JPH07110176B2 - Running posture control device for mobile agricultural machinery - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a traveling posture control device for a mobile agricultural machine such as a combine harvester.

(Prior Art and Problems to be Solved by the Invention) In rolling control in which a pair of left and right crawlers are moved up and down with respect to a vehicle body to control the left-right posture of the vehicle body to a rolling or horizontal posture, a running ground, etc. Therefore, if the vehicle body leans to the left or right side excessively, there is a risk that the vehicle body may roll over.

Japanese Patent Laid-Open No. 3-232416 discloses a conventional technique related to this. This invention, when the left and right inclination angle of the vehicle body deviates from the target inclination angle, when working in the aircraft down limit mode,
It is configured to ensure the safety of the aircraft by moving the vehicle body to the lower limit position.

However, in this invention, when the vehicle deviates from the target inclination angle, the vehicle height lowers to the lower limit position, so the vehicle body excessively lowers with respect to the working conditions in the field, and, for example, when applied to a combine, The reaper is lowered too much,
It had the drawback of approaching the ground abnormally or plunging into the ground.

This invention maintains a safe running posture by lowering the height of the vehicle body (vehicle height) when the vehicle body leans greatly to the left or right during rolling control of the vehicle body.
When the inclination angle decreases during a descent of the vehicle body and the vehicle is in a safe state, the descent is stopped halfway to continue the work, and the work is performed in a state in which the field conditions are relatively met. It is intended to eliminate.

(Means for Solving the Problem) The present invention is directed to a left-handed body provided on a vehicle body 1 so as to be vertically movable.
A right crawler 2,2, a vertical movement means for vertically moving by each of the left and right crawlers 2,2, a left and right inclination sensor 22 provided in the vehicle body 1 for detecting a left and right inclination angle, The left and right crawlers are linked to the detection results of the left and right tilt sensor 22.
A rolling control device 3 for vertically controlling the vehicle body 1 so that the vehicle body 1 is maintained in a horizontal horizontal posture by vertically moving 2, 2 and a dangerous slope for detecting that the horizontal inclination angle of the vehicle body 1 is larger than the fall danger angle. An angle detection means, a descent control device 4 which operates in association with the detection of the dangerous angle of the dangerous inclination angle detection means, and controls both the vertical movement means of the left and right crawlers 2, 2 to the vehicle height lowering side, A vehicle that operates in association with the detection result of the lateral inclination angle of the vehicle body 1 which is equal to or less than the dangerous angle during the vehicle height lowering control of the lowering control device 4 and cancels the vehicle height lowering control of the lowering control device 4. The traveling posture control device for a mobile agricultural machine comprises a height lowering stop means.

(Operation of the Invention) In connection with the detection of the inclination in the left-right direction or the horizontal inclination of the vehicle body 1, the rolling control device 3 operates to move the left and right crawlers 2, 2 up and down with respect to the vehicle body 1, Rolling control 1 to the left or right to maintain the horizontal posture.

During the control of the horizontal posture of the vehicle body 1 as described above, when the left and right inclination sensor 22 detects that the vehicle body 1 largely leans to the left and right and reaches the overturning danger angle, the descent control is performed in connection with the inclination detection. The device 4 operates and the vehicle height of the vehicle body 1 is controlled to descend to a predetermined position. Further, when the left / right tilt sensor 22 detects that the tilt angle of the vehicle body 1 has become equal to or less than the dangerous tilt angle during the vehicle height lowering control of the vehicle body 1 by the operation of the lowering control device 4, in connection with this The control for lowering the vehicle height is stopped.

(Effects of the Invention) As described above, if the left-right inclination of the vehicle body 1 approaches the critical angle during the left-right horizontal control of the vehicle body 1, the vehicle body 1 is lowered to lower the center of gravity and control the posture so that it is hard to fall. Further, when the vehicle body 1 becomes smaller than the dangerous angle during the descent, the descent of the vehicle body 1 is stopped to prevent the vehicle body 1 from rolling over, and the horizontal rolling posture of the vehicle body 1 is maintained by the safe rolling action of the vehicle body 1. Further, when the angle is less than the dangerous angle, excessive lowering of the vehicle body can be prevented, and suitable work can be performed according to the field conditions.

