JPH04218311A - Working vehicle - Google Patents

Abstract

PURPOSE:To suppress the lowering of traveling performance of a working vehicle caused by the contact of the bottom of a mobile machine body with the surface of field by using a mobile machine body capable of rolling relative to a horizontal reference plane and rolling the machine body in a state having high ground height. CONSTITUTION:Ground-contact parts of a pair of right and left crawler belts 6 are attached to a mobile machine body 7 in a state to be independently movable in vertical direction. A gravity-type inclination sensor is provided to detect the lateral inclination angle of the mobile machine body 7 relative to a horizontal reference plane. A ground-contact part of a crawler belt 6 is vertically moved to the lowest position relative to the mobile machine body and the ground-contact part of the other crawler belt 6 is moved in vertical direction relative to the mobile machine body to keep the machine body 7 in horizontal reference posture.

Description

[Detailed description of the invention]

0001

FIELD OF INDUSTRIAL APPLICATION This invention relates to a pair of left and right running devices provided on a running machine body, and a lifting drive means for individually lifting and lowering the ground contact portions of the pair of left and right running devices with respect to the running machine body; an inclination angle detection means for detecting a left and right inclination angle of the traveling body with respect to a horizontal reference plane, and the lifting drive means for maintaining the left and right inclination angle of the traveling body at a set inclination angle based on information from the inclination angle detection means. The present invention relates to a work vehicle provided with a control means for operating the work vehicle.

0002

2. Description of the Related Art In this type of work vehicle, when one of the left and right traveling devices falls into a ridge or the like during work in a field and the traveling body attempts to tilt in the left-right direction, at least one of the ground-contacting portions of the traveling device It has the feature that one side can be raised and lowered relative to the traveling body to maintain the traveling body in the desired left and right tilted posture.
In particular, if a control mode is adopted that maintains the traveling aircraft in a horizontal position, the ground pressure applied to the left and right traveling devices can be equalized.
In addition to improving the straightness, if the combine harvester is equipped with a threshing device, the uneven distribution of the materials to be sorted in the oscillating sorting section will be reduced, and the sorting performance will be improved.

0003

SUMMARY OF THE INVENTION It is an object of the present invention to make it possible to set the horizontal inclination angle of a traveling aircraft reliably and easily by rationally setting the operation control form for the lifting drive means, and to The point is to minimize time-related obstacles.

0004

[Means for Solving the Problems] In a characteristic configuration according to the present invention, the control means moves the ground contact portion of one of the traveling devices to the lowest position with respect to the traveling body, and
The above-mentioned elevating and lowering driving means is configured to be operated to raise and lower the ground contact portion of the other traveling device, and its effects are as follows.

[0005]

[Operation] In other words, by positioning the ground-contacting part of either the left or right traveling device at the lowest position relative to the traveling body, and by raising and lowering the ground-contacting part of the other traveling device with respect to the traveling body, The traveling aircraft can be maintained at the set inclination angle.

[0006]

[Effects of the Invention] Therefore, by locating the ground contact part of the traveling device at the lowest position relative to the traveling body,
It is possible to provide directionality to the operation of the elevation drive means for the purpose of maintaining the traveling aircraft at a set inclination angle, establish a control form, and put it into practical use. Moreover, as a control mode, the ground contact part of the traveling device is brought to the lowest position of the traveling machine body, so the traveling machine body can be maintained at the set inclination angle at a high position from the field, and the lower end of the traveling machine body is lowered. This has the advantage of preventing interference with running performance due to contact with the field.

[0007]

[Embodiment] As shown in FIG. 11, a pulling device 1, a reaping device 2 that reaps the grain culm pulled up by the pulling device 1, and a rear conveyance device 4 that transports the harvested grain culm toward a rear threshing device 3. A reaping pre-treatment device 5 equipped with a reaping pretreatment device 5 is attached to a traveling machine body 7 equipped with a pair of right and left crawler traveling devices 6, 6 so as to be vertically swingable around a horizontal support axis X by an elevating cylinder 8, and a combine harvester is used as an example of a work vehicle. It is configured.

