JPH0722457B2 - Work vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an elevating and lowering driving means for vertically moving a pair of left and right traveling devices provided on a traveling vehicle body with respect to the traveling vehicle body, and the elevating and lowering drive means. And a work vehicle provided with a control device for operating the.

[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 vehicle body tries to incline in the left-right direction, at least one of the traveling devices is moved up and down with respect to the traveling vehicle body. Therefore, the traveling body can be maintained in a desired left-right inclination posture, and in particular, if the 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, so that the straightness can be improved. In addition, it is possible to improve the selection performance, and a combine or the like equipped with a threshing device has an advantage that the selection performance can be improved because the uneven distribution of the selection products in the swing selection unit is reduced.

Therefore, as the one having the above-mentioned characteristics, conventionally, the traveling machine body is placed in a horizontal posture based on the information of the inclination detecting means for detecting the horizontal inclination angle of the traveling machine body with respect to the horizontal reference plane, and the information of the inclination detecting means. In some cases, control means for activating the elevating and lowering means is provided so as to maintain the above (see, for example, JP-A-61-1586).

[Problems to be Solved by the Invention]

In the case of the above-mentioned configuration, since the traveling machine body is only maintained in the horizontal posture, it cannot be dealt with when it is desired to position the traveling machine body at an arbitrary height on the field. That is, the conventional configuration does not describe an operation mechanism that can arbitrarily change the height of the traveling machine body.

Therefore, right and left push button switches are provided, and based on the information from the push button switches, the elevating and lowering drive means is operated only while the push button switches are being operated, and the left and right traveling devices are specially mounted on the traveling machine body. Although it may be possible to position it at an arbitrary height, it is very troublesome because the switch operation must be continued while the elevating drive means is operated. In addition, since it is performed by the operator's visual judgment, there is an inconvenience that an accurate lifting amount cannot be obtained.

The present invention has been made in view of the above circumstances, and by making a simple change to the operating mechanism to improve operability, the height of the left and right traveling devices relative to the traveling machine body can be arbitrarily set, and It is an object of the present invention to provide a work vehicle capable of reliably setting the amount of elevation of a traveling device.

[Means for Solving the Problems]

In order to achieve the above object, the work vehicle according to the present invention,
A working vehicle provided with a pair of left and right traveling devices provided on a traveling machine body for individually raising and lowering the traveling machine body, and a control device for operating the raising and lowering drive means. A pair of setters capable of setting operation target amounts for independently changing the relative height with respect to the traveling machine body are provided, and the control device raises and lowers the left and right traveling devices based on information from the setters. A characteristic feature is that it is configured to operate the lifting drive means.

The operation and effect of this characteristic configuration are as follows.

[Action]

That is, by operating the setters on the left and right separately and setting the operation target value for independently changing the relative height of the traveling device corresponding to each setter with respect to the traveling machine body, the set operation is set. The traveling device continues to move up and down until the vehicle reaches the target height, and automatically switches to the height position where the operation target is reached.

〔The invention's effect〕

Therefore, while the traveling device changes the height, it is not necessary to perform the switch operation, the operation load can be reduced accordingly, and the traveling device can be accurately switched to an arbitrary height position.

Moreover, since the left and right height setters are provided independently, by setting different setting values for each setter, it is possible to arbitrarily set the ground height and the ground inclination posture of the traveling machine body, and the same inclination posture. However, since the height above ground can be changed to a different height, the height above ground can be changed according to the condition of the field, for example, due to the difference in the amount of subsidence of the aircraft due to the difference between wet and dry fields. Can be changed to

As a result, by changing the height of the traveling aircraft using the height change mechanism, even if a large obstacle is projected on the field scene, for example, the aircraft height can be set so as to avoid such obstacle. You can also drive.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 7, the raising device (1), the harvesting device (2) for cutting the grain culms raised by the raising device (1), and the cutting grain culm toward the rear threshing device (3). A pre-mowing treatment device (5) having a rear transportation device (4) for transportation is provided on a traveling machine body (7) having a pair of left and right crawler traveling devices (6) and (6) around a lateral support shaft (X). The lift cylinder (8) is attached so as to be vertically swingable to form a combine as a work vehicle.