(Embodiment) An embodiment of the present invention will be described with reference to the drawings.

On the lower side of the vehicle body 1, a pair of left and right crawlers 2, 2 are provided for front and rear link arms 5 and 6, which form a parallel link mechanism,
The rear link arms 5 and 6 are vertically and independently moved vertically by a rolling cylinder 7 or the like. Further, on the upper side of the vehicle body 1, there is provided a chassis 9 which can be tilted back and forth around a front pitching shaft 8 and is provided with a pitching cylinder 10
It is configured to be inclined forward and backward through the link mechanism 11 by the expansion and contraction of.

The left and right crawlers 2, 2 are rotatable sprocket wheels 13, 13, ... Arranged along the crawler frames 12, 12, and a drive sprocket that is transmitted at the front end of the vehicle body 1 via a transmission device of a traveling transmission case. An endless orbital zone 15 is laid across between the sprocket 14 and 14, and is driven by the rotation of the drive sprocket 14.

The crawlers 2, 2 are configured to move the crawler frames 12, 12 up and down in parallel with the vehicle body 1 by rotating the front and rear link arms 5, 6. Reference numeral 16 is a rod that interlocks the front and rear link arms 5 and 6, and the rolling cylinders 7 and 7 are provided so as to extend and contract between the front link arm 5 and the vehicle body 1, and each rolling cylinder
The left and right crawlers 2, 2 are independently moved up and down with respect to the vehicle body 1 by 7, 7. When the left and right crawlers 2, 2 are moved up and down, the vehicle body 1 is tilted to the left and right and becomes horizontal, or the entire vehicle body 1 is moved up and down.

Further, the pitching shaft 8 is provided on the pivot axis of the front link arm 6 with respect to the vehicle body 1, and a pitching cylinder 10 that is controlled to extend and contract at the rear end of the vehicle chassis 9 serves to separate the vehicle body 1 from the vehicle chassis 9. By rotating the link mechanism 11 between them, the chassis 9 is rotated from the front-rear parallel state with respect to the vehicle body 1 to an appropriate angle over the forward downward inclination.

On the chassis 9, in the case of a combine, a mowing device at the front,
It is equipped with a control unit, a thresher, and a grain tank at the rear.

The rolling control device 3 and the descent control device 4 and the like are configured by a controller 17 having a microcomputer, various sensors on the input side, various solenoids on the output side, and the like.

On the input side of the controller 17, the left and right rolling cylinders 7, 7 are simultaneously expanded and contracted to raise and / or lower both left and right side portions of the vehicle body 1 together.
By tilting the control lever back and forth and / or left and right, and expanding and contracting the pitching cylinder 10, the chassis 9 with respect to the vehicle body 1
The tilt lever switch 19 for adjusting the front-rear tilt adjustment (pitching) and the tilt adjustment (rolling) of the vehicle body 1 to the left and right by expanding and contracting the left and right rolling cylinders 7, 7 A threshing clutch switch 20 for turning on / off the transmission clutch and automatically performing horizontal control when the transmission clutch is engaged, a vehicle body horizontal switch 21 for controlling the vehicle body 1 in a horizontal horizontal position by the rolling control and the pitching control as described above, A left / right tilt sensor 22 for detecting the left / right tilt angle and horizontal of the vehicle body 1, a chassis 9
Front and rear inclination sensor that detects the front and rear inclination angle and horizontal
23, left / right stroke sensor 24,2 for feedback control while detecting the extension of the left / right rolling cylinder 7,7
5, and a front and rear stroke sensor 26 and the like for feedback control while detecting the extension of the pitching cylinder 10 are provided.

