JPH08238916A - Inclination controller in traveling vehicle - Google Patents

Abstract

PURPOSE: To provide a controller in which the structure for setting the height is simple, and the operation is facilitated, concerning to an inclination controller in a traveling vehicle such as a combine. CONSTITUTION: In a traveling vehicle in which vehicle height cylinders 16, 17 are interposed between a traveling vehicle body 3 and right and left traveling devices 1, 2, and for controlling the traveling vehicle body 3 so that it may be raised and lowered, an inclination sensor 4 for detecting the lateral inclination of the traveling vehicle body 3, and a inclination control means for controlling the traveling vehicle body 3 into the specified inclination by contrary operating the right and left height cylinders 16, 17 on the basis of the signal from the inclination sensor 4 so that the traveling vehicle body 3 may be maintained into the set angle are provided. A height setting means for setting the height reference value of the traveling vehicle body 3 and a control means for extending/contracting-driving the height cylinders 16, 17 so that the height of the traveling vehicle body 3 may match the height reference value. Changing of the height reference value is performed when the height of the machine is changed by a manual operation means for changing the height of the traveling vehicle body 3 in a state where an automatic horizontal switch 35 for starting the inclination control of traveling vehicle body 3 is switched to the on state.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling vehicle having a traveling machine body supported by a pair of left and right traveling devices, and can be used as a combine, a tractor, a rice transplanter, and the like.

[0002]

2. Description of the Related Art Conventionally, in order to always maintain a vehicle body of a traveling vehicle in a horizontal horizontal position irrespective of the unevenness of the soil surface, a traveling device such as a pair of left and right wheels or wheels is mounted on a hydraulic cylinder. Was stretched and moved up and down. In such a form, generally, a vehicle height adjusting dial for setting the height of the traveling vehicle body with respect to the traveling device is required.

[0003]

When the vehicle body is to be horizontally controlled at an arbitrary height, at which height the left and right horizontal postures are maintained, and even when the horizontal control is repeated, the height of the vehicle body is maintained. It is necessary to determine the basic vehicle height so that does not change. However, with the method of setting the reference vehicle height by rotating the vehicle height adjustment dial described above, at the start of control,
When the vehicle height changes during traveling, the adjustment becomes necessary again, and if the adjustment operation occurs frequently, there is a troublesome drawback.

In particular, since the weight of the traveling vehicle body acts on the hydraulic cylinder, there is a problem that the vehicle height shifts to the descending side as the tilt control is repeated.

[0005]

The present invention has been proposed to solve the above-mentioned problems, and has taken the following technical means. That is, the traveling vehicle body 3 is supported by the pair of left and right traveling devices 1, 2 and the traveling devices 1, 2 are supported.
In the traveling vehicle in which the vehicle height cylinders 16 and 17 are interposed between the traveling vehicle body 3 and the traveling vehicle body 3, and the traveling vehicle body 3 is vertically controlled, a tilt sensor 4 for detecting a lateral inclination angle of the traveling vehicle body 3; In order to maintain the traveling vehicle body 3 at a set angle based on the signal from the inclination sensor 4, the left and right vehicle height cylinders 16 and 17 are operated in a contradictory manner so that the traveling vehicle body 3 has a predetermined inclination angle. Tilt control means for controlling the vehicle height, vehicle height setting means for setting a vehicle height reference value of the traveling vehicle body 3, and vehicle height cylinders 16 and 17 for extending and retracting so that the vehicle height of the traveling vehicle body 3 matches the vehicle height reference value. The vehicle height reference value is changed by manual operation means for changing the height of the traveling vehicle body 3 with the automatic horizontal switch 35 for starting the tilt control of the traveling vehicle body 3 being switched to the ON state. Changed the aircraft height By being configured as is done in the can has a structure of a tilt control device in vehicles, wherein.