Next, a mounting structure of the pair of left and right crawler traveling devices (6) and (6) to the traveling machine body (7) will be described. 3 and 4
As shown in the figure, a horizontal frame (10) is connected below a main frame (9) in a forward-backward posture that constitutes a traveling body (7), and the horizontal frame (10) connects left and right track frames (11), (11) is connected and fixed. A drive sprocket (12) and a tension sprocket (13) are attached and fixed to the front and rear ends of each of the track frames (11) and (11). The track frame (11) is formed in a downward opening channel shape, and a pair of front and rear movable frames (15A), (15B) pivotally supporting a plurality of idle wheel bodies (14) in the open space are relatively up and down. It is movably attached. A large diameter idler wheel (16) is swingable up and down on the track frame (11) at an intermediate position of the idler wheel group (14).
Is supported.

The front and rear movable frames (15A) and (15B) are respectively attached with one ends of front and rear bell cranks (17A) and (17B) pivotally supported by a track frame (11) so as to be vertically swingable. Bell crank (17A), (17B)
Are connected by a connecting rod (18), and a rolling elevating cylinder (19) as an elevating drive means is connected to the other end of the rear bell crank (17B), so that the front-rear movable frames (15A), ( 15B) is configured to move up and down in the same direction by the same amount.

The elevating cylinder (19) for rolling is an example of an elevating and lowering driving means for individually elevating and lowering the grounding portions of the traveling devices (6) and (6) with respect to the traveling machine body (7).

As shown in FIG. 4, a volume type traveling device height sensor for detecting the swing amount of the rear bell crank (17B) is provided at a connection portion between the rolling lifting cylinder (19) and the rear bell crank (17B). (20) is provided, the detection value from the height sensor (20) is input to the control device (21), and is set by the volume type left and right height setting device (22), (22) on the hand side. The relative heights of the movable frames (15A) and (15B) with respect to the track frames (11) and (11) can be artificially changed so as to reach the set value as the operation target value. In this case, the traveling machine body is inclined by an amount corresponding to the difference in relative height between the left and right traveling devices (6), (6).

When the automatic control mode is adopted, the traveling machine body (7)
The height of the movable frames (15A) and (15B) is adjusted based on the detection value of the gravity type inclination sensor (23) as an inclination angle detecting means for detecting the inclination of the traveling body (7). The horizontal inclination angle with respect to the horizontal reference plane (ground) is maintained at the value set by the inclination setter (28). In this case, both crawler traveling devices (6),
The height of (6) is obtained by increasing or decreasing the target length to the average set value defined in the flowchart of FIG.

In addition, a volume type lift detection sensor (2) is provided at the pivotal shaft (X) part of the traveling machine body (7) of the cutting pretreatment device (5).
4) is provided and is configured to detect the amount of elevation of the cutting pretreatment device (5) with respect to the traveling machine body (7). The various sensors and the control device (21), the control valve (29) for the rolling lift cylinder (19) and the control valve (30) for the pre-mowing treatment device lift cylinder (8) are referred to as control means (31).

With reference to the flowcharts of FIGS. 5 (a) and 5 (b), the raising / lowering control of the crawler traveling device (movable frame) having the above configuration will be described. As shown in FIG. 3, the rolling elevator cylinder (19) is provided with limit switches (25) and (25) at the movable stroke end. When the limit switch (25) is activated, an alarm lamp (2
6) is activated. In the control flow, first, it is confirmed that the alarm lamp (26) is not lit, and automatic / manual control is selected. First, the case of automatic control will be described. When the height of the mowing pretreatment device (5) by the elevation detection sensor (24) is higher than a certain height during mowing work, the steering clutch for the left and right crawler traveling devices (6), (6) is activated. If it is, the target position (definition is shown in the figure) of the left and right traveling devices is determined as an average set value, and it is determined that the vehicle is turning at the edge of the ridge, and the left and right crawler traveling devices (6),
(6) is set to a level parallel to the traveling body (7). If the steering clutch is disengaged, it is determined that the vehicle is traveling on the road, and the operation of the rolling elevating cylinder (19) is stopped.

