JPH10243724A - Inclination control device for combine harvester or the like - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make an inclination control device for a combine harvester, etc., have high maneuverability of setting of vehicle height and to stably travel in driving on a road, etc. SOLUTION: In a working vehicle such as a combine harvester in which a traveling body is controlled through a vehicle height cylinder so as to lift and lower the traveling body, the working vehicle is equipped with an inclination sensor, an inclination controlling means, a vehicle height setting means and a vehicle height controlling means. The change of a vehicle height standard value is carried out when the vehicle height is changed by a manual operation means for changing the height of the traveling body in a state of an automatic horizontal switch for starting the inclination control of the traveling body turned to an ON state. The working vehicle is equipped with a parallel controlling means for operating the vehicle height cylinder and making the traveling body and a traveling apparatus into a parallel state when the automatic horizontal switch is turned 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 the vehicle body, a traveling device such as a pair of left and right crawlers or wheels is moved up and down by expanding and contracting a hydraulic cylinder with respect to the vehicle body.

In such a configuration, generally, a reference vehicle height such as a vehicle height adjustment dial for setting the height of the traveling vehicle body with respect to the traveling device according to conditions such as the sinking state of the traveling device. A setting device was required.

[0004]

When the vehicle body is to be controlled horizontally at an arbitrary height, the height at which the left and right horizontal postures are to be maintained, and the height of the vehicle body even if the horizontal control is repeated. It is necessary to determine a reference vehicle height so that the vehicle does not change. However, in the method in which the reference vehicle height setting device is adjusted and the reference vehicle height is set by operating the reference vehicle height setting device, depending on the state of the traveling surface, such as at the start of control or when the vehicle height changes during traveling. It is necessary to readjust each time, and there is a troublesome trouble when the adjustment operation occurs frequently.

In particular, because 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 inclination control is repeated. Further, when the horizontal control state is released, the traveling vehicle body and the traveling device may stop in a state where they are not parallel to each other, and when the vehicle shifts to traveling on a horizontal road surface in such a state, the traveling vehicle body tilts, The left and right balance of the aircraft is lost, and stable running is not possible.

[0006]

The present invention employs the following technical means in order to solve the above-mentioned problems. That is, 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 body, and in a working vehicle such as a combine which controls the elevation of the traveling vehicle body, an inclination sensor for detecting a left-right inclination angle of the traveling vehicle body. Tilt control means for controlling the traveling vehicle body to a predetermined inclination angle by operating the left and right vehicle height cylinders in a reciprocal manner so as to maintain the traveling vehicle body at a set angle based on a signal from the inclination sensor. When,
Vehicle height setting means for setting a vehicle height reference value of the traveling vehicle body; and vehicle height control means for driving a vehicle height cylinder to expand and contract so that the vehicle height of the traveling vehicle body matches the vehicle height reference value. The change of the value is performed when the vehicle height is changed by manual operation means for changing the height of the traveling vehicle body in a state where the automatic horizontal switch for starting the inclination control of the traveling vehicle body is switched to the ON state. And a parallel control means for activating the vehicle height cylinder to bring the traveling vehicle body and the traveling device into a parallel state when the automatic horizontal switch is turned off. Of the tilt control device.

As a result, 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 vehicle height is changed and adjusted by vertically moving the traveling devices 1 and 2 relative to the traveling vehicle body 3. can do. Traveling device 1,
When 2 gets on the convex part of the running surface or falls into the concave part,
The posture of the traveling vehicle body 3 changes. Further, in a soft land such as a wetland, the settlement state of the left and right traveling devices 1 and 2 is different,
As a result, the posture of the traveling vehicle body 3 changes. Then, the inclination sensor 4 detects the inclination, and if the automatic level switch 35 is ON, the left and right vehicle height cylinders 16 and 17 are reciprocally expanded and contracted by the inclination control means 30 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 horizontal posture.