[0006]

The vehicle body 3 is supported by a pair of left and right traveling devices 1 and 2, and the vehicle height is changed and adjusted by moving the traveling devices 1 and 2 up and down relative to the traveling device 3. You can When the traveling devices 1 and 2 run on a convex portion of the soil surface or fall into a concave portion, the posture of the traveling vehicle body 3 changes. Then, the inclination sensor 4 detects the inclination, and if the automatic horizontal switch 35 is in the ON state, the vehicle height cylinders 16 and 17 on the left and right are telescopically driven to extend and retract, and the traveling devices 1 and 2 move up and down to travel. The posture of the vehicle body 3 is maintained in the set horizontal posture.

At this time, as the inclination control of the traveling vehicle body 3 is repeated, the weight of the traveling vehicle body 3 is increased by the vehicle height cylinder-16,
Due to the effect on 17, the inclination sensor 4 reaches the set horizontal posture before one reaches the target length and the other reaches the target length, and these are piled up and the traveling vehicle body 3 gradually shifts to the descending side. Will be lost. In such a case, if the operator adjusts the vehicle height to the higher direction side by operating the manual operation means such as the manual operation lever 7 by visual judgment, at that time, the vehicle height of the machine body, that is, the vehicle height reference value, It will be changed, and the traveling vehicle body 3 will return to the original height set by the operator.

As described above, according to the present invention, the vehicle height reference value is set when the machine body height is changed by the manual operation means for changing the height of the traveling vehicle body 3 while the automatic horizontal switch 35 is switched to the ON state. Is set,
Compared with the conventional device, the structure for setting the vehicle height is simple and the operation is simplified.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings. First, the configuration will be described. Reference numeral 3 is a combine traveling vehicle body. An unillustrated cockpit and an operating device are provided in the upper portion of the traveling vehicle body 3, and a vertically movable reaping device is provided in the front portion. A threshing device for threshing the grain culm that is cut and conveyed from the reaping device is provided.

Below the traveling vehicle body 3, a pair of left and right cross wheels are provided.
La-shaped traveling devices 1 and 2 are provided to transmit the rotational power of the engine to the traveling power transmission device in the traveling power transmission case 8. The rotational power decelerated by the traveling power transmission device is transmitted to the traveling devices 1 and 2. To be Reference numeral 9 is a combine traveling shaft, 10 is a drive sprocket, and 11 is a rolling wheel that supports a lower side portion of the crawler.
A plurality of the rolling wheels 11 are provided along a traveling frame 12 that is vertically movable with respect to the traveling vehicle body 3, and a pair of front and rear swing arms 1
By rotating 3 and 13 with respect to the traveling vehicle body 3 around the arm shaft 14, the traveling frame 12 can be moved up and down in parallel, and the relative height of the traveling devices 1 and 2 with respect to the traveling vehicle body 3 is changed. can do.

The reference numeral 15 designates a swing frame 13 and a traveling frame 12 of the armature 13.
Is a pivotal branch for. The vertical movement of the traveling frame 12 is performed by extendable vehicle height cylinders 16 and 17 interposed between the traveling vehicle body 3 and the swing arm 13, and these vehicle height cylinders 16 and 17 are This is performed by switching control of vehicle height control valves 23 and 24 as shown in the hydraulic circuit 22 of FIG.
In the figure, reference numeral 18 is a hydraulic pump, 19 is a filter, 20 is a relief valve, 21 is an unload valve,
Reference numeral 25 is a check valve.