Next, a structure for attaching the left and right crawler traveling devices 6, 6 to the traveling body 7 will be explained. As shown in FIGS. 3 and 4, a horizontal frame 10 is connected below the main frame 9 in a front-rear posture that constitutes the traveling body 7, and the left and right track frames 11, 11 are connected and fixed by this horizontal frame 10. There is. A drive sprocket 12 and a tension sprocket 13 are fixedly attached to the front and rear ends of the track frames 11, 11, respectively. The track frame 11 is formed in the shape of a downwardly open channel, and a pair of front and rear movable frames 15A, 15B, which pivotally support a plurality of free wheel bodies 14, are mounted in the open space so as to be relatively vertically movable. A large-diameter idler wheel 16 is supported by the track frame 11 at an intermediate position of the group of idler wheels 14 so as to be vertically swingable. One end of the front and rear bell cranks 17A, 17B, which are vertically swingably pivoted to the track frame 11, is attached to the front and rear movable frames 15A, 15B, respectively. Connected and rear bell crank 17
A rolling lifting cylinder 19 is connected to the other end of B, so that the front and rear movable frames 15A, 15B are lifted and lowered by the same amount in the same direction, and the ground contact areas of the crawler traveling devices 6, 6 are moved separately to the traveling body 7. It is configured so that it can be raised and lowered. Here, the rolling lifting cylinder 19 is an example of a lifting drive means for driving the ground contact portions of the crawler traveling devices 6, 6 up and down with respect to the traveling body 7.

As shown in FIG. 3, limit switches 20 and 22 are provided at both swing end positions of the front and rear bell cranks 17A and 17B, so that the rear bell crank 17B and the rolling lifting cylinders 19 and 19 are at the end of their movable strokes. Detect whether it has been reached. That is, the limit that detects the state where the traveling device 6 is located at the farthest position from the traveling body 7 is called the upper limit switch 20, and the limit that detects the state where the traveling device 6 is located at the closest position is called the lower limit switch 22. These limit switches 20
, 22 are input to the control device 21, and the rolling lifting cylinder 19 with a control valve 29 is operated to determine the height of the traveling device 6 relative to the traveling body 7. on the other hand,
When setting the inclined posture of the traveling body 7, the traveling body 7
Based on the information from the gravity-type tilt sensor 23, which serves as a tilt angle detection means for detecting the left and right tilt of the traveling aircraft 7, the difference (declination angle) from the set value from the tilt setting device 28
The rolling lifting cylinder 19 is operated so as to maintain the horizontal inclination angle at the set inclination angle. In this way, the left and right inclination angle of the traveling body 7 is controlled by the control device 21 as a control means. When tilting the traveling body 7 to the right, operate the left traveling device 6 toward the upper limit position, and if the declination still does not reach “0” even after the limit is activated, move the right traveling device 6 to the lower limit position. Operate toward the limit position,
Repeat until the left and right tilt angles reach the set tilt angle. In this case,
An upper limit reference mode in which the rolling lifting cylinder 19 is operated to move the ground contact part of one traveling device 6 to the lowest position and to raise and lower the ground contact part of the other traveling device 6; In order to move the grounding part of the device 6 to the highest position relative to the traveling body 7, and
and a lower limit reference mode in which the rolling lifting cylinder 19 is actuated to raise and lower the ground contact portion of the other traveling device 6, and an upper and lower limit reference mode changeover switch as a mode switching means for switching between an upper limit reference mode and a lower limit reference mode. 25, the upper and lower limit reference modes are selected and switched, and in the upper limit reference mode, one traveling device 6 is operated until the upper limit switch 20 is activated, and in the lower limit reference mode, the other traveling device 6 is activated until the lower limit switch 22 is activated. Operate until. More detailed operating conditions will be described later with reference to flowcharts. In the above, the inclination setting device 28, the sensor 23, the control device 21, etc. are referred to as the rolling control means 31.

A volume-type elevation detection sensor 24 is provided at the horizontal support shaft X of the reaping pretreatment device 5 to the traveling machine body 7, and detects the amount of elevation of the reaping pretreatment device 5 with respect to the traveling machine body 7. The height above the ground (the height of cutting relative to the grain culm) of the reaping pre-processing device 5 is determined based on the detected value from the ultrasonic height above the ground sensor 33 installed near the pulling frame. The mowing height can be controlled by the lifting cylinder 8 with the control valve 30 so as to maintain it within the range set by the mowing height setting device 35.

[0011] From the above configuration, the crawler traveling device
Regarding the lifting and lowering control of the (movable frame), Figures 5 to 1
This will be explained with reference to the flowchart of No. 0. The rolling lifting cylinder 19 is provided with upper and lower limit switches 20 and 22 at the movable stroke end, and when both of these upper and lower limit switches 20 and 22 are activated, the inclination angle cannot be larger than the one determined by the limit position. Since there is no tilt angle warning lamp 34, the tilt angle warning lamp 34 is activated. First, the control flow confirms that the tilt angle alarm lamp 34 is not lit, and then determines the deviation angle (
This is the difference between the set angle and the current detected angle, and in the case of +, the difference can be made zero by tilting the traveling aircraft to the right. In the case of −, tilt the traveling aircraft to the left. ) Calculate (
Step I). Next, it is determined whether the traveling aircraft 7 is tilted to the right or left depending on the declination angle (+) or (-), and (+)
The case will be explained in detail.

