JPH0669331B2 - 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 device with respect to the traveling machine body, and the traveling machine. Based on the information of the tilt angle detecting means for detecting the horizontal tilt angle of the machine body with respect to the horizontal reference plane, and the information of the tilt angle detecting means, the lifting drive means is arranged to maintain the horizontal tilt angle of the traveling machine body at the set tilt angle. The present invention relates to a work vehicle provided with a control device for operating the work vehicle.

[Conventional technology]

In this type of work vehicle, one of the left and right traveling devices is dropped into a ridge or the like during work in a field, and the traveling device is inclined to the left and right. It has the feature that the traveling machine can be maintained in a desired left-right inclination posture. Especially, if the control form that maintains the traveling machine body in a horizontal posture is adopted, the ground pressure applied to the left and right traveling devices can be made uniform, so that the straightness is good. In addition, 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 section is reduced.

[Problems to be Solved by the Invention]

An object of the present invention is to ensure traveling stability by rationally setting the positional relationship between the traveling device and the traveling machine body during non-work traveling.

[Means for Solving the Problems]

A characteristic configuration according to the present invention resides in that the control device is configured to position both traveling devices at a position closest to the traveling machine body in an up-and-down position at the time of non-work traveling, and the operation and effect thereof are as follows.

[Action]

In such a vehicle capable of rolling the traveling body, it is unlikely that the traveling device sinks into the road surface during non-working traveling (that is, when traveling on the road).
Since the rolling control is stopped and the vehicle is traveling at a higher speed than when working on the road and is prone to tipping over ridges, the height of the traveling aircraft from the ground is lowered to reduce the height of the aircraft. It secures stability.

〔The invention's effect〕

Therefore, it has a function that can always change the left and right inclination angle of the traveling aircraft with respect to the horizontal reference plane, and during non-working traveling, the aircraft stability is ensured and unexpected situations such as falling can be avoided and rolling control Does not suppress effectiveness.

〔Example〕

As shown in FIG. 3, 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). A cutting pretreatment device (5) equipped with a rear transport device is mounted on a traveling machine body (7) equipped with a pair of left and right crawler traveling devices (6) and (6), and an elevating cylinder (8) is provided around a lateral support shaft (X). ) Is attached so as to be swingable up and down, and a combine as an example of a work vehicle is configured.

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) in the main frame of the traveling body (7) in the front-back orientation is connected and fixed. A drive sprocket (12) and a tension sprocket (13) are provided at the front and rear ends of each of the track frames (11) and (11).
Is attached and fixed. The track frame (11) has a pair of front and rear movable frames (15A), (15B) pivotally supporting a plurality of idle wheel bodies (14) on the lateral outside thereof so as to be capable of relative vertical movement. A large diameter idler wheel body (16) is supported by the track frame (11) so as to be vertically swingable at an intermediate position of the idler wheel group (14).

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 an elevating cylinder (19) for rolling is connected to the other end of the rear bell crank (17B). ) And (15B) are configured to move up and down in the same direction by the same amount.

As shown in FIG. 3, both rolling elevator cylinders (19) and (19) are provided with volume type stroke sensors (20) and (20) for detecting the extension operation of the cylinders. The detected value of is input to the control device (21), and it is controlled by the rolling cylinder (19) with the control valve (29) so that it will be the vehicle height setting value of the volume type vehicle height setting device (22) on the hand side. , The movable frame (15
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) represents the reference height of the traveling device (6) for the traveling machine body (7). The rolling elevating cylinder (19) is an elevating and lowering driving means for vertically moving 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 tilt sensor (23) that detects the tilt of the traveling machine body (7) to the left and right, the movable device (6) corresponding to the traveling device (6) located below the traveling machine body (7) is movable. By adjusting the height of the frames (15A) and (15B), the control valve is maintained so that the horizontal tilt angle of the traveling body (7) with respect to the horizontal reference plane (ground) is maintained at the set value from the tilt setter (28). Rolling control is possible by a rolling lifting cylinder (19) with (29). Gravity-type tilt sensor (2
3) is an inclination angle detecting means for detecting a horizontal inclination angle of the traveling machine body (7) with respect to the horizontal reference plane. Above, the sensor (2
0), (23), various setting devices (22), (28), and a control device (21) for them are used as rolling control means (31).
A).

A volume-type elevation detection sensor (24) is provided at the pivotal support shaft (X) part of the traveling pre-treatment device (5) of the cutting pretreatment device (5), and the cutting pretreatment device (5) is provided. An ultrasonic ground height sensor (33) that is configured to detect the amount of up and down movement with respect to the traveling body (7) and is provided at the intermediate position between the left and right traveling devices (6) and (6) and in the raising frame. A control valve (30) is attached to maintain the ground height of the pre-cutting device (5) (cutting height for grain culms) within the range set by the cutting height setting device (35) based on the detected value from The raising and lowering cylinder (8) is configured so that the cutting height can be controlled. Above, ground height sensor (33), cutting height setting device (3
5) and the control valve (30) for the lifting cylinder (8) are referred to as cutting height control means (31B). Incidentally, (4) in FIG. 2 is a lamp showing the detection value of the body tilt angle sensor (23).

