JPH08337184A - Inclination control device of traveling vehicle - Google Patents

Abstract

PURPOSE: To rapidly and smoothly realize the inclination control and the vehicle height control of a traveling vehicle body, and to easily set the reference value of the vehicle height. CONSTITUTION: An inclination detecting means 36 to detect the angle of inclination in the right-to-left direction of a traveling vehicle body, and an inclination control means to expand/contract right and left vehicle height adjusting cylinders in a contrary manner to keep the traveling vehicle body in the preset condition based on the detected results by the inclination detecting means are provided. Right and left height detecting means 38, 39 to detect the height of the traveling vehicle body relative to right and left traveling devices, and a vehicle height control means to expand/contract the right and left vehicle height adjusting cylinders to keep the mean value of the detected results by the right and left height detecting means at the prescribed reference value of the vehicle height are provided. In addition, a manual vehicle height adjusting means 32 capable of arbitrarily adjusting the height of the traveling vehicle, and a vehicle height reference value setting means to set the mean value of the detected results to be detected by the right and left height detecting means as a new vehicle height reference value when the adjustment of the vehicle height is completed by the manual vehicle height adjusting means are provided.

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 vehicle body supported by a pair of left and right traveling devices, and can be used for a combine or the like.

[0002]

2. Description of the Related Art Conventionally, in a traveling vehicle, in order to always maintain the traveling vehicle body in a predetermined posture (horizontal horizontal posture, etc.), regardless of the unevenness of the soil surface or the sinking of the traveling device with respect to the soil surface, A configuration is employed in which a pair of left and right crawlers or traveling devices such as wheels are independently moved up and down relative to the traveling vehicle body by expansion and contraction of left and right vehicle height adjustment cylinders such as hydraulic cylinders. With this configuration, the vehicle height adjustment cylinder can be expanded and contracted in the same direction to change and adjust the vehicle height of the entire traveling vehicle body.

Further, in such a construction, a vehicle height reference value setting such as a vehicle height adjusting dial for arbitrarily setting the height of the traveling vehicle body with respect to the left and right traveling devices according to the sinking state of the traveling device and the like. I need a container.

[0004]

When the traveling vehicle body is tilted due to the unevenness of the soil surface or the subsidence of the traveling apparatus, the traveling vehicle body can be moved up and down by moving only one of the left and right traveling apparatuses up and down. It takes a relatively long time to return to the posture, and it is not possible to perform agile tilt control according to the tilting state of the traveling vehicle body. When only one of the left and right traveling devices is moved up and down in this way, the vehicle height of the traveling vehicle (the average height of the traveling vehicle with respect to the left and right traveling devices) inevitably changes. In the case of a vehicle provided with a device, the height of the ground work device changes due to this tilt control, which causes a hindrance to the work.

Further, even when both the left and right traveling devices are moved up and down in a contradictory manner with respect to the traveling vehicle body to control the inclination, the load applied to the vehicle height adjusting cylinder is different between the ascending side and the descending side. A difference occurs in the expansion and contraction speeds of the left and right vehicle height adjusting cylinders, and as a result, the vehicle height of the traveling vehicle body changes.
In addition, the traveling vehicle body can be placed in a predetermined posture (horizontal posture) at any height.
In order to maintain and maintain the vehicle, it is necessary to decide at which height to maintain this posture, and to determine the standard vehicle height so that the height of the traveling vehicle body does not change even if the tilt control is repeated. .

However, in the method of adjusting the vehicle height reference value setting device to set the vehicle height reference value, when the vehicle height changes during traveling, the adjustment is required again, and the adjustment is performed. It is annoying if the operation occurs frequently. Also, by adjusting the vehicle height reference value setting device,
If the vehicle body is not actually lifted / lowered, the operator cannot recognize what the set vehicle height reference value is actually at the present time, and therefore,
It is not possible to set an accurate vehicle height reference value according to the current situation.

