JPH10215645A - Inclination controller for combine harvester of the like - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce car height change at the time of inclination control and to perform stable traveling at the time of traveling on a road or the like. SOLUTION: For the work vehicle of a combine harvester or the like for which a traveling car body is supported by a pair of left and right traveling devices, a car height cylinder is interposed between the traveling devices and the traveling car body and the traveling car body is made vertically movable respectively on the left and right, this inclination controller is provided with following means. That is, it is provided with an inclination sensor for detecting the left and right inclination posture of the traveling car body, the means for oppositely operating the left and right car height cylinders so as to maintain the traveling car body at a set posture based on the detected result of the inclination sensor in a state where an automatic switch is switched to an ON state and a parallel control means for operating the car height cylinder and turning the traveling car body and the traveling devices to a parallel state in the state where the automatic switch is switched to an OFF state.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention can be applied to a working vehicle such as a combine, a tractor, and a rice transplanter having a traveling vehicle body supported by a pair of left and right traveling devices.

[0002]

2. Description of the Related Art Conventionally, as disclosed in, for example, Japanese Patent Application Laid-Open No. 63-7716, a vehicle body of a working vehicle such as a combine or the like is always left and right horizontal regardless of unevenness of a running surface or sinking of a running device. In order to maintain at, the inclination control means according to the detection result of the inclination sensor provided on the traveling vehicle body,
One of the right and left traveling devices such as a pair of left and right crawlers or wheels is moved up and down with respect to the vehicle body by the expansion and contraction operation of a hydraulic cylinder, thereby performing tilt control.

[0003]

In a configuration in which one of the left and right traveling devices is moved up and down to maintain the posture of the traveling vehicle body horizontally, the average height of the traveling vehicle body, that is, the vehicle height, is increased by this posture control operation. In a working vehicle such as a combine, the working state is hindered by a change in ground height.

In addition, when the horizontal control state is released, the traveling vehicle and the traveling device may stop in a state where they are not parallel to each other. When the vehicle moves to traveling on a horizontal road surface in such a state, the traveling vehicle may be stopped. The aircraft leans and the balance of the aircraft's left and right is lost, making stable running impossible.

[0005]

The present invention employs the following technical means in order to solve the above-mentioned problems. That is, the traveling vehicle body 3 is supported by a pair of left and right traveling devices 1 and 2, and vehicle height cylinders 16 and 17 are interposed between the traveling devices 1 and 2 and the traveling vehicle body 3. In a working vehicle such as a combine, which can move up and down separately for each of the left and right, a tilt sensor 4 for detecting the left and right tilt posture of the traveling vehicle body 3 and the tilt sensor 4 when the automatic switch 35 is turned on. A state in which the left and right vehicle height cylinders 16 and 17 are operated in a reciprocal manner so as to maintain the traveling vehicle body 3 in the set posture based on the detection result, and a state in which the automatic switch 35 is switched to an OFF state. In the vehicle height cylinder-16,
17 is provided with parallel control means for operating the traveling vehicle body 3 and the traveling devices 1 and 2 in a parallel state, thereby providing an inclination control device such as a combine.

Accordingly, the traveling vehicle body 3 of the working vehicle is supported by the pair of left and right traveling devices 1 and 2, and the traveling devices 1 and 2 are moved relative to the traveling vehicle body 3 by the vehicle height cylinders 16 and 17. The vehicle height can be changed and adjusted for each of the left and right sides by raising and lowering the vehicle. When the traveling devices 1 and 2 ride on the convex portion of the traveling surface or fall into the concave portion, the posture of the traveling vehicle body 3 changes. In a soft land such as a wetland, the left and right traveling devices 1 and 2 have different settlement states, and as a result, the posture of the traveling vehicle body 3 changes. Then, the inclination sensor 4 detects the inclination, and if the automatic switch 35 is in the ON state by the inclination control means 30, the left and right vehicle height cylinders 16 and 17 are reciprocally driven to expand and contract, and the traveling devices 1 and 2 are driven.
Moves up and down to maintain the posture of the traveling vehicle body 3 at the set posture.