In contrast to the configuration described above, both traveling devices (6) and (6) are set to the lower limit position (position closest to the traveling machine body) when not working (traveling on the road or crossing ridges). A switching means (34) for switching is provided. The switching means (34) detects the on / off state of the threshing clutch lever (not shown) and the threshing device stop signal from the threshing switch (9). 6) to a lower limit position control device (21).

With the above configuration, the raising / lowering control of the crawler traveling device (movable frame) will be described with reference to the flowcharts of FIGS. The rolling lift cylinder (19) is provided with a limit switch at the end of its movable stroke, and when the limit switch is activated, the alarm lamp (26) is activated. In the control flow, first, confirm that the alarm lamp (26) is not lit, take in position information from the travel device stroke sensors (20), (20), and switch the automatic / manual control switch (32 ) To select. Next, it is judged whether or not the threshing device (3) is in operation, and if the operation is stopped, the left and right traveling devices (6), (6)
To the lower limit position, and based on the height information of the mowing pretreatment device (5) by the elevation detection sensor (24), the height of the mowing pretreatment device (5) is higher than a certain height during mowing work. If the target position of both traveling devices (6) and (6) is the upper limit position (maximum stroke length of the rolling lift cylinder) or the lower limit position (rolling lift cylinder (Minimum stroke length) (step I).

The combine angle shown in the figure is an angle when the traveling devices (6) and (6) are already inclined with respect to the traveling vehicle body (7) at the start of control. Then, a target angle for operating the rolling elevating cylinder (19) is calculated from the angle detected by the inclination sensor (23) and the angle set by the inclination setter (28) with respect to the horizontal reference plane, and the rolling elevating cylinder (1
The operation length (target length) of 9) is calculated (step II).

Once the target length is determined, it is judged whether the maximum stroke (variable length) range of the rolling lift cylinder (19) can be covered. If the target length is larger than the variable length, this variable length is used as the target length. The inclination angle warning lamp (27) indicates that the rolling elevator cylinder (19) is at the stroke end (step III).

Next, whether the target angle is + or-is determined. "+" Means a case where the traveling machine body (7) is tilted rightward, and "-" means an opposite operation. In the case of +, the target position of the left traveling device (6) is calculated from (vehicle height set value + target length), and when this target position exceeds the stroke range of the left rolling lifting cylinder (19) , The target position of the traveling device (6) is set to the maximum stroke position (upper limit position) of the cylinder (19), and the right traveling device (6) is targeted to the cylinder length position shorter than the maximum stroke position by the target length. Set the position. When the target position of the left traveling device (6) falls within the stroke of the rolling lift cylinder (19), the target position of the right traveling device (6) is set to the vehicle height setting value and the left The target position of the traveling device (6) is set to the vehicle height set value plus the target length. When the rolling elevating cylinder (19) reaches the stroke end, the vehicle height has not reached the set value, so the vehicle height alarm lamp (26) is turned on.

When the angle (α ₄ ) is −, the procedure opposite to the case of + may be performed (step IV).

When the target positions of the left and right traveling devices (6) and (6) are determined as described above, the required operating length (correction length) of the rolling lift cylinder (19) is determined from the position information obtained by the traveling device height sensor (20). ) Is determined, and the rolling elevating cylinder (19) is stopped when it is in the dead zone (α), and when it exceeds this, the rolling elevating cylinder (19) is operated for the correction length.

Next, when the manual control is switched by the changeover switch (32), the target angle is controlled so as to become the set value by the tilt angle setting device (28). As described above, the series of control flow is repeated every short time (for example, 10 ms), and stops in the state of being focused at the set angle.

[Another embodiment]

(A) In the above embodiment, only the idle wheel (14) is moved up and down, but the entire crawler traveling device (6) may be moved up and down.

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

The crawler device (6) is not of the crawler type,
The tire type may be used, and its type is not specified.

The Nikon combine may be of all type.

Also, the set value by the vehicle height setting device (22) may be one that sets the average height position of the left and right traveling devices (6). In this case, the target position of both traveling devices (6) and (6) is defined by the vehicle height set value plus or minus 1/2 target length.

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]

FIG. 1 shows an embodiment of a work vehicle according to the present invention, FIG. 1 is a configuration diagram showing rolling control / elevation control means, FIG. 2 is a front view showing an operation panel, FIG. 3 is an overall side view, and FIG. The figure is a rear view showing the tilted posture of the traveling machine body, and FIGS. 5A and 5B are flowcharts of rolling control. (6) …… Traveling device, (7) …… Travel vehicle, (19) ……
Lifting drive means, (21) ... Control device, (23) ... Inclination angle detection means, (31A) ... Rolling control means, (34) ...
... Switching means.

Claims (1)

[Claims] 1. A pair of left and right traveling devices (6), (6) are provided on a traveling machine body (7), and the traveling devices (6) and (6) are individually moved up and down with respect to the traveling machine body (7). The traveling based on the information of the ascending / descending driving means (19), the inclination angle detecting means (23) for detecting the horizontal inclination angle of the traveling machine body (7) with respect to the horizontal reference plane, and the inclination angle detecting means (23). A work vehicle provided with a control device (21) for operating the elevating and lowering drive means (19) so as to maintain the horizontal inclination angle of the machine body (7) at a set inclination angle, the control device (21) comprising: A work vehicle configured such that both traveling devices (6) and (6) are positioned at the closest up and down positions with respect to the traveling machine body (7) during non-work traveling.