JPH11155345A - Moving device of working vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent the front section of the vehicle body of a working vehicle from being raised up owing to the counteraction of the driving force of a running crawler when the working vehicle moves forward. SOLUTION: This device is obtained by mounting detachably right and left front section rolling metals 4 and rear section rolling metals 5, each pivotally supporting right and left front section rolling arms 2 and rear section rolling arms 3 for rolling control of the body, onto the lower side of a running frame 6 in such a position as to dispose the rear section rolling metals 5 in an appropriately lower position relative to the front section rolling metals 4.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling apparatus for a working vehicle, and more particularly to a technical field relating to means for attaching left and right front and rear rolling metals to a traveling frame capable of rolling control.
It can be used for snowmobiles, construction equipment, etc.

[0002]

2. Description of the Related Art When a vehicle rolls due to the state of a running soil surface or the like during traveling on a work vehicle, the rolling state of the vehicle body is determined as follows.
By the action of the front and rear rolling arms pivotally supported by the left and right front and rear rolling metals, rolling control for raising and lowering the left and right traveling crawlers is performed and the vehicle body is held in a horizontal state. When traveling, the rear part of the vehicle body tends to lower due to the driving reaction force of the traveling crawler, and with a simple work vehicle without pitching control, the running posture may be deteriorated and the work performance may be affected, and rolling metal is used for the running frame. If they are provided integrally, they are a factor that hinders the sharing of parts.

Therefore, in the present invention, a rear rolling metal is removably mounted on a lower portion of a traveling frame so as to be located at an appropriate lower position with respect to a front rolling metal.

[0004]

According to the present invention, a left and right front rolling metal 4 and a rear rolling metal 5, which support the left and right front rolling arms 2 and the rear rolling arm 3 for controlling the rolling of the vehicle body 1, respectively, are provided. The traveling device for a working vehicle is characterized in that the rear rolling metal 5 is detachably mounted on the lower side of the traveling frame 6 so as to be located at a position below the front rolling metal 4 by an appropriate amount a.

[0005]

With the above arrangement, when the vehicle body 1 rolls due to the state of the traveling soil surface during traveling on the work vehicle,
The left and right front and rear rolling arms 2 and 3 are rotated up and down by a rolling control action by a controller or the like that performs arithmetic control of an automatic circuit mainly provided with a CPU, and the left and right traveling crawlers are rotated by the up and down rotation. The vehicle body 1 can be controlled horizontally by the lifting and lowering action. The left and right rear rolling metals 5 that support the rear rolling arm 3 are replaced with the left and right front rolling metals 4 that support the front rolling arm 2. By arranging it at a position one level lower than the traveling frame 6 by an appropriate amount a, even if the rear part of the vehicle body tends to fall due to the driving reaction force of the traveling crawler when the working vehicle travels forward, this rear part can be lowered. The traveling metal can be held in a good condition by correcting the rolling metal, and the rolling metal 4 and 5 can be detachably attached to the traveling frame 6. By mounting, it can facilitate sharing of components.

[0006]

As described above, the rolling vehicle body 1
The left and right rear rolling metal 5 that supports the rear rolling arm 3 is controlled.
Are disposed one position lower than the left and right front rolling metals 4 supporting the front rolling arm 2 by an appropriate amount a with respect to the traveling frame 6.
Is detachably attached to the traveling frame 6, as in the related art, when the working vehicle moves forward, the rear reaction of the traveling crawler tends to lower the rear portion of the vehicle body 1, and the traveling posture is deteriorated. The traveling of the vehicle is corrected by compensating for the lowering of the rear portion of the vehicle body 1 during forward traveling without causing any trouble or preventing the rolling metal 4 and 5 from being fixed to the traveling frame 6 to prevent the sharing of parts. It is possible to maintain a good posture, obtain proper work performance, and facilitate the sharing of parts.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the accompanying drawings.
FIG. 13 shows the entire structure of the combine, in which a traveling device 9 having a pair of left and right traveling rollers 8 traveling on the soil surface is disposed below the traveling frame 6. The grain culm supplied to the feed chain 10 is threshed, and the threshed grains are selectively collected and stored in a Glen tank 11 for temporarily storing the grains. The grain in the Glen tank 11 is discharged outside the machine. The threshing device 13 including the grain auger 12 is placed and configured.

