JPH0767352B2 - Work vehicle - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work vehicle having left and right crawler traveling devices.

[0002]

2. Description of the Related Art Conventionally, the entire left and right crawler traveling devices are independently mounted to a machine frame via an elevating link mechanism.
It is configured to perform an ascending / descending operation and maintain the left / right tilt angle of the traveling machine body at a predetermined tilt angle based on the detection result of the tilt angle detecting means for detecting the left / right tilt angle of the traveling machine body with respect to the horizontal reference plane. In some cases , the crawler traveling device is moved up and down (for example, JP-A-59-38108).
Issue).

[0003]

In the conventional structure,
Since the whole crawler traveling device is raised and lowered, when the crawler traveling device etc. fits into a local recess such as a furrow or the field surface is inclined, one crawler traveling device is when running in mud surface at low Tokoro side, the traveling machine body press down the crawler traveling device while performing horizontal back control, although since it is possible to correct the deviation of the aircraft center of gravity, while by the crawler traveling device was fitted into the recess of the, driving the crawler traveling device
If even the driving wheels settle in the mud surface,
The running resistance on the side of the crawler running device that dropped is extremely increased.
However, due to the large running resistance, is the direction the aircraft should go?
This may lead to a decrease in straightness, which is a deviation from the outside. An object of the present invention is to improve the straightness of the traveling machine body by making the crawler traveling device up and down different from the conventional one.

[0004]

A characteristic structure according to the present invention is a drive wheel attached to a body frame of a traveling body,
A crawler traveling device formed by winding a crawler belt over a support frame that moves up and down with respect to the machine body frame and a free wheel group that is axially supported by being positioned rearward of the drive wheels. , And place them on the left and right respectively,
Elevating and lowering drive means for independently raising and lowering each of the left and right support frames with respect to the machine body frame, inclination angle detection means for detecting a horizontal inclination angle of the traveling machine body with respect to a horizontal reference plane, and left and right of the traveling machine body. A control means for operating the elevating and lowering drive means is provided so as to maintain the inclination angle at a predetermined inclination angle, and the operation and effect thereof are as follows.

[0005]

In other words, when one of the crawler traveling devices falls into the depression, the control means operates the elevating drive means so as to maintain the horizontal inclination angle of the traveling machine body at the original inclination angle. As a result, the support frame descends with respect to the traveling body to prevent the traveling body from tilting. In this way, the support frame
When the rame descends with respect to the aircraft, it will
Attached to the support frame for the mounted drive wheel
Moves in a direction idle wheel body and are relatively spaced apart, spread vertical distance between the drive wheel unit and the idler wheel unit, the upper and lower length of the crawler belt goes around the front of the drive wheel unit is simply a conventional manner In addition, the length of the crawler traveling device becomes longer than that of the one in which the vertical distance between the drive wheel body and the idle wheel body does not change because the entire crawler traveling device sinks. Therefore, it means that writing the mud in front and圃面of the recess in the longer since click b Raberuto, it only driving force is increased. Then, when the propulsive force increases, the crawler traveling device falls into the depression, so that it is possible to increase the turning resistance with respect to the vehicle body that attempts to turn due to the centripetal force in that direction, and it is possible to prevent the traveling vehicle body from deteriorating in straightness. Also, the drive wheel should be
Even if it is only submerged, it can be located on the field.
Yes, in this case, there is almost no resistance of mud on the drive wheel.
You can see that,
It can be prevented.

[0006]

As a result, it has become possible to provide a work vehicle which has higher straightness than the conventional one and is expected to have improved workability.

