JPH04281713A - Apparatus for level control of body of combine or such - Google Patents

Abstract

PURPOSE:To surely control the posture of a vehicle body by carrying out horizontal control when there is a possibility of overturning of the truck body even if the automatic switch to perform the lateral or longitudinal horizontal control of the truck body is in OFF state. CONSTITUTION:An automatic switch is turned on and a truck body 5 is subjected to lateral or longitudinal horizontal control by detecting the inclination of the body. If the automatic switch is in the state of OFF, the horizontal control is automatically performed and the truck body is kept in horizontal state when the inclination angle of the body reaches a prescribed turn-over angle range.

Description

[Detailed description of the invention]

0001

[Industrial Application Field] The present invention relates to a vehicle body horizontal control device that controls a traveling vehicle body in a horizontal state in the front-rear direction or left-right direction, and is applicable to combine harvesters, transport vehicles, and other agricultural working machines having crawler-type traveling devices. .

0002

[Prior Art and Problems to be Solved by the Invention] In a combine harvester, it is necessary to maintain the threshing device etc. mounted on the vehicle body in a horizontal position at all times regardless of the slope of the cutting surface. Therefore, when working with combine harvesters in wet fields or on slopes, the tilt sensor detects the longitudinal and lateral inclination angles of the vehicle body, and controls the pitching of the vehicle body relative to the crawler to maintain a horizontal posture in the longitudinal direction. , performs rolling control to maintain a horizontal posture in the left and right directions. Such horizontal control in the front-rear direction or left-right direction is
By turning on an automatic switch provided in the controller, the operation mode is automatically performed by detecting the inclination by the inclination sensor.

[0003] However, the vehicle body is often in a position where it is prone to overturning even when the automatic switch is not turned on, and also when the automatic switch is forgotten to be turned on in a place where horizontal control is required. It is dangerous if the vehicle body leans. Even when such an automatic switch is not turned on, this invention automatically performs horizontal control when a tilt sensor or the like detects a tilt angle of the vehicle body that exceeds a predetermined value, thereby maintaining safety. be.

0004

[Means for Solving the Problems] The present invention provides a controller having an automatic switch 47 that performs rolling control or pitching control while detecting the inclination of the chassis 5 to perform horizontal horizontal control or horizontal horizontal control of the chassis 5. The vehicle body horizontal control device for a combine harvester or the like is characterized in that when the automatic switch 47 is OFF, the horizontal control is performed by detecting the inclination of the vehicle platform 5 at a predetermined overturn danger angle.

[0005]

[Operation and Effects of the Invention] In the vehicle body horizontal control device that can perform longitudinal horizontal control and lateral horizontal control as shown in the figure, when the automatic switch 47 is turned on, the chassis 5 is tilted in the longitudinal direction, When the vehicle is tilted in the direction, pitching control or rolling control is performed by detecting this tilt, and the vehicle chassis 5 is controlled and maintained in a longitudinal horizontal position or a horizontal horizontal position.

When the automatic switch 47 is not turned on, such horizontal control is not performed automatically except by manual operation, but when the inclination angle of the chassis 5 reaches a predetermined tipping danger angle, OF the automatic switch 47
Despite F, the horizontal control is performed to control the vehicle platform 5 to a horizontal attitude. In this way, even when the automatic switch 47 is OFF, if the vehicle chassis 5 is tilted to a predetermined overturn danger angle, horizontal control is automatically performed due to this tilt, so that a safe vehicle body posture can be achieved. This allows for accurate attitude control by reducing delays in control operations to maintain the horizontal attitude.