Further, on the output side of the controller 17, the left rolling cylinder 7 is expanded and contracted to move the left vehicle body 1 up and down, so that the left rolling control valve 27 is switched between the up side and the down side. Pitching control so that the lower left solenoid 29 and the right rolling control valve 30 of the right rolling cylinder 7 are switched, and the upper right solenoid 31 / lower right solenoid 32 and the rolling cylinder 10 are expanded / contracted to vertically move the chassis 9 around the pitching shaft 8. The front / rear solenoids 34, 35 for switching the valve 33, the unload solenoid 37 for operating the unload valve 36, and the threshing switch 20
An automatic lamp 38 and the like are provided which are turned on when the horizontal control is automatically performed by turning on.

The hydraulic circuit 39 of the hydraulic pump P is provided with the left / right rolling control valves 27, 30, the pitching control valve 33, the left / right rolling cylinders 7, 7, the pitching cylinder 10, the unloading valve 36, and the like. .

Among them, the rolling control device 3 includes a manual rolling control by operating the tilt lever switch 19, the vehicle body horizontal switch 21, or the threshing switch 20, and an automatic rolling control.

When the detection angle of the left and right inclination sensor 22 becomes equal to or larger than a predetermined set angle A that is dangerous for the vehicle body 1 to roll over, the descending control device 4 detects the lower left solenoid based on this detection.
29 and the lower right solenoid 32 are operated to switch the left and right rolling control valves 27 and 30, and the left and right rolling cylinders 7 and 7 are simultaneously contracted to lower the vehicle body 1 (fourth).
Figure). When this descent reaches a preset position,
By detecting the right stroke sensors 24, 25, the left and right solenoids 29, 32 are switched to the neutral position, and the descent of the vehicle body 1 is stopped.

Further, when the dangerous angle A or less is reached during the descent of the vehicle body 1 while the left and right rolling cylinders 7, 7 are simultaneously contracted, the descent of the vehicle body 1 is stopped and the work is continued. The mowing device, which is a working device, can perform the mowing work relatively along the field scene while preventing abnormal approach to the field scene and plunge into the ground, thereby improving work accuracy.

As shown in FIG. 5, the dangerous angle A is the left / right inclination B of the traveling ground and the left / right side of the vehicle body 1 at the highest vehicle height position.
It is advisable to set the safety limit of the dangerous angle A of the vehicle body 1 as A = BC by the inclination angle C of the right crawler 2, 2.

[Brief description of drawings]

1 is a side view, FIG. 2 is a hydraulic circuit diagram, FIG. 3 is a control block diagram, FIG. 4 is a partial control flowchart, and FIG. It is a front view which shows a control limit. (Description of symbols) 1 ... vehicle body 2 ... crawler 3 ... rolling control device 4 ... descending control device

Claims (1)

[Claims] 1. A left-handed body that is vertically movable on a vehicle body 1.
A right crawler 2,2, a vertical movement means for vertically moving by each of the left and right crawlers 2,2, a left and right inclination sensor 22 provided in the vehicle body 1 for detecting a left and right inclination angle, The left and right crawlers are linked to the detection results of the left and right tilt sensor 22.
A rolling control device 3 for vertically controlling the vehicle body 1 so that the vehicle body 1 is maintained in a horizontal horizontal posture by vertically moving 2, 2 and a dangerous slope for detecting that the horizontal inclination angle of the vehicle body 1 is larger than the fall danger angle. An angle detection means, a descent control device 4 which operates in association with the detection of the dangerous angle of the dangerous inclination angle detection means, and controls both the vertical movement means of the left and right crawlers 2, 2 to the vehicle height lowering side, A vehicle that operates in association with the detection result of the left-right tilt angle of the vehicle body 1 being equal to or less than the dangerous angle during the vehicle height lowering control of the lowering control device 4 and cancels the vehicle height lowering control of the lowering control device 4. A traveling posture control device for a mobile agricultural machine, which comprises a height lowering stop means.