Reference numerals 5 and 6 denote swing arms 1 with respect to the traveling vehicle body 3.
3 is a sensor that detects the rotation angle of the traveling body 3, and detects the amount of vertical movement of the traveling devices 1 and 2 with respect to the traveling vehicle body 3. Instead of this sensor, a potentiometer such as a stroke sensor may be directly attached to the lateral sides of the vehicle height cylinders 16 and 17 to detect the vehicle height. The control device 30 shown in FIG. 2 has a microcomputer and performs horizontal control and vehicle height control of the traveling vehicle body 3. The input side of the control device 30 is turned on and off by a manual lever 7. The switches 31, 32, 33, and 34 are connected.
The switch 31 excites the solenoid 26, and when it is turned on, the vehicle height cylinder 16 on the left side extends,
The traveling device 1 is pushed down to increase the vehicle height. Switch 32
Energizes the solenoid 27, and when this is turned on, the vehicle height cylinder 16 on the left side is shortened and the traveling device 1 is raised to lower the vehicle height.

When the switch 33 is turned on, the solenoid 28 is excited, the right vehicle height cylinder 17 is extended, and the traveling device 2 is pushed down to raise the vehicle height. When the switch 34 is turned on, the solenoid 29 is excited, the right vehicle height cylinder-17 is shortened, and the traveling device 2 can be raised to lower the vehicle height. Further, a vehicle body horizontal switch 35, an inclination sensor 4 for detecting the left and right inclination angles of the traveling vehicle body 3, and the sensors 5 and 6 are connected to the input side of the control device 30, and when the vehicle body horizontal switch 35 is turned on. The traveling vehicle body 3 is automatically controlled to be in a horizontal state. When the vehicle body horizontal switch 35 is turned off, the left and right traveling devices 1 and 2 are controlled so as to be at the same height (parallel return state) with respect to the traveling vehicle body 3.

In FIG. 2, reference numeral 36 is an automatic mode display lamp for displaying the automatic control state. Next, the operation of the above example will be described based on the flowchart of FIG. When the vehicle body horizontal switch 35 is turned on, that is, when the vehicle is switched to the automatic horizontal control mode, the left and right sensors 5, 6
Is read (steps 1 and 2). When the vehicle height adjusting operation is performed by the manual operation lever 7, it is determined whether or not the manual input is continuously issued (step 3), and when it is not continuously issued, in other words, the manual operation lever is issued. When there is no input from 7, the values of the left and right sensors 5 and 6 are read (steps 4 and 5). In this embodiment, the detection value of the left sensor 5 is L, the detection value of the right sensor 6 is R, and the reference height H of the traveling vehicle body 3 is calculated from the sum of these detection values L and R (step 5).

During the automatic horizontal control, the tilt sensor 4
The detection value S of is read (step 6). Further, when the value S detected by the tilt sensor 4 is converted into a voltage, whether the value is within a neutral zone of 2.4 V to 2.6 V, that is, whether the traveling vehicle body 3 is in a horizontal posture or not. It is determined (step 7). When the inclination sensor value S is less than or equal to 2.4 V in voltage conversion, the traveling vehicle body 3 is in the lower right inclination state, and the left traveling apparatus 1 is raised to make the traveling vehicle body 3 horizontal, and at the same time, the right traveling apparatus 2 is lowered. Let For this reason, the solenoids 27 and 28 are simultaneously excited to shorten the left vehicle height cylinder 16 to narrow the distance between the traveling device 1 and the traveling vehicle body 3, and conversely extend the right vehicle height cylinder 17 to extend the traveling vehicle body 3. The distance between the traveling device 2 and the traveling device 2 is widened, and the entire traveling vehicle body 3 is horizontally controlled (step 9).

On the other hand, when the detected value S of the tilt sensor 4 is equal to or higher than 2.6 V in voltage conversion, the traveling vehicle body 3 is in the left lower tilted state contrary to the above case, and at this time the solenoid 2
6 and solenoid 29 are both excited, and the left vehicle height cylinder
16 is extended to widen the distance between the traveling vehicle body 3 and the traveling device 1, and at the same time, the right vehicle height cylinder 17 is shortened to reduce the distance between the traveling vehicle body 3 and the traveling device 2 to horizontally control the entire traveling vehicle body 3. (Step 8).