[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 an elevating cylinder 8 around a lateral support axis X to form a combine as a working vehicle. To do. Next, the left and right crawler traveling devices 6,
The mounting structure of 6 to the traveling machine body 7 will be described. 3 and 4
As shown in FIG. 1, a horizontal frame 10 is connected below a main frame 9 in a forward-backward posture that constitutes the traveling body 7, and the horizontal frame 10 is used to connect the left and right track frames 11, 1.
1 is connected and fixed. This track frame 11,1
A drive sprocket 12 and a tension sprocket 13 are attached and fixed to the front and rear ends of the No. 1 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. The front and rear movable frame 15
One end of each 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 each of A and 15B.
A and 17B are connected by a connecting rod 18, and a rolling elevating cylinder 19 as elevating drive means is connected to the other end of the rear bell crank 17B, so that the front and rear movable frames 15A and 15B are arranged in the same direction. It is constructed so that it can be raised and lowered by an amount. Then, as shown in FIG.
The rolling lifting cylinder 19 and the rear bell crank 1
At the connecting portion with 7B, a height sensor 20 for a traveling device of a boule type for detecting the swing amount of the rear bell crank 17B is provided,
The detected value from the height sensor 20 is input to the control device 21, and the volume side left and right height setting devices 22, 22 on the hand side are input.
The movable frames 15A, 15
The relative height of B with respect to the track frames 11, 11 can be artificially changed. In this case, the traveling machine body is inclined by an amount corresponding to different relative heights of the left and right traveling devices 6 and 6. When the automatic control mode is adopted, the height of the movable frames 15A and 15B is adjusted based on the detection value of the gravity type inclination sensor 23 as the inclination angle detecting means for detecting the inclination of the traveling machine body 7 to the left and right. Go to the traveling aircraft 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, the height of both crawler traveling devices 6 and 6 is as shown in FIG.
It is calculated by increasing or decreasing the target length to the average set value specified in the flowchart. A volume-type elevation detection sensor 24 is provided at the pivot X portion of the pre-mowing treatment device 5 to the traveling machine body 7, and is configured to detect the amount of elevation of the pre-mowing treatment device 5 with respect to the traveling machine body 7. ing. Above, various sensors and control device 21, and rolling lifting cylinder 1
9 control valve 29 and mowing pretreatment device lifting cylinder 8
The control valve 30 is referred to as rolling / elevating control means 31. With reference to the flowcharts of FIGS. 5 to 9, an explanation will be given of the raising / lowering control of the crawler traveling device (movable frame) having the above configuration. As shown in FIG. 3, the rolling elevating cylinder 19 is provided with limit switches 25, 25 at its movable stroke end. When the limit switch 25 is activated, an alarm lamp 26 is activated.
In the control flow, first, it is confirmed that the alarm lamp 26 is not turned on, and automatic / manual control is selected. First, the case of automatic control will be described. The lift detection sensor 2
When the height of the pre-mowing treatment device 5 by 4 is higher than a certain height during the mowing work, and when the steering clutch for the left and right crawler traveling devices 6, 6 is operating, turning at a ridge or the like. When it is determined that the time is right, the target positions of the left and right traveling devices (definition is shown in the drawing) are set to the average setting value so that the left and right crawler traveling devices 6 and 6 are at a level parallel to the traveling machine body 7. When 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, it is confirmed whether or not the LED type display device 27 by the traveling device height sensor 20 is operating (step I), and step II. The target value indicated by is calculated. The combine angle α ₁ shown in FIG.
6 is an angle when 6 is inclined with respect to the traveling body 7. Then, a target angle α ₄ for operating the rolling elevating cylinder 19 is calculated from the angle α ₂ detected by the inclination sensor 23 and the setting angle α ₃ from the inclination setter 28 with respect to the horizontal reference plane, and the operating length of the rolling elevating cylinder 19 is calculated. (Target II) 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 26 indicates that the rolling lift cylinder 19 is at the end of the stroke (step III). Next, whether the target angle is + or-is determined.
“+” Means that the traveling machine body 7 is tilted to the right (not in a tilted state), and “−” means the opposite operation. 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 set to the maximum stroke position of the cylinder 19. (Upper limit position), and the right traveling device 6 is set to a position of a cylinder length that is 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, it is examined whether the target position of the right traveling device 6 falls within the stroke of the cylinder 19 and its lower limit position is examined. If it exceeds the (minimum stroke position), 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 target position of the left traveling device 6 is twice the target length. The target position is set to a position having a cylinder length longer than the minimum stroke position. If 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 (correction length) of the rolling cylinder 19 is determined from the position information obtained by the traveling device height sensor 20, and falls within the dead zone α. In some cases, the operation of the rolling elevating cylinder 19 is stopped, and when exceeding this, the rolling elevating cylinder 1 is moved by the correction length.
9 is activated. Next, when the manual control is performed by the changeover switch 32, the rolling elevating cylinders 19 and 19 are set to the set values by the setters 28 and 28 for setting the relative heights of the left and right traveling devices 6 and 6 to the body. Control the operation. [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 crawler traveling device 6 may also be configured to have a combination of a cylinder or a screw mechanism and an electric motor or the like as the elevating and lowering driving means. 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. 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 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 schematic rear view showing the positional relationship between the traveling body and the traveling device.

[FIG. 11] Overall side view

[Explanation of symbols]

6 traveling devices 7 traveling aircraft 11 Airframe frame 12 drive wheels 14 idle wheel 15A, 15B support frame 19 Lifting drive means 23 Tilt angle detection means 31 Control means

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Shigeo Sato             64 Ishizukitamachi, Sakai City, Osaka Prefecture Kubo Co., Ltd.             Inside the Sakai Factory              (56) References JP-A-59-38108 (JP, A)

Claims (1)

[Claims] The body frame (1) of the traveling body (7)
Drive wheel (12) attached to (1) and a support frame (15) that moves up and down with respect to the machine body frame (11).
A) and (15B), a crawler traveling device formed by winding a crawler belt across a group of idler wheels (14) pivotally supported on the rear side of the drive wheel (12). (6) are respectively arranged on the left and right sides, and the left and right support frames (15) are attached to the body frame (11).
Lifting drive means (19) for independently lifting and lowering each of (A) and (15B), and tilt angle detection means (23) for detecting the horizontal tilt angle of the traveling machine body (7) with respect to the horizontal reference plane.
And a control means (31) for operating the elevating drive means (19) so as to maintain the horizontal inclination angle of the traveling machine body (7) at a predetermined inclination angle.