When the automatic switch is switched to the OFF state, the vehicle height cylinders 16, 16 and 1 are controlled by the parallel control means.
7 is operated, the positions of the left and right traveling devices 1 and 2 with respect to the traveling vehicle body 3 are at substantially the same height position, and the traveling vehicle body 3 and the traveling devices 1 and 2 are in a parallel state.

[0008]

According to the present invention, the traveling vehicle is supported by a pair of left and right traveling devices, and a vehicle height cylinder is interposed between the traveling device and the traveling vehicle to separate the traveling vehicle into left and right components. In a working vehicle such as a combine that is capable of ascending and descending, in a state where an inclination sensor for detecting a left-right inclination posture of the traveling vehicle body and an automatic switch are switched to an ON state,
Tilt control means for operating the left and right vehicle height cylinders in a reciprocal manner so as to maintain the traveling vehicle body in a set attitude based on the detection result of the tilt sensor;
In a state where the vehicle is switched to the FF state, parallel control means for operating the vehicle height cylinder to make the traveling vehicle body and the traveling device in a parallel state is provided. So the automatic switch is ON
In the state switched to the state, the left and right vehicle height cylinders-
Is driven reciprocally so as to maintain the posture of the traveling vehicle body at the set posture, so that the average height of the traveling vehicle body on the left and right, that is, the vehicle height is hard to change, and a stable working state can be maintained.

When the automatic switch is turned off, the traveling vehicle body and the traveling device are in a parallel state.
When traveling on a road or the like, the inclination of the traveling vehicle body can be reduced, and stable traveling can be performed.

[0010]

An embodiment of the present invention will be described with reference to the drawings. First, the structure will be described. Reference numeral 3 indicates a combine traveling vehicle body. A cockpit and a control device (not shown) are provided at an upper portion of the traveling vehicle body 3, and a mowing device that can move up and down is provided at a front portion. A threshing device is provided for threshing after receiving the culm conveyed by the reaping device.

Below the traveling body 3, a pair of left and right
The traveling devices 1 and 2 are provided to transmit the rotational power of the engine to the traveling transmission device in the traveling transmission case 8, and the rotational power decelerated by the traveling transmission device is transmitted to the traveling devices 1 and 2. Can be 9 is a traveling shaft of the combine, 10 is a driving sprocket, and 11 is a wheel supporting the lower side of the crawler.
A plurality of rolling wheels 11 are provided along a traveling frame 12 which can move up and down with respect to the traveling vehicle body 3.
The traveling frame 12 can be moved up and down in parallel by rotating the armatures 3 and 13 around the arm shaft 14 with respect to the traveling body 3, and the relative height of the traveling devices 1 and 2 with respect to the traveling body 3 is changed. can do.

Reference numeral 15 denotes the traveling frame 12 of the swinging arms 13, 13.
A pivot for The vertical movement of the traveling frame 12 is performed by telescopic vehicle height cylinders 16 and 17 interposed between the traveling vehicle body 3 and the swing arm 13. These vehicle height cylinders 16 and 17 As shown in the hydraulic circuit 22 of FIG. 3, the control is performed by switching control of the vehicle height control valves 23 and 24.
In the figure, reference numeral 18 denotes a hydraulic pump, 19 denotes a filter, 20 denotes a relief valve, 21 denotes an unload valve,
25 is a check valve.

Reference numerals 5 and 6 denote swing arms 1 for the traveling vehicle body 3.
3 is a sensor that detects the rotation angle of the traveling device 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 side of the vehicle height cylinders 16 and 17 to detect the vehicle height. Control device 30 shown in FIG. 2 (inclination control means, vehicle height control means, parallel control means)
Has a microcomputer, and performs horizontal control and vehicle height control of the traveling vehicle body 3. On the input side of the control device 30, switches 31, 32, which are turned on and off by a manual lever 7, are provided. 33 and 34 are connected. The switch 31 excites the solenoid 26, which is turned on.
Then, the vehicle height cylinder 16 on the left side is extended, and the traveling device 1 is pushed down to increase the vehicle height. The switch 32 excites the solenoid 27. When the switch 32 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 increase 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 is raised to lower the vehicle height. Also, an input side of the control device 30 is connected to a vehicle body horizontal switch 35 (automatic horizontal switch), a tilt sensor 4 for detecting a left-right tilt angle of the traveling vehicle body 3, and the sensors 5 and 6, and a vehicle body horizontal switch. When the vehicle 35 is turned on, the traveling vehicle body 3 is controlled to automatically be in a horizontal state. Also, the body horizontal switch 3
When the switch 5 is turned off, the left and right traveling devices 1 and 2 are controlled to be at the same height (parallel return state) with respect to the traveling vehicle body 3.