At the front side of the threshing device 13, a weeding body 14 for weeding up-grown grain culm from the front end position, a raising part 15 for causing weeded culm, and a cutting blade part 16 for mowing the caused grain culm. The cutting device 18 having the grain stalk transport portion 17 for transferring the harvested grain stalk to the feed chain 10 while transferring the harvested grain stalk backward to the feed chain 10 is moved to the front end of the traveling frame 6. While being suspended and supported, the mowing lift cylinder 19 driven by hydraulic pressure is mounted so as to be able to move up and down on the soil surface.

An operation device 20 for controlling the operation of the combine is provided on one side of the reaper 18 and an operation seat 2 for this operation.
1, the Glen tank 11 is arranged behind the operation seat 21, and a cabin 22 is provided to cover the operation device 20 and the operation seat 21. These traveling device 9, threshing device 13, and reaper 18 are provided. , The operating device 20 and the like constitute the combined vehicle body 1.

FIGS. 1 to 4 show a traveling device 9 of a combine. The traveling frame 6 has an outer peripheral frame 6a formed in a substantially rectangular shape by a square pipe or the like, and a laterally positioned appropriate position on the outer peripheral frame 6a. A plurality of horizontal middle frames 6b to be joined in the directions, and left and right vertical main frames 7 are arranged at left and right positions closer to the center in the vertical direction on the lower surfaces of the outer peripheral frame 6a and the horizontal middle frame 6b.

A box-shaped front support frame 23 is fixed to the front lower portion of the left and right vertical main frames 7 arranged on the traveling frame 6, and the front support frames 23 are respectively attached to the lower surfaces of the left and right front support frames 23. The left and right front rolling shafts 2c rotatably supported by the left and right front rolling metals 4 are provided with upper and lower parts, respectively, on the inner and outer ends of the left and right front rolling shafts 2c. The left and right front rolling arms 2 are formed by dividing and stopping the arm 2a and the lower arm 2b in a shape of a letter when viewed from the side.

A box-shaped rear support frame 24 is formed at the lower rear portion of the left and right vertical main frames 7 by a suitable amount a below the front support frame 23 with respect to the traveling frame 6 as shown in FIG. The rear rolling metal 5 is fastened and fixed by screws 5a or the like to the lower surfaces of the left and right rear support frames 24, respectively. An upper arm 3a and a lower arm 3b are divided and fixed to an inner end and an outer end of a rear rolling shaft 3c in a laterally-view-shaped shape to form left and right rear rolling arms 3, respectively. The lower end position of the lower arm 2b of the front rolling arm 2 and the lower end position of the lower arm 3b of the left and right rear rolling arms 3
The left and right crawler frames 25 located outside and below the left and right vertical main frames 7 are rotatably connected to front and rear positions by pins 26 and 27, respectively.

The upper ends of the upper arms 2a of the left and right front rolling arms 2 and the left and right rear rolling arms 3
And the intermediate portion of the upper arm 3a are rotatably connected by pins by left and right connecting rods 28 so that four parallel links can be formed. The upper arm 3a of the left and right rear rolling arms 3 is extended further upward than the connecting position of the connecting rod 28, and the upper end thereof and the distal ends of the pistons of the left and right rolling cylinders 29 which expand and contract by hydraulic pressure or the like. Each of the left and right rolling cylinders 2 is connected with a pin.
9 left and right stroke sensors 3 for detecting expansion and contraction strokes
0 is provided above the left and right cylinders 29 and the sensor 3
The working arm of No. 0 and the upper end connecting portion of the rear rolling arm 3 are connected by a lot 31 to be constituted.