[0007]

The present invention takes the following technical means in order to solve the above problems. That is, the traveling vehicle body is supported by a pair of left and right traveling devices,
In a traveling vehicle in which left and right vehicle height adjusting cylinders are provided between the traveling device and the traveling vehicle body, and the traveling vehicle body is vertically controlled by the expansion and contraction operation of the left and right vehicle height adjusting cylinders,
Inclination detecting means for detecting the left-right inclination angle of the traveling vehicle body, and inclination for extending and retracting the left and right vehicle height adjusting cylinders in a contradictory manner to maintain the traveling vehicle body in a set posture based on the detection result of the inclination detecting means. Control means, left and right height detecting means for detecting the height of the traveling vehicle body with respect to the left and right traveling devices, and an average value of detection results by the left and right height detecting means for maintaining a predetermined vehicle height reference value. Vehicle height control means for expanding and contracting the left and right vehicle height adjustment cylinders, and a manual vehicle height adjustment means capable of arbitrarily adjusting the height of the traveling vehicle body,
And a vehicle height reference value setting means for setting the average value of the detection results detected by the left and right height detecting means as a new vehicle height reference value at the end of the vehicle height adjustment by the manual vehicle height adjusting means. This is a configuration of a tilt control device in a characteristic traveling vehicle.

[0008]

In the traveling vehicle according to the present invention, the traveling vehicle body 1 is supported by the pair of left and right traveling devices 2 and 2, and the left and right traveling devices 2 are extended and contracted by the left and right vehicle height adjusting cylinders 3 and 3. 2 is moved up and down relative to the traveling vehicle body 1, whereby the left and right vehicle heights can be changed and adjusted.

When the left and right traveling devices 2 and 2 are affected by the unevenness of the soil surface or the subsidence on the soil surface, the traveling vehicle body 1
Posture changes. Then, the inclination detection means 36 detects the inclination, and the inclination control means causes the left and right vehicle height adjusting cylinders 3 to extend and retract in a contradictory manner to raise and lower the left and right traveling devices 2 and 2 in a contradictory manner. The posture of the traveling vehicle body 1 is maintained at the set posture.

When the vehicle height changes in such tilt control, the left and right height detecting means 38, 39 detect the change in the vehicle height, and the vehicle height control means detects the left and right heights. In order to maintain the average value of the detection results by the means 38, 39 at the vehicle height reference value that is being set, the left and right vehicle height adjustment cylinders 3 and 3 are expanded and contracted, and the left and right traveling devices 2 and 2 are moved up and down to travel. The vehicle height of the vehicle body 1 is maintained at the set vehicle height.

The average value of the detection results by the left and right height detecting means 38, 39, that is, the average height of the left and right traveling devices is the virtual center when the left and right traveling devices 2, 2 are moved up and down in a contradictory manner. Height (the height of the tilt axis of the traveling vehicle body).
Further, the vehicle height can be adjusted by arbitrarily extending and contracting the left and right vehicle height adjusting cylinders 3 by the manual vehicle height adjusting means 32, and when the vehicle height adjustment is completed, the vehicle height reference value is set. The means sets the average value of the detection results detected by the left and right height detecting means 38, 39 as a new vehicle height reference value.

[0012]

As described above, in performing the tilt control,
Since the left and right traveling devices 2 and 2 are moved up and down in a contradictory manner, the traveling vehicle body 1 can be returned to the set posture in a short time, and agile tilt control according to the tilting state of the traveling vehicle body 1 can be performed. In addition, when the left and right traveling devices are raised and lowered in an antithetical manner as described above, the vehicle height of the traveling vehicle body 1 (the average height of the traveling vehicle body 1 with respect to the left and right traveling devices 2 and 2) does not significantly change. In the case of a vehicle provided with a ground work device, it is possible to suppress a height change of the ground work device due to the tilt control, and it is possible to maintain a good working state.

Even if the vehicle height is changed by such inclination control, the vehicle height can be corrected by the vehicle height control means and maintained at a predetermined vehicle height. Also,
The average value of the detection results by the left and right height detecting means 38, 39, that is, the average height of the left and right traveling devices is the height of the virtual center when the left and right traveling devices 2, 2 are moved up and down contradictoryly (traveling). The height of the tilt axis of the vehicle body), so even when the tilt control and the vehicle height control are continuously performed, the change in the vehicle height due to the tilt control is small. Therefore, both of these control operations should be continued smoothly. You can

Further, the vehicle height is actually changed and adjusted by operating the manual vehicle height adjusting means 32, and the vehicle height after the change and adjustment is set as a new vehicle height reference value. Since the vehicle height is controlled by comparison with the detected vehicle height after output, the structure is simpler than that of the conventional device, and the vehicle height reference value setting device such as the vehicle height adjustment dial is not required. The operation is also simplified.