[0007]

[Embodiment] A vehicle body frame 1 is made of square pipe material in the form of a girder having a rectangular shape in plan view, and has link pins 10 and 11 protruding from the front and rear ends on the left and right outer sides of the vehicle body frame 1. A pair of parallel links 3 and 4 are pivotally supported, and the front and rear parts of the crawler frame 9 are pivotally supported on the outer lower ends of the parallel links 3 and 4 by link pins 12 and 13, so that the crawler frame 9 is attached to the vehicle body frame 1. The structure is such that it can freely move up and down in a parallel state. In each of the left and right crawler frames 9,
A suitable number of wheels 14 are arranged along the outside so as to be freely rotatable around a wheel shaft 15, and each of these wheels 14 and a sprocket 1 described later are connected to each other.
The crawler 2, which is mainly made of rubber material, is spanned between the crawler 6 and the crawler 2, and the crawler 2 is driven and driven.

[0008] The vehicle chassis 5 is composed of longitudinal beams running in the longitudinal direction and cross beams in the lateral direction, and support brackets 6 facing each other from the upper side to the rear side of the vehicle body frame 1 on both left and right sides,
The support bracket 6 is provided so as to protrude downward, and its lower surface is sloped forward and downward so that the front end of the support bracket 6 is thicker and the rear end thereof is thinner. , a lateral pitching shaft 17 provided in front of the link pin 10 of the parallel link 3
It is supported so that it can rotate freely. Also, this support bracket 6
The front end of the crawler 2 is connected to an axle housing 20 of a drive shaft 19 of the crawler 2 that protrudes from the traveling transmission case 18 to both left and right sides, and the sprocket 16 is provided on the drive shaft 19 at both left and right ends of the axle housing 20. .

The rear pitching bracket 7 is attached to the chassis 5.
A bell crank 21 is pivotally supported by a link pin 22, and the front end of the bell crank 21 is pivoted to the rear end of the vehicle body frame 1 so as to be vertically movable. Link pin 25 to link 24 which arrived at 23
The pitching cylinder 26 is connected between the upper end of the bell crank 21 and the rear end of the chassis 5, and the pitching cylinder 26 is extended and contracted by hydraulic pressure to move the pitching link 8 up and down. Move it, chassis 5
is configured to move up and down around a pitching shaft 17.

The chassis 5 as described above has a support bracket 6
Since the pitching bracket 7 and the pitching bracket 7 are configured to protrude significantly downward at the front and rear portions of the vehicle body frame 1, the distance between the pitching bracket 7 and the vehicle body frame 1 on the lower side can be maintained large, and the pitching bracket 7 of the vehicle body frame 1 of the vehicle chassis 5 can be kept large. The amount of pitching can also be increased. A pair of left and right rolling cylinders 27 for rotating the parallel links 3 and 4 are connected between the vehicle body frame 1 and a rolling arm 28 that is integrated with the rear parallel link 4 and the link pin 11. The rolling arm 29 integrated with the link pin 10 and the rolling arm 28 are connected by a rod 30, and by the expansion and contraction of each rolling cylinder 27, the crawler frame 9 is moved up and down with respect to the vehicle body frame 1, and the vehicle You can change and adjust the height and roll from side to side.

A combine harvester is constructed by mounting a driver's seat 31, an engine, a reaping device 32, a threshing device 33, a grain tank 34, etc. on the chassis 5. It also has a hydraulic circuit 36 that can expand and contract the pitching cylinder 26, rolling cylinder 27, etc. by a hydraulic pump P driven by this engine, and this hydraulic circuit 36 includes a pitching control valve 37 and left and right rolling control valves 38. etc., and are configured to be controlled manually or in conjunction with inclination sensors 39 and 40 that detect the inclination angle of the chassis 5, etc.

The hydraulic circuit 36 is provided with a reaping upper and lower cylinder 41 that moves the reaping device 32 up and down with respect to the chassis 5, and the reaping upper and lower cylinders 41 are expanded and contracted in conjunction with each other by reaping upper and lower valves 42 and 43. It is the composition. 44 is an unload valve, 45 is a relief valve, and T is a tank port. Controller CPU with microcomputer
In addition to the longitudinal inclination sensor 39 and the lateral inclination sensor 40, a vehicle speed sensor 46 that detects the running speed of the vehicle body is used as an input.
, automatic switch 47, ON/OFF by manual lever
left, right, front, rear, top, and bottom switches 48 to 53
, each stroke sensor 54, 5 that detects the amount of expansion and contraction of each rolling cylinder 27, pitching cylinder 26, etc.
5, 56, an engine rotation sensor 57 that detects the engine rotation speed, a threshing clutch sensor 58 that detects whether the threshing clutch is on or off, and the like are provided.