As described above, the controller 32 is provided for performing arithmetic control of a rolling mechanism for raising and lowering or tilting the vehicle body 1 by the action of the left and right front and rear rolling arms 2 and 3 and the left and right rolling cylinders 29. Configure. Rear wheel supports 34 for rotatably supporting the left and right rear wheels 33 are fixed rearward on the upper rear ends of the left and right crawler frames 25, respectively, and attached to the lower sides of the left and right crawler frames 25. A plurality of grounding rollers 35 are freely rotatably supported at predetermined intervals, and are mounted on the left and right rear wheels 33 and the plurality of grounding wheels 35 and the front end of the running frame 6. Mounted mission cage
The left and right traveling rollers 8 are respectively wound around a drive wheel 37 for transmitting power from a wheel 36. 38
Indicates an auxiliary wheel.

A left / right inclination sensor 39 for detecting the left / right inclination of the vehicle body 1 is arranged in a space below the Glen tank 11 of the traveling frame 6 (see FIG. 4). A left / right switch 40 for automatically adjusting and controlling the vehicle 1 to a left / right horizontal state, and a manual vehicle height switch 41 for lifting / lowering the vehicle body 1 are respectively arranged on one side of the operation device 20.

As shown in FIG. 5, the left and right stroke sensors 3 are provided on the input side of a controller 32 which mainly operates the CPU and controls the automatic circuit and the rolling mechanism.
0, left and right tilt sensor 39, left and right switch 40, vehicle height switch 41, etc. are connected to each other, and the left and right rolling solenoid valves 42 on the extension side and the shortened left and right sides for operating the left and right rolling cylinders 29 are output to the output side. The rolling electromagnetic valve 43 and the unloading valve 44 are connected to each other.

When the vehicle body 1 rolls and tilts to the left or right side, the left or right rolling cylinder 29 is operated by the arithmetic control of the controller 32 by turning on the left / right switch 40 and detecting the tilt by the right / left tilt sensor 39. , Front and rear rolling arms 2 and 3 and connecting rod 28
By moving the left or right crawler frame 25 up and down by the parallel link action by the above, the left or right traveling crawler 8 is moved up and down with respect to the traveling frame 6, thereby relatively adjusting the vehicle body 1 to the left and right horizontal state. Rolling control can be performed.

When the vehicle body 1 is moved up and down in parallel,
By turning on the vehicle height switch 41, the left and right rolling cylinders 29 are simultaneously operated by the same amount, and the left and right crawler frames 25 are moved up and down in parallel by the parallel linking action of the front and rear rolling arms 2, 3 and the connecting rod 28. By vertically moving the left and right traveling rollers 8 with respect to the traveling frame 6, the vehicle body 1 can be relatively vertically moved in parallel.

In such rolling control, even if the rear part tends to lower due to the driving reaction force of the traveling crawler 8 when the vehicle body 1 moves forward, the rear rolling metal 5 is moved relative to the front rolling metal 4. Appropriate amount a
Only one step lower, the body 1
The lowering of the rear portion can be corrected to maintain a favorable running posture and obtain proper work performance. Note that the front and rear rolling metals 4 and 5 are combined with the front and rear support frames 23 and 2.
The parts 4 can be shared and fixed to each other by screws 4a, 5a, etc., so that the commonality of parts can be improved.

The running frame 6 is mounted on the lower surface of an outer peripheral frame 6a as an upper frame and a lower side of a horizontal middle frame 6b.
By joining the upper surfaces of the left and right vertical main frames 7 as the lower frame, the upper frame and the lower frame are made parallel to each other, and the front and rear support frames 23, on which the front and rear rolling metals 4, 5 are mounted. By forming the respective mounting surfaces b (see FIG. 3) of 24 in parallel, manufacturing jigs and the like can be simplified and cost can be reduced. In addition, by making the upper frame and the lower frame of the traveling frame 6 parallel to each other, it is possible to share the components related to the traveling frame 6 of the pitching specification machine.

