JPH0434672Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention includes a pair of left and right traveling devices on a traveling machine body, and includes an elevating drive means for individually driving the traveling devices up and down with respect to the traveling machine body. Regarding work vehicles.

[Conventional technology]

In this type of work vehicle, if one of the left and right running devices falls into a ridge or the like during work in the field and the running body attempts to tilt in the left-right direction, at least one of the running devices is raised or lowered relative to the running body. let me,
It has the feature of being able to maintain the traveling aircraft in a desired left/right tilted position, and in particular, if a control form that maintains the traveling aircraft in a horizontal position is adopted, the ground pressure applied to the left and right traveling devices can be equalized, resulting in good straight-line performance. In addition, if it is a combine harvester or the like equipped with a threshing device, the uneven distribution of the material to be sorted in the oscillating sorting section will be reduced, and the sorting performance will be improved.

Therefore, conventionally, as a device having the above characteristics, a crawler is used as a traveling device, a hydraulic cylinder device is used as a lifting drive means, a tilt detecting device is used as a tilt angle detecting means, and the tilt detecting device is There was a configuration in which the horizontal inclination angle of the traveling aircraft was maintained at a predetermined inclination angle (in this case, horizontal state) based on the information (for example, Japanese Patent Application Laid-Open No. 1983-1999).
Publication No. 1586).

[The problem that the idea aims to solve]

However, the invention disclosed in the above-mentioned publication only describes a control configuration for independently raising and lowering the crawler traveling device to maintain the traveling body in a horizontal position, and does not provide any further description of the control.

For this purpose, in order to actually operate the hydraulic cylinder device based on the information of the inclination detection device,
It is unclear what kind of control form will be adopted, and it has not yet reached the stage of practical use.

An object of the present invention is to provide a system that can smoothly control the attitude of a traveling aircraft by rationally setting the drive control of the traveling device.

[Means to solve the problem]

The characteristic configuration according to the present invention includes a pair of left and right traveling devices provided on the traveling body, a lifting drive means for individually driving the traveling devices up and down with respect to the traveling body, and a left and right inclination angle of the traveling body with respect to a horizontal reference plane. an inclination angle detection means for detecting; and an upper and lower limit detection means for detecting that the one traveling device reaches a lifting end;
A height detecting means for detecting the height of the other traveling device relative to the traveling aircraft body, the tilt angle detecting means, the upper and lower limit detecting means, and the horizontal inclination of the traveling aircraft based on information from the upper and lower limit detecting means and the height detecting means. a control means for operating the lifting drive means to maintain the angle at a set inclination angle and to maintain the height of the traveling device relative to the traveling aircraft body at the set height, the control means comprising: The one traveling device is located at either the upper or lower stroke end, the other traveling device is located at a height position corresponding to the set left and right tilt angle of the traveling body, and then the set left and right tilt angle is maintained. In order to move both traveling devices to a set height with respect to the aircraft in the state, the lifting drive means is configured to operate. is positioned at one of the upper and lower stroke ends, and then the lifting drive means is operated in order to move both traveling devices to the set height relative to the aircraft while maintaining the set left and right inclination angles. There are certain points, and its effects are as follows.

[Effect]

When setting the inclination angle, the traveling device to which the upper and lower limit detection means are attached is once positioned at either the upper or lower limit, and the other traveling device is operated until the set inclination angle is reached. Therefore, when the inclination angle reaches the set angle, both traveling devices are moved up and down, the height detection means detects the height position relative to the traveling aircraft, and the height relative to the traveling aircraft is maintained at the set height. , actuate the control device.

[Effect of idea]

When setting the inclination as described above, one of the traveling devices must be positioned at the lifting end, and the inclination angle and height must be set based on this lifting end position, so set the inclination angle and height using the midway position of the lifting stroke as a reference. The cumulative error can be reduced compared to the case where

Furthermore, compared to the case where both traveling devices are provided with height detecting means, by providing the upper and lower limit detecting means for detecting only the upper and lower ends on one traveling device, the detection means can be made simpler, and the manufacturing process is accordingly reduced. It is advantageous in terms of cost.

〔Example〕

As shown in FIG. 2, the reaping device is equipped with 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 that conveys the harvested grain culm toward a rear threshing device 3. The pretreatment device 5 is attached to a traveling body 7 equipped with a pair of left and right crawler traveling devices 6, 6 so as to be able to swing up and down about a horizontal support shaft by means of an elevating cylinder, thereby constructing a combine harvester as a working vehicle.