Moreover, in setting the vehicle height reference value, the vehicle height is actually changed and adjusted by manual operation, and as a result, the changed vehicle height is set as a new vehicle height reference value. Therefore, the driver can set the vehicle height reference value after visually recognizing what the vehicle height reference value to be set is.

[0016]

In the illustrated example, a pair of left and right crawlers 2 (traveling devices) are independently provided vertically below a vehicle body 1 (traveling vehicle body), and an engine, a mowing device, a threshing device, and A chassis 4 for mounting or supporting a control device or the like is provided to configure a combine traveling device. A crawler frame 7 on which the rolling wheels 6 of each crawler 2 are arranged is supported via a pair of front and rear support arms 8 and 9 so as to be movable up and down in parallel with the vehicle body 1. The upper end portion and the bracket 10 on the vehicle body 1 are connected by a rolling cylinder 3 (vehicle height adjusting cylinder) that is expanded and contracted by a rolling control valve 12 of a hydraulic circuit 11.
Further, the front and rear support arms 8 and 9 are connected by a rod 14, and the support arms 8 and 9 are rotated around the pivotal support portions 15 and 16 with respect to the vehicle body 1 by the expansion and contraction of the rolling cylinder 3 to thereby move the crawler frame 7. Is configured to move up and down.

Reference numeral 17 denotes a sprocket at the front end of the crawler 2, which is fixed to a drive shaft 18 projecting to the left and right sides from a traveling transmission case integrated with the front end of the vehicle body 1. The rotation of the sprocket 17 drives the crawler 2. can do. The chassis 4 has the front end side with respect to the vehicle body 1 and is connected to the pivot portion 1
6 is rotatably supported around the axis, and the rear end is the link arm 1
A pitching cylinder 5, which is supported on the vehicle body 1 via 9 and is controlled to expand and contract by a pitching control valve 20 of a hydraulic circuit 11, is connected between the upper end of the link arm 19 and the chassis 4. The link arm 19 is rotated by expansion and contraction by hydraulic pressure so that the chassis 4 can be tilted back and forth around the pivot portion 16.

The rolling control valve 12, the pitching control valve 20, and the unload valve 22 of the left and right crawlers 2 arranged in the hydraulic circuit 11 of the hydraulic pump P are electromagnetic solenoids, and the upper left solenoid 23 and the lower left solenoid 2 are provided.
4, a controller 30 (an inclination control means, a vehicle height control means, a vehicle body horizontal control device) having a right upper solenoid 25, a lower right solenoid 26, a forward lean solenoid 27, a backward lean solenoid 28, an unload solenoid 29, and the like. It is provided on the output side of the vehicle height reference value setting means). Reference numeral 31 denotes an automatic lamp, which is lit when the controller 30 performs a predetermined automatic control.

Further, the controller 30 has a microcomputer and also constitutes a vehicle height control device for controlling the height of the vehicle body 1, a pitching control device, and the like. On the input side of this controller 30, the left and right upper solenoids 2
3, 25 and the left and right lower solenoids 24, 26 are simultaneously switched to vertically move the vehicle body 1 in the left-right parallel state to provide an overall vertical switch 32 (manual vehicle height adjusting means) for determining the vehicle height. By tilting the tilt lever of the control device to the left and right and the front and rear, the left lower solenoid 24 and the right upper solenoid 25 are simultaneously turned on by operating the tilt lever to the left, thereby rolling the vehicle body 1 to the left.
Further, by operating to lean to the right, the lower right solenoid 26 and the upper left solenoid 23 are turned on at the same time, so that the vehicle body 1 rolls and leans to the right, and also leans forward and backward to tilt forward and backward. 27, a tilt lever switch 33 for turning on the rear tilt solenoid 28 and pitching the vehicle body 1 to the tilt side is provided. The threshing clutch lever is for turning on and off the threshing clutch that drives the threshing device. Then, the threshing clutch is turned on by this tilting operation of the threshing clutch lever, the threshing clutch switch 34 is turned on, and the left and right and front-rear horizontal control by the vehicle body horizontal control device 3 is maintained in a state where both the vehicle body horizontal switches 35 are turned on. To do.

