JPS5938108A - Working vehicle - Google Patents
Working vehicleInfo
- Publication number
- JPS5938108A JPS5938108A JP14824482A JP14824482A JPS5938108A JP S5938108 A JPS5938108 A JP S5938108A JP 14824482 A JP14824482 A JP 14824482A JP 14824482 A JP14824482 A JP 14824482A JP S5938108 A JPS5938108 A JP S5938108A
- Authority
- JP
- Japan
- Prior art keywords
- lever
- aircraft
- traveling devices
- rolling
- vertical motion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Harvester Elements (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は、左右の走行装置を機体に対して各別に駆動昇
降自在に取付けた作業車に関し、左右の走行装置を各別
に駆□動昇降して機体のローリングを水□平、または設
□定角度内に姿勢修正する制御装置の構造を簡単にする
ことを目的とする・ \□ ゛
本発明′)ICおける作業車″の特徴構成は、前記両走
行装置のいずれか一方のみの単独昇降操作、及び、前記
両走行装置の一体的かつ背反的昇降操作′ff:選択す
るだめの操作モード選択用操作具を設けである4丁にあ
る。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a working vehicle in which the left and right traveling devices are mounted on the machine body so that they can be driven up and down separately. □ The purpose of this is to simplify the structure of a control device that corrects the posture within a flat or set angle. There are four operating tools for selecting an operation mode: an independent lifting and lowering operation of only one of the traveling devices, and an integrated and contradictory lifting and lowering operation of both traveling devices.
本発明の特徴構成による作用効果は次の通りである。□
つまり、機体のローリングを修正する場合におい□て、
二進シの方法があり、その−つは、ローリングの原因に
応じて一方の走行装置だけを昇降駆動してローリング修
正を行なう方法であシ、この方法は機体の対地上高さが
変化しないという特長がある反面、応答速度が遅いとい
う欠点がある。 もう一つは、ローリングの原因に依ら
ず左右の走行装置を互いに反背駆動してローリング修正
を行なう方法であって、この方法は応答速度が速いとい
う反面、機体の対地上高さが変化するという欠点がある
。 一方、作業車の運転者は車体揺動による感覚やその
他視覚等の体感に基づいて°、機体のローリングの原因
やローリングの状態等を容易に認識して上記の二通りの
ローリング修正方法を選択することが可能であるという
人間工学的な見地から、操作モード選択用操作具を設け
て人為的に操作モードを選択できるように構成したこと
によシ、操作モードを自動選択するためにローリングの
原因や状況を検出するセンサーや各種の判断機能を備え
た制御装置を必要上せず、制御装置を全体的に非常に簡
単なものにすることができ、製造コストを安価に1−る
ことかできることや、故障率を低くすることができた。The effects of the characteristic configuration of the present invention are as follows. □
In other words, when correcting the rolling of the aircraft,
There is a binary method, which corrects the rolling by driving only one of the running gears up and down depending on the cause of the rolling.This method does not change the height of the aircraft above the ground. Although it has this advantage, it has the disadvantage of slow response speed. The other method is to correct the rolling by driving the left and right running gears opposite to each other, regardless of the cause of the rolling.While this method has a fast response time, it also changes the height of the aircraft above the ground. There is a drawback. On the other hand, the operator of the work vehicle can easily recognize the cause of the machine's rolling, the rolling state, etc. based on the sensation caused by the vehicle's body rocking and other visual sensations, and select the above two rolling correction methods. From an ergonomic point of view, it is possible to manually select an operation mode by providing an operation tool for selecting an operation mode. There is no need for a control device equipped with sensors to detect causes and conditions or various judgment functions, and the overall control device can be made very simple, reducing manufacturing costs. We were able to reduce the failure rate.
次に、実施例について説明する。Next, examples will be described.
記脱穀機(3)のフィードチェーン(4)とは反対側の
前部に操n・を才!i t22i、運転席(喝、操縦レ
バー(9)を備えた運転部(5)を6閘すると共に、前
記運転部([1)の横flt11部でかつ脱穀機(3)
の前部に刈取部(6)を設けで、植立殻稈を刈取脱穀す
るためのコンバイン全41°4成しである。There is a handle at the front of the threshing machine (3) opposite the feed chain (4). i t22i, the driving part (5) equipped with the driver's seat (opener, control lever (9)) is installed 6 times, and the threshing machine (3)
The combine harvester is equipped with a reaping part (6) at the front of the combine harvester, and has a total of 41° and 4 parts for reaping and threshing the planted culms.
