JPS588622Y2 - Mobile vehicle with automatic steering control device - Google Patents

Description

[Detailed description of the invention] The present invention is a combine harvester that can switch between a state in which the aircraft is automatically steered along a row of planted culms and a state in which the aircraft is steered by manual operation. Thus, the operated arm for the steering clutch can be selectively cut and operated by a first operating arm connected to a human operating device and a second operating arm connected to a cylinder operated based on an external command signal. Regarding mobile vehicles equipped with automatic steering control devices,
The purpose is to reduce the amount of human effort required during manual operation.
The object of the present invention is to enable easy steering control, and to minimize the required stroke of the cylinder for automatic steering control, so that the entire device can be configured compactly. .

First, an embodiment of the present invention will be described based on the drawings.

FIG. 1 shows a combine harvester, which is equipped with a threshing device 6, and has a lifting device in front of the fuselage frame 9, which connects a mission case 8 that transmits power to a pair of left and right crawler running devices 7.7. 10. A reaping unit 13 consisting of a clipper-type reaping device 11 and a vertical conveyance device 12 for gradually changing the posture of the husks cut in a vertical position to a sideways position while conveying and supplying them to the threshing device 6 is provided. It is configured as follows.

As shown in FIG. 2, the lifting device 10...
A weed cutting tool 14 for placing the planted shell culm in the cutting draft on the pulling path of the...
・In the weeding tool 14.14 that is closest to the uncut land side,
The sensor 15.15 that detects the planted shell culm introduced into the planted shell culm introduction path between the two splitting tools 14.14 can be elastically returned to a posture perpendicular or almost perpendicular to the direction of movement of the aircraft. This pair of sensors 15j1
The detection results of step 5 are input to the automatic steering control device 17 that automatically operates the pair of left and right steering clutches 16j16 provided in the transmission case 8, thereby controlling the planting by the sensor 15.15. By automatically controlling the pair of left and right steering clutches 16, 16 based on the detection of the lateral displacement of the culms, the machine body is configured to automatically follow the row of planted culms.

The automatic steering control device 17 is constructed as shown in FIGS. 3 to 5.

That is, the fork shaft 18. of the steering clutch 16.16.
A support shaft 19-19 provided near the fork shaft 18. This first operating arm 3.
A second operating arm 5.5 which is operated in contact with the cylinders 4, 4 which are operated based on a command signal accompanying the detection of the culm of the sensor 15.15 is fixed to each of the above-mentioned sensors 15.15. By extending the cylinders 4, 4 based on the command signal, only the steering clutches 16 and 16 are disconnected and activated via the second operating arms 5, 5, the first operating arm 3#3, and the operated arms 1, 1. It is structured as possible.

Further, after disengaging and operating the steering clutch 16.16, the human operating device 2 operates the pair of left and right brakes 20.20 provided in the transmission case 8 as follows.
The composition is blurred.

That is, the steering pedal (not shown) provided in the steering section and the first
An operating metal fitting 23.23 is connected to the operating arm 3j3 via a release wire 21.21, and is provided at the tip of the operated arm 22j22 of the brake 20.20.
is connected to the connecting portion of the first operating arms 3, 3 and the wire 21.21.

Further, the second half of the cam surface of the first operating arm 3.3 is configured in an arc shape so that only the steering clutch operated arms 1, 1 are pivoted by a certain angle by the swinging motion of the first half, The brake operated arms 2, 2 and the operating fitting 2 are arranged so that only the brake operated arms 22, 22 are operated by the swinging movement of the latter half of the first operating arms 3, 3.
A certain stroke flexibility is formed between 3.23 and 3.23.

Therefore, for example, the left steering clutch 16 is disengaged when the left steering pedal is depressed in the first half, and when the pedal is further depressed, the left brake 20 exerts a braking force corresponding to the amount of pedal depression. The steering wheel is configured to be able to perform steering with arbitrary turning characteristics, from slow turning to sharp turning, depending on the amount of pedal operation.

In order to reduce the operating force and shorten the required strokes of the cylinders 4 and 40, the first
The effective operating length of the operating arms 3, 3, L is the effective operating length at of the second operating arm 5.5.

It is configured more like a dog than l.

In summary, in the mobile vehicle with an automatic steering control device according to the present invention, the steering clutch operated arm 1 can be selectively disconnected and operated by a command signal from the outside and the first operating arm 3 connected to the human operating device 2vc. Cylinder 4 which operates based on
Of the second operating arm 5 connected to Since it is used for various purposes, its effective operating length vl can be made smaller than the effective operating length 3L of the first operating arm 3.

Therefore, not only can steering control be performed easily by reducing the manual effort required during manual operation, but also the required stroke of the cylinder 4 for automatic steering control can be made as small as possible, making the entire device compact. As a result, it has been possible to configure the following.

[Brief explanation of the drawing]

The drawings illustrate an embodiment of a mobile vehicle with an automatic steering control device according to the present invention, and FIG. 1 is an overall side view of a combine harvester, and FIG.
The figure is a steering control system diagram of the main part, Fig. 3 is an enlarged plan view of the main part, Fig. 4 A1 is an enlarged plan view of the main part in Fig. 3 and its operation diagram, and Fig. 5 is an enlarged plan view of the main part. It is a sectional view taken along the line ■-V in Figure A. 1...Operated arm for steering clutch, 2...
...human operating device, 3...first operating arm,
4...Cylinder, 5...Second operating arm, L, l...Effective operating length.

Claims (1)

[Scope of utility model registration request] The steering clutch operated arm 1 is selectively operated by a first operating arm 3 connected to a human operating device 2 and a second operating arm 5 connected to a cylinder 4 operated based on an external command signal. The mobile vehicle with an automatic steering control device is characterized in that the effective operating length L of the first operating arm 3 is configured to be larger than the effective operating length vl of the second operating arm 5. A mobile vehicle with an automatic steering control device.