JPH0767351B2 - Work vehicle - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention comprises a pair of left and right traveling devices provided on a traveling machine body, and lifting and lowering drive means for separately raising and lowering the grounding portions of the pair of left and right traveling devices with respect to the traveling machine body. A tilt angle detecting means for detecting a horizontal tilt angle of the traveling machine body with respect to a horizontal reference plane, and the elevating and lowering driving means for maintaining the lateral tilt angle of the traveling machine body at a set tilt angle based on information of the tilt angle detecting means. And a control means for operating the work vehicle.

[0002]

2. Description of the Related Art In this type of work vehicle, when one of the left and right traveling devices falls into a furrow or the like and the traveling machine body leans in the left-right direction during work in a field, at least the grounding portion of the traveling device is at least affected. It has the feature that one side can be raised and lowered with respect to the traveling machine body and the traveling machine body can be maintained in a desired left-right inclination posture,
In particular, if the control mode for maintaining 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 can be improved, and if it is a combine or the like equipped with a threshing device, it will swing. Since the uneven distribution of the sorted products in the sorting unit is reduced, there is an advantage that the sorting performance can be improved.

[0003]

SUMMARY OF THE INVENTION An object of the present invention is to make it possible to reliably and easily set the left and right inclination angles of a traveling machine body by rationally setting the operation control mode for the elevating and lowering drive means. The point is that the form can be arbitrarily selected and the running performance is improved.

[0004]

According to a characterizing feature of the present invention, the control means moves the ground contact portion of one traveling device to the most lowered position with respect to the traveling machine body, and the other traveling device. Upper limit reference mode in which the elevating and lowering drive means is operated to lift and lower the ground contact portion of the vehicle, and to move the ground contact portion of one traveling device to the most elevated position with respect to the traveling machine body, and It is configured so that it can be switched to the lower limit reference mode in which the elevating and lowering drive means is operated so as to elevate and lower the ground contact portion, and the operation and effect thereof are as follows.

[0005]

In other words, the ground contact portion of either the left or right traveling device is located at the most lowered position with respect to the traveling vehicle body in the upper limit reference mode, or the most elevated position with respect to the traveling vehicle body in the lower limit reference mode. The traveling body can be maintained at the set inclination angle by moving the grounding portion of the other traveling device up and down with respect to the traveling body.

[0006]

Therefore, the operation control mode for the elevating and lowering drive means can be established by always positioning the grounding portion of one traveling device at a fixed position with respect to the traveling machine body.
Moreover, as the control mode, since the upper limit reference mode and the lower limit reference mode are provided, there is an advantage that they can be selectively used according to the running state, and in the upper limit reference mode, the vehicle height is set so that the lower end of the traveling body does not come into contact with the field surface. This is effective when keeping high, and the lower limit reference mode is effective when lowering the center of gravity of the traveling machine body to maintain traveling safety.

[0007]

EXAMPLE As shown in FIG. 11, a raising device 1, a reaping device 2 for reaping grain culms raised by the raising device 1, and a rear conveying device 4 for conveying the reaped grain culms toward a rear threshing device 3. The harvesting pretreatment device 5 having the above is attached to a traveling machine body 7 having a pair of left and right crawler traveling devices 6 and 6 so as to be swingable up and down by a lifting cylinder 8 around a horizontal support axis X, and a combine harvester is used as an example of a working vehicle. Configured.

Next, the mounting structure of the left and right crawler traveling devices 6, 6 to the traveling machine body 7 will be described. As shown in FIG. 3 and FIG. 4, the horizontal frame 10 is connected below the main frame 9 in the forward-backward posture, which constitutes the traveling machine body 7, and the left and right track frames 11, 11 are connected and fixed by the horizontal frame 10. There is. A drive sprocket 12 and a tension sprocket 13 are attached and fixed to the front and rear ends of the track frames 11, 11, respectively. The track frame 11 is formed in a downward opening channel shape, and a pair of front and rear movable frames 15A and 15B pivotally supporting a plurality of idler wheels 14 are mounted in the open space so as to be capable of relative vertical movement. A large diameter freewheeling body 16 is supported on the track frame 11 so as to be vertically swingable at an intermediate position between the freewheeling wheels 14 group. One end of front and rear bell cranks 17A and 17B pivotally supported on the track frame 11 so as to be vertically swingable is attached to the front and rear movable frames 15A and 15B, respectively, and the front and rear bell cranks 17A and 17B are connected by a connecting rod 18. Connected and rear bell crank 17
A rolling elevating cylinder 19 is connected to the other end of B, so that the front and rear movable frames 15A and 15B are moved up and down in the same direction by the same amount, and the grounding portions of the crawler traveling devices 6 and 6 are separately attached to the traveling machine body 7. It is constructed so that it can be raised and lowered. Here, the rolling elevating cylinder 19 is an example of elevating drive means for elevating the ground contact portions of the crawler traveling devices 6, 6 with respect to the traveling machine body 7.