Next, in addition to the rolling control for adjusting the horizontal inclination of the vehicle body 1 to the horizontal state as described above, the traveling device 45 for simultaneously performing the pitching control for adjusting the front and rear inclination of the vehicle body 1 to the horizontal state is shown in FIG. , Shown in FIG. (Those having the same functions as those of the traveling device 9 will be described with the same reference numerals.) As described above, the traveling frame 6, the left and right front support frames 23, the left and right front rolling metals 4, and the left and right front rolling. The operation configuration of the arm 2 and the like is the same as that of the traveling device 9.

A pitching shaft 47 is rotatably supported on a pitching metal 46 fixed to the rear lower portion of each of the left and right vertical main frames 7, and left and right pitching portions are provided at left and right ends of the pitching shaft 47, respectively. One end of the arm 48 is axially fixed, and the other end and one end on the left and right sides of an H-shaped connection arm 49 in a plan view are rotatably connected by pins 50 respectively.

Left and right rear rolling shafts 51 are rotatably supported at the left and right ends of the connecting arm 49, respectively, and the left and right rear rolling shafts 51 have inner and outer ends respectively. The upper arm 3a and the lower arm 3b are divided into a shape of a letter when viewed from the side and fixed to the left and right rear rolling arms 3.
Is formed and configured. The lower end position of the lower arm 2b of the left and right front rolling arms 2 and the lower end position of the lower arm 3b of the left and right rear rolling arms 3 are located outside and below the left and right vertical main frames 7, respectively. The front and rear positions of the left and right crawler frames 25 are rotatably connected by pins 26 and 27, respectively.

The other end of the right pitching arm 48 is extended upward, and the extended upper end and a piston tip of a pitching cylinder 52 which is provided on the rear upper surface of the running frame 6 and which operates by hydraulic pressure or the like. And the fixed side of the pitching cylinder 52 is rotatably connected to a mounting portion 53 fixed to the upper surface of the rear middle frame 6b.

The upper ends of the upper arms 2a of the left and right front rolling arms 2 and the left and right rear rolling arms 3
And the intermediate portion of the upper arm 3a are rotatably connected by pins by the left and right connecting rods 28 so that four parallel links can be formed. The upper arm 3a of the left and right rear rolling arms 3 is extended further upward than the connecting position of the connecting rod 28, and the upper end thereof and the distal ends of the pistons of the left and right rolling cylinders 29 which expand and contract by hydraulic pressure or the like. The pins are connected to each other, and the fixed sides of the left and right rolling cylinders 29 and the projections protruding from the other ends of the left and right pitching arms 48 are rotated by being sandwiched from both sides by band-shaped holding plates 54. The connecting portion on the fixed side is swingably connected to the horizontal middle frame 6b via a link 56 so as to be configured.

As described above, the rolling mechanism for raising and lowering or tilting the vehicle body 1 by the action of the left and right front and rear rolling arms 2 and 3 and the left and right rolling cylinders 29, the pitching arm 48 and the pitching cylinder 52 A controller 57 is provided for performing arithmetic control of a pitching mechanism for tilting the vehicle body 1 back and forth by operation.

As described above, the left and right crawler frames 2
5, right and left rear wheels 41 and rear wheel bearings 42, a plurality of ground wheels 35, a traveling transmission case 36, left and right driving wheels 37, left and right auxiliary wheels 38, etc. The same operation configuration as described above is adopted. The pitching cylinder 5
Front / rear stroke sensor 5 for detecting expansion / contraction stroke of 2
8 is provided on the lower side of the cylinder 52, and the working arm of the sensor 58 and the vicinity of the upper end of the pitching arm 48 are connected by a lot 59, and a left / right stroke sensor 30 for detecting the expansion / contraction stroke of the left and right rolling cylinders 29 is provided. It is provided above the left and right cylinders 29, and the working arm of the sensor 30 and the upper end connecting portion of the rear rolling arm 3 are connected by a lot 31.

