JPH0424179A - Working vehicle - Google Patents

Abstract

PURPOSE:To reduce resistance at the time of turning by installing a gravity center shifting means which shifts the center of gravity of a vehicle body in a cross direction to a crawler traveling device, and controlling the operation of the gravity center shifting means so that the center of gravity may shift backwards with the detection of the turning condition of a turning condition detecting means. CONSTITUTION:A branch shaft 10 is mounted over the lower left and right part of brackets 9 installed on the front parts of left and right main frames 8 in the traveling vehicle body 7 of a combined harvester and thresher or the like, and the front parts of left and right movable frames 11 are pivotally fitted to both the ends of the branch shaft 10 so as to oscillate vertically freely. Also, rods 12 is mounted on the rear parts of left and right movable frames 11, and a pair of left and right guide frames 13 are mounted on it. One hydraulic cylinder CY1 for pitching is mounted over horizontal frames 14 and the rod 12 which connect left and right main frames 8 to constitute a gravity center shifting means.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a vehicle body with a pair of left and right crawler traveling devices that can be driven independently, and shifts to a turning state by the difference in rotational speed of these crawler traveling devices. Regarding a work vehicle configured as follows.

[Conventional technology]

In such a work vehicle, by creating a rotational speed difference between the left and right crawler traveling devices, specifically, by cutting off the driving force to the crawler traveling device on the inside of the turn and applying braking force at the same time, The crawler traveling device is configured to shift to a turning state by slowing down the rotational speed of the crawler traveling device.

At that time, the center of gravity of the vehicle body relative to the crawler traveling device is
Even when transitioning to a turning state, it generally remains at a predetermined position in the longitudinal direction and does not move.

[Problem to be solved by the invention]

Decreasing the rotational speed of the crawler traveling device on the inside of the turn is the same as applying braking force to the part of the car body on the inside of the turn, so try to lean forward, especially the part of the car body on the inside of the turn. The force that causes this will come into play. This can be easily understood from the phenomenon that, for example, when a braking force is applied to a moving car, the front part of the car body sinks and the rear part lifts up.

Such a phenomenon does not pose much of a problem when the ground is hard, but when the ground is soft, it encourages the crawler traveling device on the inside of the turn to sink into the ground. If this sinking is deep, the amount of mudguard required to change the direction of the crawler traveling device increases, resulting in increased resistance during turning.

The present invention has been made in view of this situation, and its purpose is to minimize the resistance during turning due to sinking of the crawler traveling device into the ground.

[Means for Solving the Problems] The work vehicle according to the present invention includes a turning state detection means for detecting transition to a turning state, and a center of gravity moving means for moving the center of gravity of the vehicle body in the front and back direction with respect to the crawler traveling device. The first characteristic configuration is that the vehicle is provided with a control means for operating the center of gravity moving means to move the center of gravity rearward in response to the detection of the turning state by the turning state detection means.

A second characteristic configuration is that the center of gravity moving means is configured to tilt the vehicle body in the front-back direction with respect to the crawler traveling device.

[For production]

According to the first feature, when the turning state detection means detects transition to the turning state, the control means operates the center of gravity moving means to move the center of gravity of the vehicle body relative to the crawler traveling device rearward.

In other words, by positioning the center of gravity of the vehicle body to the rear, making it easier to lean backwards but less likely to lean forwards, crawler movement is possible even when transitioning to turning on soft ground. This allows the device to sink into the ground shallowly.

According to the second feature, the center of gravity moving means moves the center of gravity rearward by tilting the vehicle body rearward with respect to the crawler traveling device.

In other words, the center of gravity is moved in the front-rear direction by pitching the vehicle body relative to the crawler traveling device.

[Effects of the Invention] According to the first characteristic configuration, the amount of mudguard that accompanies a change in direction of the crawler traveling device during a turn is reduced, so it is possible to reduce resistance during a turn.

According to the second characteristic configuration, in work vehicles that have a structure that allows pitching operations, such as certain types of combine harvesters, the existing structure can be used as a means of moving the center of gravity, so it can be used without major modification. There is an advantage that the invention can be put into practice.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

What is shown in FIG. 9 is a combine harvester as an example of a work vehicle. This combine harvester has a moving device (1) that raises the shell culm, and a cutting device (2) that cuts the shell culm.
, a reaping pretreatment device (5) having a vertical conveyance device (4) for conveying the cut culm to the threshing device (3), etc., and a pair of left and right crawler traveling devices (61,), (6R). It is configured to be provided at the front part of the traveling vehicle body (7) (corresponding to the vehicle body main body).