As shown in FIG. 3, limit switches 20 and 22 are provided at both swing end positions of the front and rear bell cranks 17A and 17B, and the rear bell crank 17B and the rolling elevating cylinders 19 and 19 are at the movable stroke ends. Detects whether or not it has arrived. That is, the limit for detecting the state in which the traveling device 6 is located farthest from the traveling machine body 7 is referred to as the upper limit switch 20, and the limit for detecting the state in which the traveling device 6 is located at the closest position is referred to as the lower limit switch 22. These limit switches 2
The detection results of 0 and 22 are input to the control device 21, and the rolling lift cylinder 19 with the control valve 29 is operated to determine the height of the traveling devices 6 and 6 against the traveling vehicle body 7.

On the other hand, when the inclination posture of the traveling body 7 is set, the inclination setter 28 is based on the information of the gravity type inclination sensor 23 as the inclination angle detecting means for detecting the inclination of the traveling body 7 to the left and right. The rolling elevating cylinder 19 is operated so that the horizontal tilt angle of the traveling machine body 7 is maintained at the set tilt angle due to the difference (declination angle) from the set value. In this way, the lateral inclination angle of the traveling machine body 7 is controlled by the control device 21 as the control means. When the traveling machine body 7 is tilted to the right, the left traveling device 6 is operated toward the upper limit position, and even if the limit is operated, the deflection angle is still “0”.
If not, the right traveling device 6 is operated toward the lower limit position, and the left and right inclination angles are set to the set inclination angle. In this case, an upper limit reference mode in which the rolling elevating cylinder 19 is operated in order to move the ground contact portion of one traveling device 6 to the most lowered position and to elevate the ground contact portion of the other traveling device 6 is set. , A lower limit for operating the rolling elevating cylinder 19 in order to move the ground contact portion of one traveling device 6 to the highest position with respect to the traveling machine body 7 and to elevate the ground contact portion of the other traveling device 6 A reference mode is provided, and the upper / lower limit reference mode changeover switch 25 as a mode switching means for switching between the upper limit reference mode and the lower limit reference mode is used to selectively switch the upper / lower limit reference mode.
Operate until the upper limit switch 20 operates,
In the lower limit reference mode, the other traveling device 6 is operated until the lower limit switch 22 is operated. A more detailed operation state will be described later with reference to the flowchart. The tilt setting device 28, the sensor 23, the control device 21 and the like are referred to as rolling control means 31.

A volume-type elevation detection sensor 24 is provided at the pivotal support shaft X portion of the pre-mowing pretreatment device 5 to the traveling machine body 7 to detect the amount of elevation of the pre-mowing treatment device 5 relative to the traveling machine body 7. Based on the detection value from the ultrasonic ground height sensor 33 provided near the raising frame, the ground height of the pre-cutting device 5 (cutting height for grain stems) is determined based on the detection value. The cutting height can be controlled by the elevating cylinder 8 with the control valve 30 so as to maintain the setting range by the cutting height setting device 35.

With the above structure, the crawler traveling device
As for the raising and lowering control of the (movable frame), FIGS.
This will be described with reference to the flowchart of FIG. Upper and lower limit switches 20 and 22 are provided at the movable stroke ends of the rolling lift cylinder 19, and when both upper and lower limit switches 20 and 22 are operated, the roll angle is larger than the tilt angle determined by the limit position. Since there is not, the tilt angle warning lamp 34 is activated. First, the control flow confirms that the tilt angle alarm lamp 34 is not turned on, and determines the declination (setting The difference between the angle and the current detected angle,
In the case of +, the difference can be reduced to zero by tilting the aircraft to the right. In the case of-, tilt the vehicle to the left. ) Is calculated (step I). Next, it is determined whether the traveling machine body 7 is tilted to the right or to the left depending on the declination angles (+) and (-), and the case of (+) will be described in detail.