A front-rear inclination sensor 60 for detecting the front-rear inclination of the vehicle body 1 and a left-right inclination sensor 39 for detecting the left-right inclination are arranged in the space below the Glen tank 11 of the traveling frame 6 (see FIG. 4). A plurality of grain sensors 61 for detecting the amount of stored grains in the tank 11 are provided in the tank 11, and a vehicle speed sensor 62 for detecting the vehicle speed is arranged at an appropriate position on the transmission path.

The front / rear switch 63 and the left / right switch 40 for automatically controlling the adjustment of the vehicle body 6 to the horizontal state by detecting the inclination state by the front / rear and left / right inclination sensors 60 and 39, and the vehicle body 1 is moved to the front, rear, left and right as appropriate. A manual tilt switch 64 composed of four push buttons for tilting, a manual vehicle height switch 41 for raising and lowering the vehicle body 1, and the reaper 18
And a forward / backward tilt dial 66 for adjusting the forward / backward tilt amount of the vehicle body 1 are arranged and arranged on one side of the operating device 20, respectively.

As shown in FIG. 8, the CPU is mainly arranged to control the operation of the automatic circuit, and the input / output of a controller 57 for controlling the rolling mechanism and the pitching mechanism is connected to the front-rear stroke sensor 58, Left and right stroke sensor 30, front and rear inclination sensor 60, left and right inclination sensor 39, front and rear switch 63, left and right switch 40, inclination switch 64, vehicle height switch 41, grain amount sensor 61, vehicle speed sensor 62, harvesting switch 65, front and rear inclination dial 66
To the output side thereof, the extension side pitching solenoid valve 67 and the contraction side pitching solenoid valve 68 for operating the pitching cylinder 52, and the extension side left and right rolling solenoids for operating the left and right rolling cylinders 29. The valve 42 and the left and right rolling solenoid valves 43 and the unload valve 44 on the shortening side are connected to each other.

When the vehicle body 1 is pitched and leans forward and backward, the pitching cylinder 52 is operated by the arithmetic control of the controller 57 and the pitching arm 48 is turned on by turning on the front and rear switch 63 and detecting the tilt by the front and rear tilt sensor 60. Of the connecting arm 4
9, the rear side of the left and right crawler frames 25 is moved by the right and left rear rolling arms 3 to the front rolling shaft 2c.
Is moved up and down with the fulcrum as the fulcrum, and the right and left traveling rollers 8 are simultaneously moved up and down with respect to the traveling frame 6 to perform pitching control for relatively tilting the vehicle body 1 back and forth to adjust the vehicle to a horizontal state. it can.

When the vehicle body 1 rolls and leans to the left or right side, the controller 5 is turned on by turning on the left / right switch 40 and detecting the tilt by the left / right tilt sensor 39.
7 to operate the left or right rolling cylinder 29 and the front and rear rolling arms 2 and 3 and the connecting rod 28.
By moving the left or right crawler frame 25 up and down by the parallel link action by the above, the left or right traveling crawler 8 is moved up and down with respect to the traveling frame 6, so that the vehicle body 1 is inclined left and right relatively to the horizontal Rolling control for adjusting the state can be performed.

When the vehicle body 1 is moved up and down in parallel with the traveling crawler 8, the left and right rolling cylinders 29 are simultaneously operated by the same amount by turning on the vehicle height switch 41.
By moving the left and right crawler frames 25 up and down in parallel by the parallel linking action of the front and rear rolling arms 2 and 3 and the connecting rod 28, the left and right traveling crawlers 8 are moved up and down in the same manner with respect to the traveling frame 6. Thus, the vehicle body 1 can be relatively moved up and down in parallel.

In such pitching control and rolling control, as shown in FIG. 9, a connecting arm 49 having an H-shape in plan view is formed in a hollow shape, and a rear rolling shaft 51 of the connecting arm 49 is formed. The supporting arm portion 49a is supported so as to substantially vertically overlap the vertical main frame 7 in the vertical direction. With these configurations, by making the connecting arm 49 hollow, the weight can be reduced without deteriorating the strength, and the pivot arm portion 49a has a shape that increases the space below the pitching arm 48. Therefore, it is possible to improve running performance in wet fields and the like.

