be operated, and also raises and lowers the pretreatment section 6. The output is output to the solenoid valve 36 that operates the hydraulic cylinder 37, and the left and right It outputs to left and right solenoid valves 41 and 42 that operate the side clutches.

[0017] In the control unit U, a preset value is set based on the signal from the tilt sensor 22. The left and right solenoids 35 and 36 are driven to match the set angle of the setting dial 19. The drive control means 46 that controls the lever switch 29 of the main shift lever 27 and the cutting height sensor 32 and, in some cases, based on the signal from the pedal clutch switch 31. and a stop means 47 for stopping the operation of the drive control means 46 for a predetermined period of time. It is.

[0018] Next, the operation of this embodiment will be explained with reference to FIGS. 4 to 9.

[0019] As shown in FIG. 4, the tilt control includes manual operation S1 and automatic control S2. automatic Control S2 has no manual operation, that is, no tilting operation using the operating lever 17 (F1), and The automatic main switch 20 is on (F2) and the work equipment clutch switch is on. switch is on, that is, the reaping clutch is activated (F3), and the main shift lever switch is 29 is on, that is, the main gear shift lever 27 is in the forward position (F4) and the pedal clutch is on. The main clutch switch 31 is on, that is, the clutch pedal 30 is not depressed. (F5), and the cutting height sensor 32 is below the predetermined value, that is, the preprocessing section 6 is (F6), and lever switch 26 of the side clutch lever and automatic In a state in which there is no signal from the direction control devices 23 and 25 for a predetermined period of time, Only works. That is, when the automatic main switch 20 is on and not in the manual operation state However, when the work equipment clutch is in the disengaged position, the main gear shift lever 27 is not in the forward position. In other words, when the vehicle is in the stop position or reverse position, when the main clutch is disengaged, or when the If the processing section is in the lowered state, automatic control is not activated.

[0020] Even if these automatic controls are in the stopped state (F1 to F6), the aircraft tilt setting The state in which the dial 19 is being moved by the operator's operation, that is, the setting dial pot. If the electrical signal from the power meter 19a is in a changing state (F7), the dial f The lag is set (F8) and automatic control S2 is activated (F9).

[0021] In addition, even if the above-mentioned stop is not the case (F1 to F6), the side clutch lever Traveling by manual operation or inching operation by automatic direction control devices 23 and 25 When aircraft 3 changes direction (F10), the anti-hunting timer is activated (F11). ), and the automatic control is in a dormant state until the timer reaches 0 (F12).

[0022] Also, when the automatic main switch 20 is switched from on to off (F13), A return flag is set based on the rising (falling) signal based on the change (F14), and the running The rowing machine body 3 returns to the parallel state at a predetermined position (F15).

[0023] Regarding the manual operation S1, for example, when the operation lever 17 is tilted to the left, , first leave the right hydraulic cylinder as it is, that is, with the right side as a reference, and then move the left hydraulic cylinder. contracts and lowers the left side, and when the left hydraulic cylinder reaches the lower limit, the right hydraulic cylinder The robot is controlled to extend and rise on the right side, but the detailed flow will be omitted.

[0024] Therefore, the combine harvester 1 has automatic tilting control with the automatic main switch 20 turned on. Switch the main gear shift lever 27 to the reverse or stop position on a headland etc. When the automatic tilt control is stopped, the aircraft 3 is held at the previous tilt state. Similarly, by raising the cutting height lever on a headland etc., the pre-processing section 6 is raised beyond a predetermined position. When ascending, the automatic tilt control is suspended and the aircraft 3 is held at its previous tilt state. be done.

[0025] Data acquisition is performed using the setting dial 19 and the tilt sensor 22, as shown in FIG. Converts and replaces the voltage detection signal with the inclination angle of the traveling aircraft 3 (S3), and further converts it into the set angle. The difference in inclination angle is calculated and used as a deviation value (S4). Based on the tilt sensor 22, Determine whether the tilt angle is upward to the right or upward to the left from the set angle based on the setting dial 19 (S5), and the aircraft status flag is set to rise to the right or rise to the left (S6, S 7) or is reset (S9).

[0026] Next, automatic control will be explained along with FIGS. 6, 7, 8, and 9. Closed As shown in FIG. 6, the stop timer S10 is set to 0 every time the combine harvester advances by 50 cm, for example. When the pause timer reaches 0, the normal Automatic tilt control is performed. Note that even if the pause timer does not reach 0, the deviation is large, the pause timer is cleared and tilt control is performed immediately (S1 1, S12). Then, when the deviation reaches a certain level (S13), the automatic start flag The slope flag is set (S14), and the tilt flag is set upward to the left or upward to the right. (S15, S16), and the following target values are set (S17).

[0027] As shown in Figure 9, the target value is determined by first adjusting the deviation angle mentioned above by expanding and contracting it with a hydraulic cylinder. Convert/replace it to a quantity, distribute the value to the left and right, specifically, set the value to 1/2 and calculate the deviation' (S18). If the tilt flag is upward to the right, the right hydraulic cylinder 16 The current value of ', that is, the value of the right stroke sensor 21', is subtracted by the deviation ' mentioned above to obtain the right target. value and None, and the current value of the left hydraulic cylinder 16, that is, the value of the left stroke sensor 21. The above-described deviation' is added to obtain the left target value (S19). Similarly, the tilt flag is If the left stroke The left target value is obtained by subtracting the deviation ' from the stroke sensor value (S20).