When the traveling vehicle body 3 returns to the horizontal posture, the detection height H'which is the sum of the detection values L'and R'of the sensors 5 and 6 at this time is calculated (step 10). Then, the detected height H'is compared with the reference height H set before starting the vehicle body horizontal control (step 11). In comparing the reference height H and the detection height H ', the detection height H'
Is lower than the reference height H, the solenoids 26, 2
8 is excited to extend the left and right vehicle height cylinders 16 and 17 to raise the height of the traveling vehicle body 3 (step 13). On the contrary, when the detected height H'is higher than the reference height H,
The solenoids 27 and 29 are excited at the same time, the left and right vehicle height cylinders 16 and 17 are shortened, and the height of the traveling vehicle body 3 is lowered (step 12).

When the vehicle body horizontal switch 35 is turned off, the traveling vehicle body 3 is controlled so as to be substantially parallel to the traveling devices 1 and 2. In this case as well, the left and right sensor values L'are set as the first step. , R ′ are read and the detected height H ′ is calculated (step 14). Then, the left and right sensor values L'and R'are compared (step 15), and if the right sensor value R'is larger than the left sensor value L ',
The solenoids 26 and 29 are excited, the left vehicle height cylinder-16 is extended to increase the left vehicle height, and the right vehicle height cylinder-17 is shortened to lower the vehicle height (step 16).
The left and right traveling devices 1 and 2 are controlled to be parallel to the traveling vehicle body 3.

On the contrary, when the left sensor value is larger than the right sensor value, the solenoids 27 and 28 are excited to control the left and right traveling devices 1 and 2 in parallel with the traveling vehicle body 3 (step 17). In this way, when the left and right traveling devices 1 and 2 are controlled to be parallel to the traveling vehicle body 3, the comparison with the reference height H and the detected height H'is made (step 18), and the traveling vehicle body 3 When is too low, the solenoids 26 and 28 are excited to supply hydraulic oil to the left and right vehicle height cylinders 16 and 17 to lower the traveling devices 1 and 2 and raise the vehicle height of the traveling vehicle body 3 (step 2).
0).

When the height of the traveling vehicle body 3 is higher than the reference height, the solenoids 27 and 29 are excited to shorten the vehicle height cylinders 16 and 17 and the traveling devices 1 and 2 are raised to raise the traveling vehicle body 3. Lower the vehicle height (step 19).

[Brief description of drawings]

FIG. 1 is a control flowchart.

FIG. 2 is a block diagram.

FIG. 3 is a hydraulic circuit diagram.

FIG. 4 is a front view of the main part of the combine.

[Explanation of symbols]

1 Traveling device (left) 2 Traveling device (right)
3 Vehicle body 4 Tilt sensor 5 Sensor
6 Sensor 16 Vehicle height cylinder-17 Vehicle height cylinder-
23 vehicle height control valve 24 vehicle height control valve 30 control device
31 switch 32 switch 33 switch
34 switch 35 body horizontal switch

Claims (1)

[Claims] 1. A traveling vehicle in which a traveling vehicle body is supported by a pair of left and right traveling devices, and a vehicle height cylinder is interposed between the traveling devices and the traveling vehicle body to control the traveling vehicle body up and down. In the above, in order to maintain the traveling vehicle body at a set angle based on a signal from the inclination sensor and the inclination sensor that detects the lateral inclination angle of the traveling vehicle body, the left and right vehicle height cylinders are operated contradictoryly. Inclination control means for controlling the traveling vehicle body to a predetermined inclination angle by means of, vehicle height setting means for setting a vehicle height reference value of the traveling vehicle body, and a vehicle height cylinder for the vehicle height of the traveling vehicle body to match the vehicle height reference value. The vehicle height reference value is changed by a manual operation means for changing the height of the traveling vehicle body while the automatic horizontal switch for starting the inclination control of the traveling vehicle body is switched to the ON state. By airframe Tilt control device in vehicles, characterized by being configured as is done when changing the of.