Next, move the traveling vehicle body (7) to the left and right crawler traveling devices (6L).
), (6R) A structure for pitching control that tilts in the front-rear direction with respect to the ground contact area will be described.

As shown in Figures 6 and 7, the left and right main frames (8
) A bracket (9) having an inverted U-shape in front view is installed across the front parts of the brackets (9), and a fulcrum shaft (10) is installed across the left and right lower portions of this bracket (9). At both ends of this fulcrum shaft (10) are left and right movable frames (11).
The front part is pivoted so that it can swing up and down. Additionally, as shown in Fig. 8, rods (12) are installed across the rear portions of the left and right movable frames (11), and 20 rods (
A pair of left and right guide frames (13) are placed on top of the guide frames (12).
) are provided to sandwich the left and right main frames (8), respectively, and when the movable frame (11) swings, the guide frame (13) comes into contact with the main frame (8). This makes it possible to restrict lateral displacement of the movable frame (11). Furthermore, the left and right main frames (8
) and the rod (1
2) One pitching hydraulic cylinder (C
The left and right movable frames (11
) simultaneously swing downward so that the traveling vehicle body (7) assumes a forward leaning position, and simultaneously swing upward due to contraction,
The running vehicle body (7) is arranged in a backward leaning position.

In addition, reinforcement plates (15A) and (15B) are provided at the front and rear of the left and right main frames (8), and in particular, the rear reinforcement plates (15B) are used to restrict the back and forth movement of the guide frame (13). It also serves as a guide for vertical movement.

The rear reinforcing plate (15B) is provided with limit switches (LSW1) and (LSW2), which detect whether the guide frame (13) and the pitching hydraulic cylinder (CYI') have reached the movable stroke end. It is possible to do so. Here, the limit switch that detects the state where the traveling vehicle body (7) is at the most forward tilted position is the forward tilt limit switch (LSW1), and the limit switch that detects the state where the traveling vehicle body (7) is at the most backward tilted position is the backward tilt limit switch (LSW1). LSW2) Toshishita.

The overall structure for pitching control described above corresponds to a center of gravity moving means. In other words, the center of gravity of the traveling vehicle body (7) with respect to the crawler traveling devices (61,), (6R) moves forward when the traveling vehicle body (7) is swung in the direction of leaning forward, and the center of gravity of the traveling vehicle body (7) relative to the crawler traveling devices (61,), (6R) moves forward. When it swings toward a tilted position, it moves backwards.

Incidentally, the center of gravity moving means in the claims is designated by a symbol (CY1) representing a pitching hydraulic cylinder.

Next, move the traveling vehicle body (7) to the left and right crawler traveling devices (6L).
), (6R) A structure for rolling control that tilts in the left-right direction with respect to the ground contact area will be explained.

As shown in FIG. 6, swing links (1
A pair of front and rear bell cranks (16A) and (16B) consisting of a drive arm (16b) in a downward protruding position and a drive arm (16b) in a downward protruding position
It is pivotally supported so that it can swing freely.

A track frame (18) is pivotally attached to the lower ends of the front and rear swing links (16a), and a connecting rod (19) is installed across the tops of the front and rear drive arms (16b). It is. Further, a rolling hydraulic cylinder (CY2) supported on the movable frame (11) side is connected to the upper end of the rear drive arm (16b), and this rolling hydraulic cylinder (CY2) expands and contracts. The rear drive arm (16b) is designed to swing when actuated. The front bell crank (16A) shares the fulcrum shaft (10) with the movable frame (11).

The truck frame (18) has a plurality of ground wheels (2
0) and the tension ring (21) are pivotally supported. Further, a swingable arm (22) is provided in a state that is elastically biased downward, and a grounding wheel (20) is also provided at the tip of this arm (22).
is supported by a shaft. Furthermore, a drive wheel (23) is provided on the fuselage side. And these ground contact wheels (20) and tension wheels (
21), and the drive wheel (23).
) on a rack.