The vehicle body horizontal switch 35 is for controlling and maintaining the vehicle body 1 horizontally and in the front-rear horizontal direction, and is provided in the vehicle body 1 and has a left-right inclination sensor 36 for detecting a left-right inclination angle.
When the vehicle body 1 or the chassis 4 is tilted to a predetermined area or more by the (tilt detecting means), the front-back tilt sensor 37 or the like provided on the chassis 4 and detecting the front-back tilt angle, the solenoids 23 to 26 as described above, or By controlling the solenoids 27, 28, etc., these left and right inclination sensors 36, front and rear inclination sensors 3
Rolling control to the left and right so that 7 detects the horizontal state,
The pitching control is performed forward and backward.

The left stroke sensor 38 (left vehicle height detecting means) detects the extension / contraction length of the left rolling cylinder 3, and the right stroke sensor 39 (right vehicle height detecting means) detects the right rolling cylinder 3. The front / rear stroke sensor 40 detects the expansion / contraction length, and detects the expansion / contraction length of the pitching cylinder 5. These stroke sensors 3
Feedback control is performed in control that requires detection of 8 to 40 and the like.

The vehicle height control is based on the height of the vehicle body 1 when it is completed by operating the whole up / down switch 32.
It is automatically performed when the vehicle height is changed due to some reason, and the reference vehicle height is maintained. The reference vehicle height or the transition height before being controlled is
It depends on the average value of the vehicle height in the two parts of each crawler. As shown in FIG. 4, when the vehicle height on the left crawler 2 side is detected by the left stroke sensor 38 and is L, and the vehicle height on the right crawler 2 side is detected by the right stroke sensor 39 and is R, the average height is H = (L + R) / 2.

The left and right stroke sensors 38, 39
Is provided to detect that the left and right rolling cylinders 3 have been shortened and have reached a position where they are not shortened further, as an abnormal stop.
Is provided to detect that the pitching cylinder 5 is extended and reaches a position where it is not extended any more, as an abnormal stop.

The left and right rolling cylinders 3 are shortened so that the vehicle body 1 is lowered and the pitching cylinder 5
Causes the chassis 4 to be parallel to the front-rear direction with respect to the vehicle body 1 by being extended, and being shortened to the front downward slope state. Therefore,
The left and right crawlers 2 and the vehicle body 1 are parallel to each other at the lowest vehicle height position where the vehicle body 1 is lowered to the left and right both crawlers 2, and the chassis 4 is the most distant from the vehicle body 1. At the position where the vehicle body 1 is turned rearward, the chassis 4 is parallel to the vehicle body 1 in the left-right direction and the front-rear direction, and this is the minimum vehicle height reference.

As shown in FIG. 4, the left and right crawlers 2 are change-controlled with respect to the vehicle body 1 within a range from a lower limit height h to an upper limit height H. In the left-right horizontal control, as shown in FIG. 5, when the traveling ground inclines to the left, the vehicle body 1 also inclines in the same direction. Therefore, the left-right inclination sensor 36 detects this inclination and the detected inclination angle is constant. If it becomes above, the left and right rolling control valves 3 will be switched, the rolling cylinder 3 will be expanded-contracted, and the vehicle body 1 will be left-right horizontal posture. At this time, assuming that the detection values of the left and right stroke sensors 38 and 39 at the first set reference height are L and R, the detection values after the running ground is tilted are L + α for the left stroke sensor 38 and the right stroke sensor in FIG. 39 becomes R-β. Here, α = β is output, but in reality, the left rolling cylinder 3 extends so as to push up the vehicle body 1 against the load, and the right rolling cylinder 3 reversely receives the load. Since it is shortened, it has a difference in speed between extension and contraction, and is detected as α≈β. In addition, the vehicle height at this time is performed so as to satisfy the condition of {(L + α) + (R−β)} / 2 = (L + R) / 2, but when the vehicle is in the left-right horizontal state, some cause When the vehicle height is {(L + α) + (R−β)} / 2 ≠ (L + R) / 2, the vehicle height control is corrected (L +
Correction control is performed so that the condition of (R) / 2 is satisfied.