On the other hand, if the height of the pre-mowing treatment device (5) is the height during work, check whether the LED type display device (27) by the traveling device height sensor (20) is operating ( The target value shown in step I) and step II is calculated. The combine angle (α ₁ ) shown in the figure is an angle when the traveling devices (6) and (6) are already inclined with respect to the traveling machine body (7) at the start of control. Then, by the angle detected by the tilt sensor (23) (α ₂ ) and the angle set by the tilt setting device (28) with respect to the horizontal reference plane (α ₃ ), the target angle (α ₄ ) for operating the rolling lift cylinder (19) is set. ) Is calculated to calculate the operation length (target length) of the rolling lift cylinder (19) (step II).

Once the target length is determined, it is determined whether the maximum stroke (variable length) range of the rolling lift cylinder (19) can be covered. If the target length is greater than the variable length, this variable length is used as the target length. Rolling lift cylinder (19)
Warning lamp (26) that there is a stroke end
Display with (Step III).

Next, + and-of the target angle (α ₄ ) are determined. + Means that the traveling machine body (7) is tilted to the right (not in a tilted state). -Indicates the opposite action. In the case of +, the target position of the left traveling device (6) is calculated, 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 determined. The maximum stroke position (upper limit position) of the cylinder (19) is set, and the target position of the right traveling device (6) is set to a position having a cylinder length shorter than the maximum stroke position by twice the target length. When the target position of the left traveling device (6) falls within the stroke of the rolling lift cylinder (19), does the target position of the right traveling device (6) fall within the stroke of the cylinder (19)? If the lower limit position (minimum stroke position) is exceeded, the target position of the right traveling device (6) is set to the minimum stroke position (lower limit position) of the cylinder (19), and the left traveling device is set. The target position of (6) is set to a position having a cylinder length longer than the minimum stroke position by twice the target length. When the target 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 (corrected length) of the rolling cylinder (19) is determined from the position information obtained by the traveling device height sensor (20). ) Is determined, the operation of the rolling elevating cylinder (19) is stopped when it is within 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 set values by the setters (22) and (22) for setting the relative heights of the left and right traveling devices (6) and (6) with respect to the vehicle body are set. The rolling elevating cylinders (19) and (19) are controlled so that

The processing according to the above flow is repeated every short time (for example, 10 ms), and control is performed to maintain the traveling body (7) in the set posture.

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

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

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

 The combine may be of all type.

[Brief description of drawings]

1 shows a working vehicle according to the present invention, FIG. 1 is a block diagram showing a control means, FIG. 2 is a front view showing a panel on which various setting devices are arranged, and FIG. FIG. 4 is a side view showing the control means, FIG. 4 is a longitudinal rear view showing the elevating control means of the traveling device, FIGS. 5 (a) and 5 (b) are flow charts, and FIG. 6 is a positional relationship between the machine body and the traveling device. And FIG. 7 is an overall side view. (6) …… Traveling device, (7) …… Travel vehicle, (19) ……
Elevating / driving means, (21) ... control device, (22) ... setting device.

Front page continuation (72) Inventor Shigeo Sato 64 Ishizukita-machi, Sakai City, Osaka Prefecture Kubota Iron Works Co., Ltd. Sakai Works (56) References JP-A-59-38108 (JP, A)

Claims (1)

[Claims] 1. A lift drive means (19) for vertically moving a pair of left and right traveling devices (6), (6) provided on a traveling machine body (7) with respect to the traveling machine body (7), respectively. A working vehicle provided with a control device (21) for operating a lifting drive means (19), wherein the relative heights of the traveling devices (6) and (6) with respect to the traveling machine body (7) are independently changed. Is provided with a pair of setting devices (22) and (22) capable of setting an operation target amount, and the control device (21) is set to the setting devices (22) and (22).
A work vehicle configured to operate the ascending / descending drive means (19) to ascend and descend the left and right traveling devices (6), (6) based on information from the.