前記クローラ走行装置(1g)、(lb)を機体12+
に対してリンク機栴(8m)、(8b)を介して左右各
別のシリンダー(7a)、(7b)の駆動によって昇降
自在に取す伺け、機体(2)の内部に設けたローリング
検出センサー(101からの信号に基いて各走行装置i
7? (la)、(lb)を昇降制御すべく構成しであ
る。The crawler traveling device (1g), (lb) is attached to the aircraft 12+
It can be raised and lowered freely by driving left and right cylinders (7a) and (7b) via link machines (8m) and (8b), and a rolling detection system installed inside the fuselage (2). Each traveling device i based on the signal from the sensor (101)
7? (la) and (lb) are configured to perform lifting/lowering control.
9′?8図に示すように、ローリングを検出するセンサ
ー(10)は水銀スイッチを用いて、6j1記機体(2
)が水平状態、まだは、ローリング角設定範囲内におい
ては、センサー(10)の両接点(10a) 、(10
b)が閉状態に、機体(2)のローリング状態において
は、択一的に接点(10a)fたは、(10b)が開く
ように構成し、更に、第4図に示すように運転部(6)
に設けた前記刈取部(6)昇降の操作レバー(川に操作
モード選択機能を兼備し、操作レバー(+11の操作に
より、レバー(川の下部に設けたスイッチ+1:?)、
(l場を択一的に作動し、その接点(18g)または、
(lllb)を閉じるように、また、操作レバー (1
1)の非操作時において接点(18a)、(18b)を
開くように構成し、第5図及び第6図に示すようにこれ
らの接点(10a)、(10b)、(18a)、(18
b)とバッテリー04)、論理回路を構成するゲート回
路(18a)、(18b) 、ダイオードα伺・・、ト
ランジスタ(201・−、パイロットランプ(21a)
、 (21b) −(21c)、(21d) 、左右
夫々のシリンダー(7a) 、 (7b)を伸縮制御す
る各別の電磁バルブ(15a)、(15b)のソレノイ
ドコイル(16a)、(16b)、(16c)、(16
d)を接続し、ソレノイドコイル(16a)、(16c
)に通電することによりシリンダー(7a)、(7b)
を伸長、ソレノイドコイ/I/(16b)、(16d
)に通電することKよりシリンダー(7a)、(7b)
を短縮するように左右各別に構成し、もって、機イtが
ローリングした場合、操作レバー(111が中立状態で
は接点(18m)、(18b)が開、接点(10a)、
(10b)が背反的に開又は閉になシ、左右の走行装置
(la)、(lb)を一体的かつ背反的・昇降操作を行
なう第1制御装置と、操作レバー1Illを操作して接
点(18a)または接点(18b)を閉じ、かつ接点(
10a)、(10b)が背反的に開又は閉にな9、左右
の走行装置(la)、(lb)のいずれか一方を選択し
、単独昇降操fYを行なう第一制御装置を回路−ヒ一体
的に構成し、更に、機体がローリング角設定範囲内にあ
る場合妃操作レバー(Iilを操作することによって接
点(18a)または接点(18b)を閉じると共に接点
(10a)、(10b)が閉であって、走行装rat
(la) 。9'? As shown in Figure 8, the sensor (10) that detects rolling uses a mercury switch to
) is horizontal and still within the rolling angle setting range, both contacts (10a) and (10
b) is in the closed state, and when the body (2) is in the rolling state, the contacts (10a)f or (10b) are configured to open alternatively, and furthermore, as shown in FIG. (6)
The operating lever for raising and lowering the reaping section (6) provided at
(alternatively activates the l field, its contact point (18g) or
(lllb) to close the operation lever (1
The contacts (18a) and (18b) are configured to open when 1) is not operated, and these contacts (10a), (10b), (18a), (18
b) and battery 04), gate circuits (18a) and (18b) forming the logic circuit, diode α..., transistor (201...), pilot lamp (21a)
, (21b) - (21c), (21d), Solenoid coils (16a), (16b) of the separate electromagnetic valves (15a), (15b) that control expansion and contraction of the left and right cylinders (7a), (7b), respectively. , (16c), (16
d) and solenoid coils (16a), (16c
) by energizing the cylinders (7a) and (7b).