Among these, when the automatic switch 47 is ON, rolling control and pitching control are performed by detecting the inclination sensors 40, 39, etc., and by detecting the stroke sensors 54, 55, 55, etc.
56 and the like, and performs horizontal control to maintain the vehicle platform 5 in a substantially horizontal position (A in FIG. 7) regardless of the slope of the traveling soil surface. Furthermore, when the automatic switch 47 is OFF, these rolling controls, pitching controls, etc. are not performed, and the left and right crawler frames 9 are placed in a parallel posture so as to be at the same height with respect to the vehicle body frame 1 (B in FIG. 7). Perform parallel control to operate. Further, each manual lever switch is used to manually operate each rolling cylinder 27 or pitching cylinder 26, and when the left switch 48 is turned on, the chassis 5 is tilted to the left,
When the right switch 49 is turned on, the chassis 5 is rolled to the right. Pitching is performed in the same manner when the front switch 50 and rear switch 51 are turned on. Further, the upper and lower switches 52 and 53 are used to move the left and right crawler frames 9 up and down in parallel to the vehicle body frame 1 by the same amount.

The threshing clutch sensor 58 detects the state of the threshing clutch 35 that turns on and off transmission to the threshing device, and is turned on when the threshing clutch 35 is engaged and turned off when it is disengaged. Horizontal control is started upon detection of engagement of the automatic switch 47 and the threshing clutch 35. Controller CP
On the output side of U, there are solenoids 59 to 6 such as a pitching control valve 37, a rolling control valve 38, and an unloading 44.
5 is provided, and the pitching cylinder 26 or the rolling cylinder 27 is expanded or contracted by outputting an output by operating one of the sensors or switches described above, thereby controlling the attitude of the vehicle chassis 5.

When the automatic switch 47 is turned on and the threshing clutch 35 is engaged, the threshing clutch sensor 58 is turned on.
Horizontal control is performed. Also, turn on this automatic switch 47.
Even when not in use, the longitudinal inclination sensor 39 or the lateral inclination sensor 40 that detects the inclination angle of the chassis 5 detects the overturning danger angle 12 when the overturning angle of the vehicle body is, for example, 20 degrees or more and the overturning danger angle is 12 degrees. When the angle is set to a predetermined angle, by tilting to the predetermined angle of 12 degrees, the vehicle chassis 5 is controlled horizontally or horizontally so that it is in a horizontal state. In addition, when the inclination angle of the running ground has already exceeded the limit angle at which horizontal control is possible, the vehicle is controlled to maintain a posture close to the horizontal limit of the horizontal control.

At this time, when the running ground changes from the predetermined angle of 12 degrees to the horizontal side and is detected by the inclination sensor 39 or 40, the horizontal control is canceled. Note that, at this time, a configuration may be adopted in which horizontal control is continued and not released. For example, when the inclination reaches a predetermined angle of 12 degrees, the automatic switch 47 is turned on, and even if the inclination sensor 39 or 40 detects a gentle inclination of less than the predetermined angle of 12 degrees, the automatic switch 47 is turned on. It is best to keep it turned on.

