JPH0685657B2 - Rolling equipment for work vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention mounts a pair of left and right traveling devices independently so as to be able to move up and down with respect to a traveling machine body, and adjusts a horizontal inclination angle of the traveling machine body with respect to a horizontal reference plane. Work including a rolling angle control means provided with a tilt angle detection sensor for detecting, and an automatic tilt angle control means for vertically moving the traveling device so as to maintain the set tilt angle based on the detection result of the tilt angle detection sensor. More specifically, the rolling device for a vehicle is mounted so that the traveling device can be independently moved up and down with respect to the traveling machine body. Therefore, for example, as disclosed in US Pat. Compared to the moving structure, even if the left and right inclination angles are the same, the reference height of the traveling device with respect to the traveling machine body (average height of both traveling devices, etc.) can be set arbitrarily, and only that On the rolling apparatus of the working vehicle is greater flexibility of attitude.

[Conventional technology]

The rolling device for a work vehicle having the above-mentioned features has a structure in which the traveling machine body is forcibly lifted by a cylinder or the like.

[Problems to be solved by the invention]

Therefore, during the automatic tilt angle control, the traveling machine body goes up and down to the ground and becomes unstable. Of course, even if the control is stopped, the traveling machine body may travel on the road or the like in a state where it is at the highest position. As shown in FIG. 2, due to instability of the traveling body and vibration of the traveling body, the cylinder (19) and the bell cranks (17A), (17) for lifting and lowering the traveling device (6) are operated.
The load applied to B), etc. will increase. Therefore, although it is designed with a margin in consideration of those loads,
Frequent peak loads were not desirable for cylinders and the like.

It is an object of the present invention to provide a cylinder or the like that has a long life by minimizing an unexpected external force induced by vibration of a machine body or the like acting on the cylinder or the like.

[Means for solving problems]

In the characteristic configuration according to the present invention, the automatic tilt angle control means is OFF.
In this case, the rolling control means is provided with a traveling machine body lower limit control means for forcibly moving both traveling devices to the highest position with respect to the traveling machine body to switch the traveling machine body to the lower limit position. It is as follows.

[Action]

In other words, in places where there is little need for automatic tilt angle control (for example, when the field is relatively hard even when traveling on the road or during mowing work), one of the traveling devices may sink and the traveling body may tilt. Since the number of the aircraft is small, the traveling machine and the traveling equipment are brought close to each other to lower the height of the traveling machine to ensure the stability, so that the vibration or the back and forth swing of the machine becomes small even when the vehicle is traveling, and the cylinder and the bell are accordingly reduced. The load on the crank is also small.

〔The invention's effect〕

Therefore, it is possible to reduce the chance that the peak value (maximum load) acts on those cylinders and the like, and there is an advantage that contributes to the extension of the life of the cylinder and the like.

〔Example〕

As shown in FIG. 2, the raising device (1), the reaping device (2) for cutting the grain culms raised by the raising device (1), and the conveyance of the cut culm to the rear threshing device (3). The cutting pretreatment device (5) provided with the rear transport device is provided with the traveling machine body (7) including the pair of left and right crawler traveling devices (6) and (6).
In (7), a combine cylinder is constructed by vertically swinging around a horizontal support shaft by means of an elevating cylinder.

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.
A drive sprocket (12) and a tension sprocket (13) are attached and fixed to the front and rear ends of the track frames (11) and (11) of the main frame of the traveling body (7) in the front-back orientation. The track frame (11) has a pair of front and rear movable frames (15A), (15B) pivotally supporting a plurality of idler wheels (14) on the lateral outer side 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 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.

As shown in FIG. 2, the upper and lower limit switches (see FIG. 3) for detecting the stroke ends of both the cylinders (19) and (19) are provided on the two lifting cylinders (19) and (19) for rolling. 25a) and (25b) are provided, and the detected value from this is input to the control device (21), and the detected value of the gravity type inclination angle detection sensor (23) that senses the inclination of the traveling body (7) to the left and right. Based on this, as shown in FIG. 1, the rolling valve with the control valve (24) keeps the horizontal tilt angle of the traveling vehicle body (7) with respect to the horizontal reference plane (ground) at the set value from the tilt setting device (22). The lifting cylinder (19) is used for rolling control. The limit switches (25a) and (25b), the sensor (23), the setting device (22), and the control device (21) for controlling them are referred to as automatic tilt angle control means (4).