Next, the traveling body 7 of the left and right crawler traveling devices 6, 6
The mounting structure will be explained below. As shown in Figure 2,
A track frame 11 constituting a main frame in a front-backward orientation has a drive sprocket 12 attached to its front end, and a plurality of free-wheel bodies 1 on its lateral and outer sides.
4, a large-diameter idler wheel 16 located in the middle of this group of idler wheels, and a front-rear movable frame 15 with a tension sprocket 13 attached and fixed to its rear end.
A and 15B are mounted so that they can move up and down relative to each other.

The front and rear movable frames 15A and 15B include
Front and rear bell cranks 17A and 17B are respectively attached to the truck frame 11 so as to be vertically swingable, and the front and rear bell cranks 17
A and 17B are connected by a connecting rod 18, and
A lifting cylinder 19 for rolling is connected to the other end of the rear bell crank 17B, so that the front and rear movable frames 15A, 15B are raised and lowered by the same amount in the same direction.

The rolling lifting cylinder 19 is taken as an example of a traveling device lifting drive means for raising and lowering the traveling device 6 with respect to the traveling machine body 7.

Then, as shown in Figure 2, one side (already cut side)
The rolling lifting cylinder 19 is equipped with a volume type stroke sensor 20 that detects the extension operation of the cylinder, and the other (uncut side) rolling lifting cylinder 19 is equipped with a limit switch 25 that detects the cylinder stroke end.
a, 25b are provided, and the detected values from these are input to the control device 21 as a control means, and the control valve 29 for rolling is set so that the vehicle height is set to the vehicle height setting value of the volume type vehicle height setting device 22 on the hand side. The movable frames 15A, 15 are moved by the lifting cylinder 19.
The relative height of B with respect to the track frames 11, 11 can be changed. In this case, vehicle height setting device 2
The vehicle height setting value 2 represents the height of one of the traveling devices 6 relative to the traveling body 7.

The stroke sensor 20 is an example of a height detection means for detecting the height of the other traveling device 6 relative to the traveling body 7, and the limit switches 25a and 25b are
This is an example of upper and lower limit detection means for detecting that the one traveling device 6 reaches the end of the vertical movement.

On the other hand, when setting the tilted posture of the traveling body 7, the traveling body 7 is
The height of the movable frames 15A and 15B corresponding to the traveling device 6 located below is adjusted, and the horizontal inclination angle of the traveling body 7 with respect to the horizontal reference plane (ground) is set using the inclination setting device 28. Rolling can be controlled by a rolling lifting cylinder 19 with a control valve 29 so as to maintain the same value. The gravity type inclination sensor 23 is an example of inclination angle detection means for detecting the left and right inclination angle of the traveling body 7 with respect to the horizontal reference plane. Above, the sensors 20, 23,
The various setting devices 22, 28 and the control device 21 for these are referred to as rolling control means 31.

Based on the above configuration, elevating and lowering control of the crawler traveling device (movable frame) will be explained with reference to the flowchart of FIG. 3. The left rolling lifting cylinder 19 is provided with limit switches 25a and 25b corresponding to the upper and lower limit positions of the traveling device 6. When the limit switches 25a and 25b are activated, the cylinder cannot be extended, so the rolling cylinder is The stroke limit warning lamp lights up. The control flow first checks that this lamp is not lit,
The vehicle height setting device 22 sets the height of the vehicle 7 relative to the vehicle on either side of the left or right traveling device 6, and receives position information from the stroke sensor 20 for the right traveling device 6, and performs automatic/manual control. The form is selected using a changeover switch (not shown) (step).

In step, the target angle _α3 is calculated. As shown in FIG. 4, the angle α ₂ detected by the inclination sensor 23
The target angle α ₃ is calculated from the set angle α ₁ with respect to the horizontal reference plane from the inclination setter 28.

In the step, the cylinder is operated along the target angle. This target angle α ₃ does not indicate the posture after rolling control, but is an index indicating which direction to tilt from the current state.
Indicates that the cylinder is operated so that it tilts to the right, and (-) indicates that the cylinder is tilted to the left.