First, it is determined whether the upper or lower limit reference mode is selected, and if the upper limit reference mode is selected, it is necessary to tilt the traveling aircraft 7 to the right, so if the left upper limit switch 20 is not activated. causes the left rolling lift cylinder 19 to extend. And the left traveling device 6
is set at the lowest position from the traveling body 7 (that is, the left upper limit switch 20 is activated), the other traveling device 6 is raised and lowered to the set angle. In this case, if the right upper limit switch 20 is activated, the right rolling lift cylinder 19 is contracted. If the right lower limit switch 22 is activated before the declination angle becomes zero due to the operation of the right rolling lifting cylinder 19, the left upper limit switch 20 is also activated, so no further inclination angle can be obtained, and the inclination angle Warning lamp 3
Turn on 4. As described above, by operating the left and right rolling lifting cylinders 19, 19, the operation is repeated along the above flow in order to make the deflection angle zero (for example, the control frequency is once every 10 ms).

Next, in the lower limit reference mode, in order to set the vehicle height low, the right rolling lift cylinder 19 is contracted if the right lower limit switch 22 is not activated. Then, if the right traveling device 6 is set at the highest position relative to the traveling body 7 (that is,
right lower limit switch 22 is activated), left traveling device 6
Operate the lift to reach the set angle. In this case, if the left lower limit switch 22 is activated, the left rolling lift cylinder 19 is contracted. If the left upper limit switch 20 is activated before the declination angle becomes zero due to the operation of the left rolling lift cylinder 19, the right lower limit switch 22 is also activated, so no further inclination angle can be obtained, and the inclination angle The alarm lamp 34 is turned on. As mentioned above, the left and right rolling lifting cylinder 19
, 19, the declination angle is made zero (
Step II).

When the set angle is (-), the cylinder 19 to be controlled is selected in order to tilt the traveling machine body 7 to the left, and the operation procedure can be carried out in the same way as when the set angle is (+).
Step III). When the deflection angle becomes zero (same as the set angle), in the case of the upper limit reference mode, the left and right rolling lift cylinders 19, 19 are extended, and either the left or right upper limit switch 20, 20 is activated. If so, the vehicle is stopped and the vehicle height of the traveling body 7 is set high. In addition, in the case of the lower limit reference mode, the left and right rolling lifting cylinders 19, 19 are contracted and the lower limit switch 22 is activated.
, 22 are stopped in operation, and the vehicle height of the traveling body 7 is set low (Step IV).

[Another Embodiment] (1) In the above embodiment, only the idler wheel body 14 is moved up and down, but the crawler traveling device 6 as a whole may be moved up and down. (2) The actuator of the crawler traveling device 6 may be a combination of a pneumatic cylinder or screw mechanism and an electric motor. ■ The traveling device 6 is not a crawler type.
It may be of a tire type, and its type is not specified. ■
The combine harvester may be of the whole culm input type. ■
Further, the mode switching means 25 is not limited to the above-mentioned changeover switch.

[0016] Although reference numerals are written in the claims for convenience of comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

[Figure 1] Control configuration diagram

[Figure 2] Front view showing a panel with various setting devices arranged and configured

[Fig. 3] Side view showing the elevating and lowering drive means of the traveling device

[Figure 4]
Vertical rear view showing the elevating and lowering drive means of the traveling device

[Figure 5] Flowchart diagram

[Figure 6] Flowchart diagram

[Figure 7] Flowchart diagram

[Figure 8] Flowchart diagram

[Figure 9] Flowchart diagram

[Figure 10] Flowchart diagram

[Figure 11] Overall side view

[Explanation of symbols]

6 Traveling device 7. Traveling aircraft 19 Lifting drive means 21 Control means 23 Tilt angle detection means

Claims (1)

[Claims] A pair of left and right traveling devices (6), (6) is provided on the traveling body (7), and the grounding portions of the pair of left and right traveling devices (6), (6) are set separately with respect to the traveling body (7). an elevating drive means (19) for elevating and lowering; and an inclination angle detecting means (for detecting the horizontal inclination angle of the traveling body (7) with respect to a horizontal reference plane);
23), and a control means (23) for operating the lifting drive means (19) so as to maintain the horizontal inclination angle of the traveling body (7) at the set inclination angle based on the information of the inclination angle detection means (23). 21), wherein the control means (21) is configured to move the ground contact portion of one of the traveling devices (6) to the lowest position relative to the traveling body (7). , and a working vehicle configured to operate the lifting drive means (19) to lift and lower the ground contact portion of the other traveling device (6).