In FIG. 2, reference numeral 36 denotes an automatic mode display lamp for displaying an 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 mode 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 adjustment operation is performed by the manual operation lever 7, it is determined whether or not the manual input is continuously output (step 3). When the manual input is not continuously output, in other words, the manual operation lever is used. At the time when the input by 7 disappears, 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 these detection values L,
The reference height H of the traveling vehicle body 3 is calculated from the sum of R (step 5).

During the automatic horizontal control, the inclination sensor 4
Is read (step 6). Further, when the value S detected by the inclination sensor 4 is converted into a voltage, it is determined whether or not the value is within the neutral zone of 2.4 V to 2.6 V, that is, whether or not the traveling body 3 is in the horizontal posture. It is determined (step 7). When the inclination sensor value S is equal to or less than 2.4 V in terms of voltage, the traveling vehicle body 3 is in a lower right inclination state, and the left traveling device 1 is raised to level the traveling vehicle body 3 and the right traveling device 2 is simultaneously lowered. Let it. For this reason, the solenoids 27 and 28 are simultaneously excited to shorten the left vehicle height cylinder 16 to reduce 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. Then, the distance of the traveling device 2 to the vehicle is increased, and the entire traveling vehicle body 3 is controlled to be horizontal (step 9).

On the other hand, when the detected value S of the inclination sensor 4 is equal to or higher than 2.6 V in terms of voltage, the traveling vehicle body 3 is in the lower left inclination state, in contrast to the above case.
6 and the solenoid 29 are excited together, and the left vehicle height cylinder
16, the distance between the traveling vehicle body 3 and the traveling device 1 is widened, and at the same time, the distance between the traveling vehicle body 3 and the traveling device 2 is reduced by shortening the right vehicle height cylinder -17, thereby controlling the entire traveling vehicle body 3 horizontally. (Step 8).

When the traveling vehicle body 3 returns to the horizontal posture, a 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). Next, the detected height H 'is compared with the reference height H set before the start of the vehicle body horizontal control (step 11). In the comparison between 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 to excite the left and right vehicle height cylinders 16 and 17 to increase the height of the traveling vehicle body 3 (step 13). Conversely, when the detected height H 'is higher than the reference height H, the solenoids 27 and 29 are simultaneously excited to shorten the left and right vehicle height cylinders 16 and 17 and reduce the height of the traveling vehicle body 3 (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, and also in this case, the left and right sensor values L 'are used as the first stage. , 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 when 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.

Conversely, 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). When the left and right traveling devices 1 and 2 are controlled so as to be parallel to the traveling vehicle body 3 in this manner, a comparison is made between the reference height H and the detected height H '(step 18). 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 too high 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 Is lowered (step 19).

[Brief description of the drawings]

FIG. 1 is a control flowchart according to an embodiment of the present invention.

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

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

FIG. 4 is a front view of a main part of the combine according to the embodiment of the present invention.

[Explanation of symbols]

1 Traveling device (left) 2 Traveling device (right)
3 Running vehicle body 4 Tilt sensor 5 Sensor
6 Sensor 16 Height cylinder 17 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 level switch

Claims (1)

[Claims] 1. 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 device and the traveling vehicle so that the traveling vehicle can be raised and lowered separately for each of the left and right. In a work vehicle such as a combine, etc., a tilt sensor for detecting the left-right tilt attitude of the traveling vehicle body, and when the automatic switch is turned on, the traveling vehicle body is maintained in a set attitude based on the detection result of the tilt sensor. In order to operate the right and left vehicle height cylinders in a reciprocal manner, the vehicle height cylinder is operated by operating the vehicle height cylinders in a state where the automatic switch is turned off. And a parallel control means for bringing the two into a parallel state.