First, the case where the target angle α ₃ is (+) will be explained.
In this case, the traveling body 7 is tilted too far to the left with respect to the set angle _α1 . Therefore, first, in order to lower the left traveling device 6 (that is, extend the rolling lifting cylinder), check whether the lower limit 25b is activated, and if the lower limit 25b is not activated, the left traveling device 6 is started. Lower the device 6. Also, if the lower limit 25b is activated, the left traveling device 6 cannot be lowered, so it is determined whether the right traveling device 6 is at the upper limit, and if it is the upper limit, both the left and right traveling devices 6, 6 are lowered. Since the operation cannot be performed, the stroke limit warning lamp of the rolling cylinder is turned on, and if the stroke limit is not reached, the right traveling device 6 is raised. On the other hand, when the target angle α ₃ is (-), the traveling body 7 is tilted too far to the right with respect to the set angle α ₁ . Therefore, in order to raise the left traveling device 6 (that is, shorten the rolling lifting cylinder), the upper limit 2
5a is activated, and if the upper limit 25a is not activated, the left traveling device 6 is raised. Also, if the lift limit 25a is activated, the left traveling device 6 cannot be raised, so it is determined whether the right traveling device 6 is at the lower limit, and if it is the lower limit, both the left and right traveling devices 6, 6 are raised higher. cannot be activated, so the stroke limit warning lamp of the rolling cylinder is lit,
If it is not the lower limit, the right traveling device 6 is raised.

Above, if the inclination angle is set to the set angle α ₁ ,
Next, set the vehicle height to the set value. The height of the right traveling device 6 with the stroke sensor 20 attached thereto is defined as the reference traveling device height. If this reference height is higher than the vehicle height setting value, the traveling device 6 will be located at a higher position relative to the traveling body 7, so the left and right traveling devices are lowered by the same amount, and the stroke sensor Stops when it detects that the set value has reached a high value,
You can change the vehicle height to a set value. Further, if the reference height is lower than the vehicle height setting value, the traveling device 6 will be located at a lower position with respect to the traveling body 7, so the left and right traveling devices 6, 6 are raised by the same amount, You can change the vehicle height to a set value. In the case of manual operation, the value set by the inclination setter 28 becomes the target angle _α3 , and the subsequent control is the same.

As described above, a series of control flows can be performed for a short period of time (for example,
10ms) and stops when the vehicle height has converged to the set value.

[Another example]

B. The traveling device 6 may have a configuration in which the entire traveling device 6 is moved up and down.

○B The stroke sensor 20 may be of a type other than the volume type.

○C The value set by the vehicle height setting device 32 may be one that sets the average height position of the left and right traveling device 6.

○D The combine harvester may be of the whole culm input type.

Note that although reference numerals are written in the claims section of the utility model registration for convenience of comparison with the drawings, the present invention is not limited to the structure of the attached drawings by such entry.

[Brief explanation of the drawing]

The drawings show an embodiment of the working vehicle according to the present invention, FIG. 1 is a configuration diagram showing a rolling control means, FIG. 2 is an overall side view, FIG. 3 is a flowchart corresponding to the rolling control means, and FIG. The figure is a rear view showing a tilted state of the traveling body. 6... Traveling device, 7... Traveling body, 19... Lifting drive means, 20... Height detection means, 21... Control means, 23... Inclination angle detection means, 25a, 25
b... Upper and lower limit detection means.

Claims (1)

[Scope of utility model registration request] A pair of left and right traveling devices 6, 6 are provided in a traveling body 7, and a lifting drive means 19 for driving the traveling devices 6, 6 up and down separately with respect to the traveling body 7; An inclination angle detection means 23 that detects the inclination angle, upper and lower limit detection means 25a and 25b that detect that the one traveling device 6 reaches the lifting end, and detects the height of the other traveling device 6 relative to the traveling body. height detection means 20, said inclination angle detection means 23, said upper and lower limit detection means 25a,
25b and the information from the height detecting means 20, the horizontal inclination angle of the traveling body 7 is maintained at the set inclination angle, and the height of the traveling body 6 relative to the traveling body is set to the set height. A control means 21 is provided for operating the lifting drive means 19 so as to maintain the height of the vehicle. 6 at a height position corresponding to the set left and right inclination angle of the traveling body 7, and then move both traveling devices 6, 6 to the set height relative to the aircraft while maintaining the set left and right tilt angle, A working vehicle configured to operate the lifting drive means 19.