JPH0669330B2 - Work vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of use] The present invention includes a pair of left and right traveling devices in a traveling machine body, and elevating and lowering drive means for vertically elevating and lowering the traveling machine body with respect to the traveling machine body, and the traveling machine. An inclination angle detecting means for detecting a horizontal inclination angle of the machine body with respect to a horizontal reference plane, and a height detecting means for detecting a relative height of the traveling device with respect to the traveling machine body,
Based on the information of the inclination angle detection means and the height detection means,
Work provided with control means for activating the elevating and lowering drive means so as to maintain the left-right inclination angle of the traveling machine body at a set inclination angle and maintain the reference height of the traveling device against the traveling machine body at the set height. Regarding cars

[Conventional technology]

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 the field and the traveling body tries to tilt in the left-right direction, at least one of the ground contact portions of the traveling device with respect to the traveling body is It has a feature that it can be lifted up and down to maintain the traveling body in a desired left-right inclination posture, and in particular, if a control form for maintaining the traveling body in a horizontal posture is adopted, the ground pressure applied to the left and right traveling devices can be made uniform, In addition to improving the straightness, a combine or the like equipped with a threshing device has an advantage that the sorting performance can be improved because the uneven distribution of the sorted products in the swing sorting unit is reduced. Moreover, the height of the traveling machine body with respect to the traveling device can be maintained at the set height.

[Problems to be Solved by the Invention]

An object of the present invention is to construct a specific control configuration of the lifting drive means to rationally set the operation sequence of the setting of the inclination angle and the setting of the reference height of the traveling machine body to perform more stable control. It is in the point of providing.

[Means for Solving the Problems]

In the characteristic configuration according to the present invention, the elevating and lowering drive means is arranged to switch the control means to the reference height of the traveling device with respect to the traveling body to the set height in a state where the lateral inclination angle of the traveling body is switched to the set inclination angle. Is configured to operate, and the operation and effect are as follows.

[Action]

When the horizontal inclination angle of the traveling machine body deviates from the set inclination angle, at least one of the traveling devices is moved up and down to operate the control device so as to maintain the horizontal inclination angle within the set range.
Further, when the height of the traveling device with respect to the traveling body deviates from the set height, the traveling device is moved up and down to operate the control device so as to maintain the set height.

When it is necessary to perform the tilt angle control and the vehicle height setting at the same time, the tilt angle is set and the set tilt angle is maintained, and the height is switched to the set height.

〔The invention's effect〕

Therefore, when the height is set and then the inclination angle is set, one of the traveling devices is moved up and down in the step of setting the inclination angle, and therefore the height is set again in the step of setting the inclination angle. Although it is necessary to redo, by performing the inclination angle in advance, it is not necessary to set the height twice, and the control can be performed quickly.

〔Example〕

As shown in FIG. 4, the raising device (1), the harvesting device (2) for cutting the grain culms raised by the raising device (1), and the transfer of the harvested grain culm to the rear threshing device (3). The reaping pretreatment device (5) equipped with a rear transport device is freely swingable up and down by a lifting cylinder around a lateral support shaft on a traveling machine body (7) equipped with a pair of left and right crawler traveling devices (6), (6). And a combine as an example of a work vehicle.

Next, the mounting structure of the left and right crawler traveling devices (6) and (6) to the traveling machine body (7) will be described. As shown in FIG.
The track frame (11), which constitutes the main frame in the front-rear direction, which constitutes the traveling vehicle body (7), has the drive sprocket (12) attached to the front end, and a plurality of idle wheel bodies (14) on the lateral outer side. Also, a large diameter idler wheel (16) located in the middle of this idler wheel group, and a front-rear movable frame (15) to which the rear end tension sprocket (13) is attached and fixed.
A) and (15B) are mounted so that they can move up and down relatively.

Front and rear bell cranks (17A) and (17B) pivotally supported on the track frame (11) so as to be vertically swingable are attached to the front and rear movable frames (15A) and (15B), respectively. (17A) 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 frame (15A) ) And (15B) are configured to move up and down in the same direction by the same amount.

A volume type traveling device height sensor (20) for detecting the swing amount of the rear bell crank (17B) is provided, and the detection value from the height sensor (20) is input to the control device (21). , The movable frame (15) is controlled by the rolling elevator cylinder (19) with the control valve (29) so that the vehicle height set value of the volume type vehicle height setter (22) on the hand side is reached.
The relative heights of A) and (15B) to the track frames (11) and (11) can be changed. In this case, the vehicle height set value by the vehicle height setter (22) is the same for both traveling devices (6),
The average height of (6) with respect to the traveling body (7) is shown. or,
The height sensor (20) is height detecting means for detecting a relative height of the traveling device (6) with respect to the traveling machine body (7).