As shown in FIG. 6, the traveling ground reaches a predetermined dangerous inclination angle A, which is a limit at which there is a high risk of rollover of the combine aircraft, and the left and right rolling is detected by the left and right inclination sensors 36 detecting this. The cylinder 3 is shortened and the vehicle body 1 is lowered to the lowest vehicle height position. At this time, the left and right stroke sensors 38 and 39 both detect h and abnormal stop is performed. At the same time, the output for expanding and contracting the rolling cylinder 3 is stopped (see FIG. 7).

At this time, when the chassis 4 is tilted back and forth with respect to the vehicle body 1, the pitching cylinder 5 is extended to control the vehicle so as to be parallel to the vehicle body 1 and the front and rear stroke sensor 40 is stopped abnormally. Is detected (see FIG. 8). As a result, the output for expanding and contracting the pitching cylinder 5 is stopped. This kind of vehicle height control to the lowest vehicle height position
Not only by the detection of the dangerous inclination angle by the left and right inclination sensor 36, but also by the detection of the dangerous inclination angle by the front and rear inclination sensor 37. Further, the vehicle speed is changed from a low speed range such as a working speed to a road traveling speed. The configuration may be such that switching is performed in the high speed range.

As described above, the left and right rolling cylinders 3
If the value detected by the stroke sensors 38 and 39 does not change as soon as is shortened, the output after that is stopped by the abnormal stop detection.
2 or when output by manual operation with the tilt lever switch 33, regardless of the stroke sensors 38 and 39,
If the manual output can be continued (see FIG. 9), even if the stroke sensors 38 and 39 are out of order, the operation output can be performed and the manual operation control can be performed.

[Brief description of drawings]

FIG. 1 is a partial side view of an embodiment of the present invention.

FIG. 2 is a control block diagram according to an embodiment of the present invention.

FIG. 3 is a hydraulic circuit diagram according to an embodiment of the present invention.

FIG. 4 is a partial front view showing the operation of the embodiment of the present invention.

FIG. 5 is a partial front view showing the operation of the embodiment of the present invention.

FIG. 6 is a partial front view showing the operation of the embodiment of the present invention.

FIG. 7 is a flowchart showing a part of control in one embodiment of the present invention.

FIG. 8 is a flowchart showing a part of control in one embodiment of the present invention.

FIG. 9 is a flowchart showing a part of control in one embodiment of the present invention.

[Explanation of symbols]

1 Vehicle Body (Running Vehicle) 2 Crawler (Travel Device) 3 Rolling Cylinder (Vehicle Height Adjusting Cylinder) 30 Controller (Tilt Control Means, Vehicle Height Control Means, Vehicle Height Reference Value Setting Means) 32 Overall Vertical Switch (Manual vehicle height adjusting means) 36 Left and right inclination sensor (inclination detecting means) 38 Left stroke sensor (height detecting means) 39 Right stroke sensor (height detecting means)

Claims (1)

[Claims] 1. A traveling vehicle body is supported by a pair of left and right traveling devices, and left and right vehicle height adjusting cylinders are interposed between the traveling devices and the traveling vehicle body, and the left and right vehicle height adjusting cylinders are extended and contracted. In a traveling vehicle in which the traveling vehicle body is controlled to be raised and lowered by means of an inclination detecting means for detecting a lateral inclination angle of the traveling vehicle body, and the left and right sides for maintaining the traveling vehicle body in a set posture based on the detection result of the inclination detecting means. Of the vehicle height adjusting cylinder in a contradictory manner of expansion and contraction, left and right height detecting means for detecting the height of the traveling vehicle body with respect to the left and right traveling devices, and a detection result of the left and right height detecting means. Vehicle height control means for expanding and contracting the left and right vehicle height adjustment cylinders to maintain the average value at a predetermined vehicle height reference value; and a manual vehicle height adjustment means for arbitrarily adjusting the height of the traveling vehicle body, Manual height adjuster A traveling vehicle provided with vehicle height reference value setting means for setting an average value of detection results detected by the left and right height detection means as a new vehicle height reference value at the end of vehicle height adjustment by steps. Tilt control device.