As mentioned above, the rolling hydraulic cylinder (C
When Y2) is extended, the front and rear bell cranks (16A
), (16B) swing together, and the track frame (18) descends accordingly, moving the crawler traveling device (
6L) and (6R) are lowered relative to the traveling vehicle body (7), and the hydraulic cylinder (CY2)
When the is contracted, the front and rear bell cranks (16A),
(16B) swing integrally in the opposite direction, and the track frame (18) rises accordingly, causing the ground contact areas of the crawler traveling devices (6L) and (6R) to rise relative to the traveling vehicle body (7). That's what I do. In short, the traveling vehicle body (7) tilts in the left-right direction due to the difference in the amount of expansion and contraction of the left and right rolling hydraulic cylinders (CY2).

As shown in FIG. 1, the pitching hydraulic cylinder (CYl) and the rolling hydraulic cylinder (CYl)
2) is equipped with a three-position electromagnetic valve (Vl
), (V2) are connected, and these three-position switching type electromagnetic valves (Vl), (V2) are connected to the control device (10).
0). And this control device (100)
Various hydraulic cylinders (CY1), (CY
2) is designed to expand and contract.

The control device (100) also includes the forward tilt limit switch (LSW1) and the backward tilt limit switch (LSW1).
switches such as W2), a weight type longitudinal inclination angle sensor (St) for detecting the longitudinal inclination angle of the traveling vehicle body (7) with respect to the horizontal reference plane, and a weight type left and right sensor for detecting the left and right inclination angle. Sensors such as an inclination angle sensor (S2) and a stock sensor (corresponding to S2O turning state detection means) for detecting whether or not reaping is in progress are connected.

The longitudinal inclination angle sensor (Sl) and the lateral inclination angle sensor (S
Although not shown, 2) is a general method in which a weight that can swing back and forth is housed in a container filled with liquid, and the input shaft of a potentiometer is connected to the swinging fulcrum of the weight. It has a structure. And as the weight swings back and forth,
A voltage value proportional to the swing angle is output from the potentiometer to the control device (100). Further, the stock sensor (S3) has a swingable contact, and is configured to come into contact with the culm being transported by the vertical transport device (4) and emit an ON signal.

The control device (100) controls whether the traveling vehicle body (7) adjusts the longitudinal inclination angle setting device (2) based on information from switches and sensors.
Pitching control is performed to control the solenoid valve (■1) so that the longitudinal inclination angle is set according to 5), and the solenoid valve (
■ Perform rolling control to control 2).

Next, the control operation of the control device (100) will be explained based on the flowcharts of FIGS. 2 to 5. However, in order to make the main points of the present invention easier to understand, a description of the rolling control will be omitted. Step numbers in the diagram are indicated with a # mark.

As shown in Figure 2, first, the timer and various flags are initialized, and after a set time has elapsed, output control is performed to write the contents of the output flags for various pitching controls to the output port, and the output flags are cleared ( Steps 1-4
). Next, information on various sensors and switches is read, and it is determined from the stock source sensor (S3) whether or not reaping is in progress (steps 5 and 6). And stock sensor (S3) is ON
If it is OFF, it is determined that the cutting is in progress and pitching control is executed (step 7), but if it is OFF, it is determined that it is a different route and turning control is executed, followed by limit processing (step 8). .

After performing the limit processing, return to step 2 and repeat the same processing.

What is shown in FIG. 3 is the pitching control subroutine executed in step 7.

First, the longitudinal deviation angle is calculated by subtracting the inclination angle detected by the longitudinal inclination angle sensor (Sl) from the longitudinal target angle set in step 5 (step 70). The polarity of the longitudinal yaw angle is positive and the front is stopped, the longitudinal yaw angle is outside the dead zone, and the forward tilt limit switch (LSW1) is OFF.
In the case of F, the extraction solenoid output flag is set and the process returns (steps 72 to 74). However, if it is determined in step 72 that it is within the dead zone or that the forward tilt limit switch (LSW1) is ON in step 73, the process returns directly.

The polarity of the longitudinal yaw angle is negative, the longitudinal yaw angle is outside the dead zone, and the rearward tilt limit switch (
If LSW2) is OFF, set the rear ball solenoid output flag and return (steps 71.75~
77). However, if it is determined in step 75 that it is within the dead zone or that the backward tilt limit switch (LSW2) is ON in step 76, the process returns directly.