Extend, solenoid carp / I / (16b), (16d
) to energize cylinders (7a) and (7b) from K.
When the machine t rolls, the contacts (18m), (18b) are open when the operating lever (111) is in the neutral state, and the contacts (10a),
If (10b) is not opened or closed in a contradictory manner, a first control device that performs integral and contradictory lifting and lowering operations of the left and right traveling devices (la) and (lb), and a contact point by operating the operating lever 1Ill. (18a) or the contact (18b) is closed, and the contact (18b) is closed.
10a) and (10b) open or close contrary to each other 9. Select one of the left and right traveling devices (la) and (lb), and switch the first control device that performs the independent lifting operation fY to the circuit. Furthermore, when the aircraft is within the rolling angle setting range, the contact (18a) or the contact (18b) is closed by operating the second operating lever (Iil), and the contacts (10a) and (10b) are also closed. And the running gear rat
(la).
(1b)を一体的に昇降して機体高さ調節も行なえるよ
うに構成しである。(1b) is configured so that it can be raised and lowered integrally to adjust the height of the aircraft.
尚、第7図に示すようにパイロットランプ(21a)、
(21b)、(21c)、(21d)を前記操8’l:
N Eに配置[7、走行装置(la)、(lb)の昇
降状ローを報知し、例えば、単独引降操作から一体的昇
降繰作への推移等を指示し、操作レバー(川の操作のタ
イミングを運転者に知らせる様に構成しである。In addition, as shown in FIG. 7, the pilot lamp (21a),
(21b), (21c), (21d) in the above operations 8'l:
Placed at N E [7, Notifies the lowering state of the traveling gear (la), (lb), instructs the transition from individual lowering operation to integrated lifting operation, etc. The system is configured to notify the driver of the timing of the event.
尚、前記操作レバー(11)を前記操縦搭C(zに構成
するにおいて、第4図に示すように、機体(21に突設
した枢支軸123)に対して回転自在に取り付けたプラ
テン) (24+の縦軸方向に摺動自在に操作レバー(
11)を内嵌し、操作レバー(11)に突設した摺動規
制ビン(251’k、ブラケット04)に穿設したガイ
ド欝(2渇に嵌入して摺動範囲を規制するようにし、操
作レバー(川に外嵌したフランジ(261とプラテン)
(24)の間に操作レバー(11を上方向に付勢する
ようにスプリング鰭を配設し、更に、ロッド0濁を、操
作レバー(11)の下端部に突設し、枢支軸(財)に遊
底したバルブ■操作用しバー四のU字杖溝01)に嵌合
してロッド@を介して、前記刈取部(61を昇降するシ
リンダー(財)のパルプ■を操作する状部、あるいは、
操作レバー(11)を押し操作することによりレバー(
291の溝C11lから離脱してスイッチt+3]。In addition, when the operation lever (11) is configured as the control tower C (z), as shown in FIG. (The operation lever can be slid freely in the vertical axis direction of 24+ (
11) is inserted into the guide hole (251'k, bracket 04) drilled in the sliding regulating bin (251'k, bracket 04) protruding from the operating lever (11) to regulate the sliding range, Operation lever (flange fitted externally to the river (261 and platen)
A spring fin is arranged between the operating lever (24) so as to bias the operating lever (11 upward), and a rod is provided protruding from the lower end of the operating lever (11), and a pivot shaft ( A part that fits into the U-shaped cane groove 01) of the operating bar 4 and operates the pulp of the cylinder that moves up and down the reaping part (61). ,or,
By pressing and operating the operating lever (11), the lever (
291 from the groove C11l and switch t+3].
(1□□□を操作する状にi!とに切換えられるように
し、もって、一つの操作レバー(111を刈取部(6)
の昇降操作と、単独4降操作及び背反昇降操作を選択す
るモード選択操作を切換えて操作できるように構成しで
ある。(By operating 1□□□, it can be switched to i! and
It is configured so that it can be operated by switching between an up/down operation, a single four-down operation, and a mode selection operation that selects a reverse up/down operation.