The rolling elevating cylinder (19) is an elevating and lowering drive means for vertically elevating the traveling device (6) with respect to the traveling machine body (7).

On the other hand, when setting the tilted posture of the traveling body (7),
Based on the detection value of the gravity type inclination sensor (23) that detects the tilting posture of the traveling machine body (7) to the left and right, it corresponds to the traveling device (6) located on the lower side of the traveling machine body (7). Adjusting the height of the movable frames (15A), (15B) to control the horizontal tilt angle of the traveling vehicle (7) with respect to the horizontal reference plane (ground) to the value set by the tilt setter (28) A rolling lifting cylinder (19) with a bubble (29) enables rolling control. The gravity type inclination sensor (23) is an inclination angle detecting means for detecting a horizontal inclination angle of the traveling machine body (7) with respect to a horizontal reference plane. that's all,
The sensors (20), (23) various setting devices (22), (28), and the control device (21) as a control means for these are referred to as rolling control means (31).

With the above configuration, the raising / lowering control of the crawler traveling device (movable frame) will be described with reference to the flowchart of FIG. In step (I), tilt angle control is performed. That is, the deviation is calculated by comparing the angle set by the tilt setter (28) and the angle detected by the tilt sensor (23), and it is determined which of the left and right directions the traveling machine body (7) should be tilted. When the deviation is (+), it is necessary to tilt the traveling machine body to the right, and when the deviation is (-), it is necessary to tilt it to the left side. This deviation does not indicate that the posture after tilt control is tilted to the right or left, but only the directionality for posture correction. Therefore, when the deviation is (+), the height positional relationship between the two traveling devices (6) and (6) before control is compared and, for example, the right traveling device (6) is high (that is, the traveling vehicle body is If the vehicle is close (to the other side), the left traveling device (6) at the lower position is further lowered to set the machine body (7) in a more inclined right posture. If the left-hand drive is tall and equal, the right-hand drive (6) is raised. If the deviation is (-), the procedure opposite to that for (+) may be performed.

In this way, the lower traveling device (6) is operated to move up and down at the lower position when the sunk in the ridge or the like, and the higher traveling device (6) is at the normal height because it is on the ridge. Because it is considered to be.

Next, in step II, vehicle height control is performed. As described in step I, when the inclination angle is set to the set angle, the reference heights of the two traveling devices (6) and (6) in that state with respect to the vehicle body (the heights of the left traveling device and the right traveling device). The average value of the position is the setting device (2
If there is a difference compared with the set value in 2), the vehicle height can also be set to the set value by raising and lowering both traveling devices (6) and (6) in the same direction by the same amount. it can.

[Other Embodiments] The height of one traveling device (6) may be used as the reference height for the machine body.

It may be configured such that the entire crawler traveling device (6) is moved up and down.

The actuator of the crawler traveling device (6) may be a combination of a pneumatic cylinder or screw mechanism and an electric motor or the like.

The traveling device (6) may be of a tire type, and its type is not specified.

The combine may be of all culm type.

The control mode for maintaining the inclination angle within the set range and maintaining the vehicle height at the set value in that state may be other than that shown in the flowchart of FIG.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

The drawings show an embodiment of a work vehicle according to the present invention, FIG. 1 is a configuration diagram showing rolling control means, FIG. 2 is a flowchart diagram for rolling control, and FIG. 3 is a rear view showing a rolling posture of a traveling machine body, FIG. 4 is a schematic overall side view. (5) ... pre-mowing treatment device, (6) ... traveling device,
(7) …… Traveling machine, (19) …… Up / down drive means, (20)
...... Height detection means, (21) ...... Control means, (23) ...... Inclination angle detection means, (31) ...... Rolling control means.

Claims (1)

[Claims] 1. Elevating and lowering drive means for equipping a traveling machine body (7) with a pair of left and right traveling devices (6) for vertically moving the traveling devices (6), (6) with respect to the traveling machine body (7). (19), a tilt angle detecting means (23) for detecting a horizontal tilt angle of the traveling machine body (7) with respect to a horizontal reference plane, and a relative position of the traveling devices (6) and (6) with respect to the traveling machine body (7). Based on the information of the height detection means (20) for detecting the height, the inclination angle detection means (23) and the height detection means (20), the horizontal inclination angle of the traveling machine body (7) is set. And a control means (21) for operating the elevating drive means (19) so as to maintain the above-mentioned traveling devices (6) and (6) with respect to the traveling body reference height at a set height. A certain working vehicle, wherein the control means (21) includes the traveling machine body (7).
The vertical drive means (19) is operated so as to switch the reference height of the traveling device (6) against the traveling vehicle body to the set height while the left and right tilt angles of the vehicle are switched to the set inclination angle. A working vehicle.