In addition, a manual tilt for performing tilt angle control by arbitrarily raising and lowering the traveling devices (6), (6) based on the detection result of the stroke sensor (20) such as a potentiometer that detects the operation amount of the rolling cylinder (19). A switch (8) for switching between the angle control means and the automatic tilt angle control means (4) is provided, and a threshing switch (9) for detecting the operation of the threshing device (5) is provided, and these switches (8), ( When the automatic tilt angle control means (4) is turned off or the threshing device (3) stops operating according to the detection result of 9), both traveling devices (6) and (6) are set to the lower limit. (twenty five
b) and (25b), the travel vehicle lower limit control means (10) for switching the travel vehicle (7) to the lower limit position is operated. The switches (8) and (9), the limit switches (25b) and (25b), the rolling lift cylinder (19), and the like described above are referred to as traveling vehicle lower limit control means (10). The automatic tilt angle control means (4), the manual tilt angle control means, and the traveling body lower limit control means (10) are referred to as rolling control means (26).

A control flow by the rolling control means (26) is shown based on the above configuration. As shown in FIG. 4, first, if the automatic tilt angle control means (4) and the threshing device (3) are in operation, the AU
Set "1" to the TO flag for automatic tilt angle control. The detected value from the inclination angle detection sensor (23) of the traveling machine body (7) and the set value from the inclination angle setting device (22) are taken in, and the two are compared to calculate the declination angle (step I). This declination indicates in which direction the machine body is inclined. Here, (+) is the upper right state and (-) is the upper left state. When the declination is (+), "lower right output" (right travel device (6)
Output to raise the vehicle against the traveling body (7)),
Make sure the lower right limit (25b) is not working. When this right lower limit (25b) is operating, the right rolling lift cylinder (19) is at the stroke end (shortening), so the left upper limit (25a)
After confirming that is not operating, "upper left output" (output that lowers the left traveling device (6) with respect to the traveling vehicle body (7))
Give out. When the left upper limit (25a) is also operating, the left lift cylinder (19) is at the stroke end (extension), so the left and right rolling lift cylinders (19), (19) are at the stroke end. Yes, there is no further operation, so control is stopped. As described above, the raising and lowering operations of the traveling devices (6) and (6) are repeated periodically (for example, every 10 ms), and the inclination is changed so that the deflection angle becomes "0".

On the other hand, if the declination is (-), the procedure opposite to that for (+) may be performed (step II).

Next, when the operation of the automatic tilt angle control means (4) and the threshing device (3) is stopped, the AUTO flag is reset to “φ”, and the left and right traveling devices (6) are manually operated by a switch. Manual tilt angle control of Further, when one of the automatic tilt angle control means (4) and the threshing device (3) is not operating, it is determined whether the AUTO flag is "φ" or "1". If "φ", manual tilt angle control is possible, and if "1", the traveling machine body lower limit control means (10) is activated. That is, the lower right limit (25
If b) is not operating, "lower right output" (right traveling device (6) is raised with respect to traveling vehicle (7)) is output, and at the same time, if the lower left lower limit (25b) is not operating, "Upper left output" (Left drive device (6)
Output). If the left and right lower limits (25b) and (25b) are activated, the AUTO flag is reset to "φ" and "lower output" is stopped (step III).

[Another embodiment]

B. Although not specified in the above embodiment, a vehicle height setting device is newly provided, and based on the detection result of the stroke sensor (20), the reference heights of the left and right traveling devices (6) and (6) with respect to the body. (For example, the parallel height of both traveling devices (6) or the height of one of the traveling devices (6) on the left and right) is set and organically linked with the automatic tilt angle control means (4), and the rolling control means ( 26)
May be made more effective.

(B) Not only the wheels (14) but the entire traveling device (6) may be lifted and lowered.

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 rolling device for a work vehicle according to the present invention, and FIG. 1 is an overall configuration diagram showing a rolling control means,
2 is an overall side view, FIG. 3 is a rear view showing a rolling state of the traveling machine body, and FIG. 4 is a flow chart diagram. (4) ... automatic tilt angle control means, (6) ... traveling device,
(7) ...... Traveling machine, (10) ...... Traveling machine lower limit control means, (23) ...... Inclination angle detection sensor, (26) ...... Rolling control means.

Claims (1)

[Claims] 1. A pair of left and right traveling devices (6), (6) are independently mounted to a traveling machine body (7) so as to be able to move up and down, and a horizontal inclination angle of the traveling machine body (7) with respect to a horizontal reference plane. An inclination angle detection sensor (23) for detecting the inclination angle is provided, and an automatic inclination angle for driving the traveling devices (6), (6) up and down to maintain the set inclination angle based on the detection result of the inclination angle detection sensor (23). A rolling device for a work vehicle having a rolling control means (26) having a control means (4),
When the automatic control means (4) is turned off, both traveling devices (6) and (6) are forcibly moved to the highest position relative to the traveling machine body (7) to switch the traveling machine body (7) to the lower limit position. A rolling device for a working vehicle, comprising: a traveling body lower limit control means (10) in the rolling control means (26).