What is shown in FIG. 4 is the turning control subroutine executed in step 8.

First, the longitudinal deviation angle is calculated by subtracting the inclination angle detected by the longitudinal inclination angle sensor (Sl) from the longitudinal target angle set in step 5 (step 80). If the longitudinal yaw angle is less than the set angle and the backward tilt limit switch (LSW2) is OFF, the lowering solenoid output flag is set and the process returns (steps 81 to 83). however,
If step 81 determines that the longitudinal deviation angle is greater than the set angle or step 82 determines that the backward tilt limit switch (LSW2) is ON, the process returns directly.

To provide a supplementary explanation, if the longitudinal yaw angle is less than the set angle, the traveling body (7) is already in the upright position.
This eliminates the control to tilt backwards.

What is shown in FIG. 5 is the limit processing subroutine executed in step 8.

If the forward tilt limit switch (LSW1) is ON, the pumping solenoid output flag is cleared and the process proceeds to the next step, and if it is OFF, the pumping solenoid output flag is left as is and the process proceeds to the next step (step 90.91).

If the backward tilt limit switch (LSW2) is ON, clear the lower solenoid output flag, and if it is OFF, return with the lower solenoid output flag as is (
Step 92.93).

[Another example]

In the previous embodiment, the transition to the turning state was determined by the stock sensor (S
Although the determination in 3) is based on whether or not a culm is detected, the determination can also be made using various other methods.

For example, if the reaping pre-processing device (5) is operated to rise and becomes higher than the normal reaping work height region by a set value or more, it may be determined that the transition to the turning state occurs.

Further, it may be determined that a transition to the turning state occurs if a turning operation lever (not shown) for operating each of the crawler traveling devices (6L) and (6R) is operated to the left or right.

In the previous embodiment, the center of gravity is moved rearward before the work vehicle transitions to the turning state, but the center of gravity may be moved rearward after the work vehicle starts transitioning to the turning state.

In the previous embodiment, the center of gravity of the traveling vehicle body (7) is moved by tilting the traveling vehicle body (7) in the longitudinal direction with respect to the crawler traveling devices (6L) and (6R). (7) and a part of it on a crawler traveling device (6L).
), (6R) may be slid back and forth, or a weight tracker may be provided inside the traveling vehicle body (7) and the weight may be moved back and forth.

The present invention can also be applied to work vehicles other than combines, such as straw harvesters.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, it is clear from these entries that the present invention is not limited to the structure of the attached drawings.

[Brief Description of the Drawings] The drawings show an embodiment of a working vehicle according to the present invention, in which Fig. 1 is an overall configuration diagram of the control system, Fig. 2 is a main flow, Fig. 3 is a pitching control subroutine, and Fig. 4 is a subroutine for pitching control. The figure shows the turning control subroutine, Fig. 5 shows the limit processing subroutine, and Fig. 6 shows the subroutine for limit processing.
7 is a plan view of the crawler traveling device, FIG. 8 is a rear view showing the connection structure of the pitching hydraulic cylinder, and FIG. 9 is an overall side view of the combine harvester. (CY1)... Center of gravity moving means, (S3)...
...Turning state detection means, (6L), (6R)...
... Crawler traveling device, (7) ... Traveling vehicle body, (100) ... Control means.

Claims (1)

[Claims] 1. A pair of left and right crawler traveling devices (6
L) and (6R) are provided in the vehicle body (7), and the work vehicle is configured to shift to a turning state due to a rotational speed difference between these crawler traveling devices (6L) and (6R), Turning state detection means (S3) that detects transition to a turning state, and center of gravity moving means (CY1) that moves the center of gravity of the vehicle body (7) in the front and back direction with respect to the crawler traveling devices (6L) and (6R). ), and a control means (100) for operating the center of gravity moving means (CY1) to move the center of gravity rearward when the turning state detection means (S3) detects the turning state. . 2. The center of gravity moving means (CY1)
2. The work vehicle according to claim 1, wherein the crawler traveling devices (6L) and (6R) are configured to be inclined in the longitudinal direction with respect to the crawler traveling devices (6L) and (6R).