First, if the upper / lower limit reference mode is selected and the upper limit reference mode is selected, it is necessary to tilt the traveling machine body 7 to the right. Therefore, when the left upper limit switch 20 is not operating. Causes the left-rolling lift cylinder 19 to extend. Then, the left traveling device 6
Is set to the position most lowered from the traveling machine body 7 (that is, the left upper limit switch 20 is operated), the other traveling device 6 is moved up and down to the set angle.
In this case, when the right upper limit switch 20 is operating, the right rolling elevator cylinder 19 is contracted. If the right lower limit switch 22 is activated before the declination becomes zero due to the operation of the right rolling lift cylinder 19, the left upper limit switch 20 is also activated. The alarm lamp 34 is turned on. As described above, by operating the left and right rolling elevating cylinders 19 and 19, the operation is repeated according to the above flow in order to reduce the deflection angle to zero (for example, the control frequency is once every 10 ms).

Next, in the lower limit reference mode, in order to set the vehicle height low, the right rolling elevating cylinder 19 is contracted when the right lower limit switch 22 is not operated. Then, if the right traveling device 6 is set at the most raised position with respect to the traveling body 7 (that is,
The lower right lower limit switch 22 operates), the left traveling device 6
Move up and down to reach the set angle. In this case, when the left lower limit switch 22 is operating, the left rolling elevator cylinder 19 is contracted. If the left upper limit switch 20 operates before the declination becomes zero due to the operation of the left rolling lift cylinder 19, the right lower limit switch 22 also operates, so that no more tilt angle can be obtained, and the tilt angle is not increased. The alarm lamp 34 is turned on. As described above, the left and right rolling lifting cylinder 1
The declination is made zero by activating 9 and 19 (step II).

When the set angle is (-), the control target cylinder 19 is selected to incline the traveling machine body 7 to the left, and the operation procedure may proceed as in the case of the set angle (+) (step III). ).

When the declination becomes zero (same as the set angle), in the upper limit reference mode, the left and right rolling elevating cylinders 19, 19 are extended so that either the left or right upper limit switch 20, If 20 operates, it will be stopped and the vehicle height of the traveling body 7 will be set high. In the lower limit reference mode, the left and right rolling lift cylinders 1
Lower limit switch 22,2 by contracting 9,19
When the vehicle 2 is in operation, the operation is stopped, and the vehicle height of the traveling body 7 is set low (step IV).

[Other Embodiments] 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 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 a tire type instead of the crawler type, and the type is not specified. The combine may be of all culm type. Further, the mode switching means 25 is not limited to the above-mentioned changeover switch.

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

[Brief description of drawings]

FIG. 1 Control configuration diagram

FIG. 2 is a front view showing a panel in which various setting devices are arranged and configured.

FIG. 3 is a side view showing a lifting drive means of the traveling device.

FIG. 4 is a vertical cross-sectional rear view showing a lifting / lowering drive unit of the traveling device.

FIG. 5 is a flow chart diagram.

FIG. 6 is a flow chart diagram.

FIG. 7 is a flow chart diagram.

FIG. 8 is a flowchart diagram.

FIG. 9 is a flow chart diagram.

FIG. 10 is a flow chart diagram.

[FIG. 11] Overall side view

[Explanation of symbols]

 6 Traveling Device 7 Traveling Vehicle 19 Elevating / Driving Means 21 Controlling Means 23 Inclination Angle Detecting Means

Claims (1)

[Claims] A pair of left and right traveling devices (6), (6) are provided in the traveling machine body (7), and the grounding portions of the pair of left and right traveling devices (6), (6) are separately provided for the traveling machine body (7). Based on the information of the ascending / descending driving means (19) for performing an ascending / descending operation, 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 means (21) for operating the elevating drive means (19) so as to maintain the horizontal inclination angle of the traveling machine body (7) at a set inclination angle,
The control means (21) moves the ground contact portion of one of the traveling devices (6) to the most lowered position with respect to the traveling machine body (7) and the ground contact portion of the other traveling device (6). An upper limit reference mode in which the ascending / descending drive means (19) is operated to perform an ascending / descending operation, and a ground contact portion of one traveling device (6) is moved to a most elevated position with respect to the traveling machine body (7), and A working vehicle configured to be freely switchable to a lower limit reference mode in which the elevating drive means (19) is operated in order to elevate and lower a ground portion of the other traveling device (6).