In FIGS. 1 and 9, the controller CPU is provided with a main key switch 66, and when the main key switch 66 is turned on and the engine is driven by the engine key switch, the automatic switch 47 is turned on. In some cases, horizontal control is automatically initiated. By turning on the main key switch 66, the vehicle height at this time is calculated based on the input from the stroke sensors 54 and 55 in the left and right rolling cylinders 27,
This is stored and set as a reference vehicle height (target vehicle height) for horizontal control and parallel control. Therefore, based on this reference vehicle height, horizontal control to level the vehicle chassis 5, parallel control to parallelize the vehicle chassis 5 and the left and right crawlers 2, pitching control, etc. can be performed. At this time, if the heights of the left and right crawlers 2 are different due to rolling control, the left and right stroke sensor 5
The average value of the detected values of 4 and 55 is set as the vehicle height.

In this way, the main key switch 66 is turned on.
The reference vehicle height set by can be changed by subsequent operation of the upper switch 52, lower switch 53, etc. using a manual lever. Therefore, by preventing the vehicle height from changing unless the upper switch 52 and lower switch 53 are activated using the manual lever, horizontal control, parallel control, etc. can be quickly completed, and the steering can be stabilized.

In FIGS. 10 and 11, hysteresis is provided in the relationship between the vehicle height control by the rolling cylinder 26 and the pitching control by the pitching cylinder 26, so that the rear part of the chassis 5 is moved only when the vehicle height is above a predetermined height. The setting of this predetermined height is to lower the vehicle from the parallel position.
The values are shifted between the upper and lower outputs at the rear. In general, if the pitching range of the chassis 5 is increased, the rear end of the chassis 5 is likely to touch the running ground or come into contact with the rear portion of the crawler 2 when the vehicle height is low. When determining the lowest limit position where the rear end of the chassis 5 does not touch the ground or contact the crawler 2 by rolling control, if the rear end of the chassis 5 moves up and down with rolling control near the vehicle height, the rear end of the chassis 5 will move up and down each time. This results in so-called control hunting.

However, the vehicle height (detected values of the rolling stroke sensors 54 and 55) and the rear inclination angle of the chassis 5 (
In relation to the detection value of the pitching stroke sensor 56, the position where the rear end of the chassis 5 touches the ground or comes into contact with the crawler 2 is set as M, and is plotted parallel to this position M to determine whether the rear end of the chassis 5 touches the ground or makes contact with the crawler, etc. A lower limit position N is set as the lower limit of the safe area without
Vehicle height lower limit position C (rolling stroke sensor 54,
55 (30% position of the detected value) and the parallel position D of the chassis 5 is defined as E, and furthermore, the intersection between the parallel position D and a position F that is appropriately higher (10%) than the lower limit position of the vehicle height is defined as E. With the intersection point G, the switching line formed by these C, E, F, and G is assumed to be from the rear upper output line E to H via C when the rear of the chassis 5 is being raised, and when it is being lowered. As for the line from the rear lower output line F to D via G, a hysteresis is set in which the outgoing stroke and the backward stroke are separate strokes, so that hunting in the control does not occur.

[Brief explanation of the drawing]

The figure shows one embodiment of the invention.

FIG. 1 is a control block diagram.

FIG. 2 is a flowchart of part of the control.

[Fig. 3] Hydraulic circuit diagram.

FIG. 4 is a side view of a portion of the crawler traveling device.

FIG. 5 is a plan view thereof.

FIG. 6 is a front sectional view thereof.

FIG. 7 is a front view showing its operating state.

FIG. 8 is a side view of the combine harvester.

FIG. 9 is a flowchart for setting a reference vehicle height during vehicle horizontal control.

FIG. 10 shows prohibited area control lines for vehicle height control and pitching control.

FIG. 11 is a flowchart.

[Explanation of symbols]

1 Aircraft frame 5 Chassis 9 Crawler frame 47 Automatic switch

Claims (1)

[Claims] 1. A controller having an automatic switch 47 that performs rolling control or pitching control while detecting the inclination of the vehicle chassis 5 to perform horizontal horizontal control or longitudinal horizontal control of the chassis 5, wherein the automatic switch 47 is turned OFF.
A vehicle body horizontal control device for a combine harvester or the like, which performs horizontal control by detecting the inclination of the vehicle platform 5 at a predetermined overturn danger angle.