1)j1記走行装置(la)、(lb) fK:機体に
対して各別に駆動昇降自在に数個けるにおいて、例えば
、エンジン出力によって、リンク機構−や、ラック・ビ
ニオンの昇降機構等を駆動するように構成しても良く、
また、センサー(10)は、例えば、ポテンショメータ
ーを用いた角度検出器等、各種のものを利用可能であり
、更に、前記第1制御装置及び第2制御装置を構成する
において、上記各種の入出力装置の電気、緻械的特性に
応じて回路の具体構成は自由に変更可能である。1) j1 Traveling device (la), (lb) fK: When there are several driving devices that can be moved up and down independently on the aircraft, for example, the engine output drives the link mechanism, the rack/binion lifting mechanism, etc. It may be configured to
In addition, the sensor (10) can be of various types, such as an angle detector using a potentiometer, and furthermore, in configuring the first control device and the second control device, the sensor (10) can be used for the various input/output The specific configuration of the circuit can be freely changed depending on the electrical and mechanical characteristics of the device.
1だ、機体姿勢修正を行なうに際して、路上の状態、積
載、物の状態に応じて姿勢修正を開始、停止する角JE
を、水平状態のみならず各種の値に設定しても良く、こ
れらの設定′範囲をローリンク角設定範囲と総称する。1. When correcting the aircraft attitude, determine the angle JE at which the attitude correction starts and stops depending on the road conditions, loading, and object conditions.
may be set not only to the horizontal state but also to various values, and the range of these settings is collectively referred to as the low link angle setting range.
本発明は、例えば、車輪を駆動する走行装置を備えた作
業車等、その他各種の走行装置を備えた運搬yetや刈
取部、田植機等の各種農作業車や土工作業車等に適用可
能である。The present invention is applicable to, for example, a working vehicle equipped with a traveling device that drives wheels, various agricultural vehicles such as a transportation yet, a reaping section, a rice transplanter, etc., and an earthwork vehicle equipped with various other traveling devices. .
図面は本発明に係る作業車の実施例を示し、第1図は・
ンパインの全体側面図、第2図は概略背面図、第8図は
センサーの拡大図、第4図は要部の斜視図、第5図は第
1制御装置及び第2制御装置を構成する回路図、第6図
は要部の系統図、第7図は要部の平面図である。
(la)、(lb)・・・・・・走行装置、(2)・・
・・・・機体、(lO)・・・・・・センサー、(川・
・・・・・操作具/人為指示装置、−目し
4FThe drawings show an embodiment of the working vehicle according to the present invention, and FIG.
Figure 2 is a schematic rear view of the engine, Figure 8 is an enlarged view of the sensor, Figure 4 is a perspective view of the main parts, Figure 5 is the circuit that constitutes the first control device and the second control device. 6 is a system diagram of the main parts, and FIG. 7 is a plan view of the main parts. (la), (lb)...travelling device, (2)...
...Aircraft, (lO)...Sensor, (River)
・・・・Operation tool/manual instruction device, -eye 4F
Claims (1)
対し゛て各別に駆動昇降自在に取付けた作業車であって
、前記両走行装置(1@)、(lb)のいずれか一方の
みの単独昇降操作、及び、前記両走行装置(la)、(
lb)の一体的かつ背反的昇降操作を選択するための操
作モード選択用操作具O1l′を設けである事を特徴と
する作業車。 ■ 前記機体(2)のローリングを検出するセンサー
+101からの情報に基いて、前記□機体のローリング
角を所定範囲内圧維持すべく、前記両走行装置(la)
、(lb)の一体的かつ背反的昇降操作を自動的に行う
第1制御装置を設けると共に、前記センサー(lO)か
らの情報に基いて、前記機体(2)のローリング角を設
定範囲内に維持すべく、前記走行装置(la)、(lb
)の単独操作を行う第2制御装置、及び、その第一制御
装置に、前記両走行装M、 (la)、(lb)のいず
れを昇降操作すべきかの情報と、作動開始指示とを与え
る人為指示装置(11)を設けである事を特徴とする特
許請求の範囲第0項に記載の作業車。[Scope of Claims] ■ A work vehicle in which left and right traveling devices (la) and (lb) are respectively attached to a body (2) so that they can be driven up and down, wherein both traveling devices (1@), (lb), and both traveling devices (la), (
A work vehicle characterized in that it is provided with an operation mode selection operation tool O1l' for selecting the integral and contradictory lifting and lowering operations of lb). ■ Sensor that detects rolling of the aircraft (2)
Based on the information from +101, in order to maintain the rolling angle of the aircraft within a predetermined range, both traveling devices (la)
, (lb) are provided, and the rolling angle of the aircraft (2) is kept within a set range based on information from the sensor (lO). In order to maintain the traveling devices (la), (lb
), and the first control device thereof, the information as to which of the traveling gears M, (la) and (lb) should be operated up and down, and an instruction to start the operation are provided. The work vehicle according to claim 0, characterized in that it is provided with a human instruction device (11).