[0028] As shown in FIG. 7, if the right stop flag S21 is reset, the right stop flag S21 is reset. In order for the stroke sensor value to move toward the right target value, the right solenoid valve 35 is intensified. The right hydraulic cylinder 16' moves up or down (S22, S23, S24). , S25), and when the right stroke sensor value matches the right target value, the right solenoid The operation of the idle valve 35 is stopped (S26). Similarly, the left stop flag S27 is If the left stroke sensor value is reset, the left solenoid will move toward the left target value. The idle valve 33 is inched, and the left hydraulic cylinder 16 is raised or lowered ( S28, S29, S30, S31), and the left stroke sensor value reaches the left target value. When they match, the operation of the left solenoid valve 33 is stopped (S32). On this occasion , right stroke sensor 21' or left stroke sensor 21 reaches the upper or lower limit value. Then (S32, S33, S34, S35), the right or left stop flag is set ( S26, S32), the hydraulic cylinders 16, 16' are stopped.

[0029] As shown in FIG. 8, when both the left and right stop flags are set (S 36), the pause timer is set and a new count is started, and the automatic The start flag, left/right stop flag, and tilt flag are reset (S37).

[0030] Next, an embodiment partially modified along FIG. 10 will be described. In this example, Compared to the embodiment shown in FIG. 4, the automatic control by the pedal clutch switch 31 is The stop (F5) is omitted.

[0031] Therefore, in the previous embodiment (FIG. 4), the main gear shift lever is in the forward position and the pedal clutch is in the forward position. Automatic operation only when switch 31 is on, that is, when the combine is in forward running state. Since the dynamic control functions, the clutch pedal 30 must be pressed when entering the field or starting to mow. When moving forward little by little while depressing the pedal intermittently, if the clutch is disengaged, the automatic Although the tilt control does not operate and the control response is slow, in this example (Fig. 10), the main When the gear shift lever is in the forward position, automatic transmission is performed regardless of whether the main clutch is engaged or engaged. Since the tilt control is maintained in the operating state, the clutch pedal 30 is in the intermittent operation state. However, the response of the inclination control is quick, and the mowing operation can be easily performed.

[0032] Although the above embodiment describes a combine harvester, it is not limited to this and can also be used for a bulldog harvester. Of course, it can be similarly applied to other moving vehicles including construction machinery such as lasers. .

[Brief explanation of drawings]

FIG. 1 is a control block diagram showing a tilt control device according to the present invention.

FIG. 2 is a perspective view showing the operating section of the tilt control device according to the present invention.

FIG. 3 is a side view showing a combine harvester to which the present invention can be applied.

FIG. 4 is a flow diagram showing tilt control according to the present invention.

FIG. 5 is a flow diagram showing the data import.

FIG. 6 is a flow diagram showing the automatic tilt control.

FIG. 7 is a flow diagram following FIG. 6;

FIG. 8 is a flow diagram following FIG. 7.

FIG. 9 is a flow diagram showing the setting of the target value.

FIG. 10 is a flow diagram similar to FIG. 4 showing another embodiment of the present invention.

[Explanation of symbols]

1 Traveling vehicle (combiner) 2,2' (crawler) traveling device 3 Traveling aircraft 6 Working part (pre-processing part) 16,16' Hydraulic cylinder 17 Operation lever 19 Setting means (dial) 20 Automatic main switch 21, 21' Stroke sensor 22 Tilt sensor 27 Travel operation means (main gear shift lever) 29 Forward lever switch 30 Clutch (pedal) 31 Pedal clutch switch 32 Cutting height sensor 33, 35 Left and right solenoid valves for tilt control 46 Drive control means 47 Pause means

──────────────────────────────────────────────── ─── Continuation of front page (72) Creator Toshio Kashiwa 667 Iya-cho, Higashiizumo-cho, Yatsuka-gun, Shimane Prefecture 1 Inside Mitsubishi Agricultural Machinery Co., Ltd. (72) Creator Fumihiko Nagata 667 Iya-cho, Higashiizumo-cho, Yatsuka-gun, Shimane Prefecture 1 Inside Mitsubishi Agricultural Machinery Co., Ltd. (72) Creator Takashi Kadowaki 667 Iya-cho, Higashiizumo-cho, Yatsuka-gun, Shimane Prefecture 1 Inside Mitsubishi Agricultural Machinery Co., Ltd.

Claims (2)

[Scope of utility model registration request] 1. A traveling vehicle in which a traveling body is supported by a pair of left and right traveling devices, and a hydraulic cylinder is interposed between these traveling devices and the traveling body to control the vertical movement of the traveling body, an inclination sensor that detects the horizontal inclination angle of the traveling aircraft; a setting unit that presets the horizontal inclination angle of the traveling aircraft; and a setting unit that controls the traveling aircraft based on signals from the inclination sensor and the setting unit A drive control means for driving and controlling the hydraulic cylinder to match a set value, a travel operation means for switching the traveling direction of the traveling device, and the drive control except when the travel operation means is in the forward position. A tilt control device for a traveling vehicle, comprising: a stop means for stopping the operation of the means. 2. A traveling vehicle in which a traveling vehicle is supported by a pair of left and right traveling devices, and a hydraulic cylinder is interposed between these traveling devices and the traveling vehicle to control the traveling vehicle to ascend and descend, an inclination sensor that detects the horizontal inclination angle of the traveling aircraft; a setting unit that presets the horizontal inclination angle of the traveling aircraft; and a setting unit that controls the traveling aircraft based on signals from the inclination sensor and the setting unit a drive control means for driving and controlling the left and right hydraulic cylinders respectively to match the set values; a working part supported by the traveling body so as to be able to rise and fall; and a position where the working part is elevated by a predetermined amount from the working position. A tilt control device for a traveling vehicle, comprising: a suspension means for suspending the operation of the drive control means when the drive control means is located in the vehicle.