[0008] However, with only such tilt control,
As the tilt control of the traveling vehicle 3 is repeated, the traveling vehicle 3
Because the weight of the vehicle acts on the vehicle height cylinders -16 and 17,
For example, the inclination sensor 4 reaches the set horizontal posture before one reaches the target length and the other reaches the target length,
As a result, the traveling vehicle body 3 is gradually shifted downward. As described above, even when the vehicle height is about to change, the vehicle height cylinder-
The vehicle bodies 16 and 17 are telescopically driven, and the vehicle height of the traveling vehicle body 3 is maintained at the reference vehicle height. Further, for example, when it is necessary to increase the vehicle height due to the sinking of the traveling devices 1 and 2 or the like, the operator operates the automatic operation lever 7 by visual judgment while the automatic horizontal switch 35 is ON. The vehicle height is adjusted to a higher direction by operating manual operation means such as. As a result, the vehicle height of the body at that time, that is, the vehicle height reference value is changed, and the traveling vehicle body 3 is maintained and controlled to the vehicle height reset by the operator.

When the automatic horizontal switch is turned off, the parallel control means controls the vehicle height cylinder-1.
6 and 17 are operated, and the positions of the left and right traveling devices 1 and 2 with respect to the traveling vehicle body 3 become substantially the same height position.
And the traveling devices 1 and 2 are in a parallel state.

[0010]

According to the present invention, a traveling vehicle is supported by a pair of left and right traveling devices, and a height cylinder is interposed between the traveling devices and the traveling vehicle to control the elevation of the traveling vehicle. In a working vehicle such as a combine, an inclination sensor for detecting a left-right inclination angle of the traveling vehicle body, and the left and right vehicle height cylinders for maintaining the traveling vehicle body at a set angle based on a signal from the inclination sensor. Tilt control means for controlling the traveling vehicle body to a predetermined inclination angle by reciprocally operating the vehicle body, vehicle height setting means for setting a vehicle height reference value of the traveling vehicle body, and setting the vehicle height of the traveling vehicle body to a vehicle height reference value. Vehicle height control means for driving a vehicle height cylinder to extend and contract to match the vehicle height. The vehicle height reference value is changed when the automatic horizontal switch for starting the inclination control of the vehicle body is switched to the ON state. Car body When the automatic level switch is turned off, the vehicle height cylinder is actuated to operate the vehicle height cylinder and the traveling vehicle body. Since the inclination control device such as a combine is provided with parallel control means for making the traveling device parallel to the traveling device, the height of the traveling vehicle body is changed while the automatic horizontal switch is switched to the ON state. Since the vehicle height reference value is set when the body height is changed by the manual operation means, the vehicle height reference value can be appropriately set according to the situation during work, and the vehicle height The configuration of the high setting is simple, the operation can be simplified, and a tilt control device such as a combine with high operability can be provided. Also,
When the automatic horizontal switch is switched to the OFF state, the traveling vehicle body and the traveling device are in a parallel state, so that the traveling vehicle body can be less inclined when traveling on a road or the like, and stable traveling can be performed.

[0011]

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, contrary 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 greater 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 to 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 combine or the like comprising a traveling vehicle body supported by a pair of left and right traveling devices, and a vehicle height cylinder interposed between the traveling devices and the traveling vehicle to control the elevation of the traveling vehicle. In the working vehicle, an inclination sensor for detecting a left-right inclination angle of the traveling vehicle body, and the left and right vehicle height cylinders are reciprocally adjusted to maintain the traveling vehicle body at a set angle based on a signal from the inclination sensor. Inclination control means for controlling the traveling vehicle body to a predetermined inclination angle by operating, vehicle height setting means for setting a vehicle height reference value of the traveling vehicle body,
Vehicle height control means for driving a vehicle height cylinder to expand and contract so that the vehicle height of the traveling vehicle body matches the vehicle height reference value, wherein the change of the vehicle height reference value starts an inclination control of the traveling vehicle body. Is configured to be performed when the vehicle height is changed by manual operation means that changes the height of the traveling vehicle body in a state where the automatic horizontal switch is switched to the ON state, and when the automatic horizontal switch is switched to the OFF state, A tilt control device for a combine or the like, comprising: parallel control means for operating the vehicle height cylinder to make the traveling vehicle body and the traveling device parallel.