As described above, in the apparatus for controlling the pitching of the vehicle body 1, a reference value of the amount of forward and backward inclination of the vehicle body 1 in the mowing operation is set in the controller 57 in advance, and control is performed so as to maintain the reference value. As shown in the flowchart of FIG. 10, the cutting switch 65 is turned on, and when the vehicle 1 is in the running state, the front and rear switch 63 for automatically performing the pitching control is turned on. By performing the pitching control so as to maintain the reference value of the inclination amount, it is possible to prevent the vehicle body 1 from falling backward due to the driving reaction force of the traveling crawler 8 beforehand.

Further, as shown in FIG. 11, when the amount of the kernel increases as shown in FIG. 11 based on the detection values of the plurality of kernel sensors 61 for detecting the amount of the kernel stored in the Glen tank 11, the amount of the kernel increases. Automatically changes the reference value of the forward / backward tilt amount to a larger value in accordance with the above, and performs pitching control so as to hold the changed reference value. Body 1 in response to changes in
Can be prevented beforehand.

The vehicle speed sensor 62 for detecting the vehicle speed
As shown in FIG. 12, when the vehicle speed is increased, the reference value of the front-rear inclination amount is automatically changed to a larger value in accordance with the vehicle speed, and the changed reference value is held. By performing the pitching control, it is possible to prevent the vehicle body 1 from tilting backward in response to a change in the driving reaction force of the traveling crawler 8 due to the level of the vehicle speed.

The reference value of the forward / backward tilt amount set in the controller 57 is input by the operator to the forward / backward tilt dial 66.
Enables the operator to change the set reference value in accordance with the field conditions in wet fields, dry fields, and the like, thereby improving the condition adaptability.

[Brief description of the drawings]

FIG. 1 is a side view showing the relationship between a traveling crawler lifting mechanism in a traveling device.

FIG. 2 is a plan view showing the relationship between a traveling crawler lifting mechanism in the traveling device.

FIG. 3 is a side view showing an arrangement relationship between a front rolling metal and a rear rolling metal.

FIG. 4 is a perspective view showing the overall configuration of a traveling frame.

FIG. 5 is a block diagram showing an automatic circuit for left-right horizontal control of the aircraft.

FIG. 6 is a side view showing a relationship between a traveling crawler elevating mechanism in a traveling device having another configuration.

FIG. 7 is a plan view showing a relationship between a traveling crawler lifting mechanism in a traveling device having another configuration.

FIG. 8 is a block diagram showing an automatic circuit for front-rear horizontal control and left-right horizontal control of the airframe.

FIG. 9 is a front view showing an overlapping state of the connecting arm with respect to the vertical main frame of the traveling frame.

FIG. 10 is a flowchart showing a procedure for performing pitching control based on a reference value of the front-back inclination amount.

FIG. 11 is a diagram showing a change state of a reference value of a front-back inclination amount according to an increase / decrease of a grain amount of a Glen tank.

FIG. 12 is a diagram showing a change state of a reference value of a front-back inclination amount according to a change in vehicle speed.

FIG. 13 is a side view showing the overall configuration of the combine.

[Explanation of symbols]

 1. Body 2. Front rolling arm 3. Rear rolling arm 4. Front rolling metal 5. Rear rolling metal 6. Traveling frame

Claims (1)

[Claims] 1. A left and right front rolling metal 4 and a rear rolling metal 5, which respectively support a left and right front rolling arm 2 and a rear rolling arm 3 for controlling the rolling of a vehicle body 1, are mounted on a lower side of a traveling frame 6. Appropriate amount a of rear rolling metal 5 to front rolling metal 4
A traveling device for a working vehicle, wherein the traveling device is detachably attached to a lower position.