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP14824482A JPS5938108A (en) | 1982-08-25 | 1982-08-25 | Working vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP14824482A JPS5938108A (en) | 1982-08-25 | 1982-08-25 | Working vehicle |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS5938108A true JPS5938108A (en) | 1984-03-01 |
JPH0583403B2 JPH0583403B2 (en) | 1993-11-26 |
Family
ID=15448455
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP14824482A Granted JPS5938108A (en) | 1982-08-25 | 1982-08-25 | Working vehicle |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS5938108A (en) |
Cited By (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62294009A (en) * | 1986-06-14 | 1987-12-21 | 株式会社クボタ | Combine |
JPS62296812A (en) * | 1986-06-18 | 1987-12-24 | 株式会社クボタ | Combine |
JPS62296811A (en) * | 1986-06-18 | 1987-12-24 | 株式会社クボタ | Combine |
JPS62296810A (en) * | 1986-06-16 | 1987-12-24 | 株式会社クボタ | Combine |
JPS637716A (en) * | 1986-06-28 | 1988-01-13 | 株式会社クボタ | Combine |
JPS63105612A (en) * | 1986-10-23 | 1988-05-10 | 株式会社クボタ | Combine |
JPH0194022U (en) * | 1987-12-15 | 1989-06-21 | ||
JPH04218311A (en) * | 1991-04-24 | 1992-08-07 | Kubota Corp | Working vehicle |
JPH04228011A (en) * | 1991-04-26 | 1992-08-18 | Kubota Corp | Working car |
JPH04278815A (en) * | 1991-03-05 | 1992-10-05 | Mitsubishi Agricult Mach Co Ltd | Inclination control device for travelling vehicle |
JPH0638613A (en) * | 1993-06-14 | 1994-02-15 | Kubota Corp | Working car |
JPH07257444A (en) * | 1995-02-13 | 1995-10-09 | Kubota Corp | Running device for combine |
JPH07277234A (en) * | 1995-02-13 | 1995-10-24 | Kubota Corp | Travel device of combine |
JPH07277233A (en) * | 1995-02-13 | 1995-10-24 | Kubota Corp | Travel device of combine |
JPH0898619A (en) * | 1995-10-06 | 1996-04-16 | Kubota Corp | Working vehicle |
JP2013078290A (en) * | 2011-10-04 | 2013-05-02 | Yanmar Co Ltd | Traveling vehicle |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS49727U (en) * | 1972-04-05 | 1974-01-07 | ||
JPS5021212U (en) * | 1973-06-22 | 1975-03-11 | ||
JPS5486125A (en) * | 1977-12-17 | 1979-07-09 | Kayaba Ind Co Ltd | Device of preventing upside-downness of car with dump mechanism |
-
1982
- 1982-08-25 JP JP14824482A patent/JPS5938108A/en active Granted
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS49727U (en) * | 1972-04-05 | 1974-01-07 | ||
JPS5021212U (en) * | 1973-06-22 | 1975-03-11 | ||
JPS5486125A (en) * | 1977-12-17 | 1979-07-09 | Kayaba Ind Co Ltd | Device of preventing upside-downness of car with dump mechanism |
Cited By (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62294009A (en) * | 1986-06-14 | 1987-12-21 | 株式会社クボタ | Combine |
JPS62296810A (en) * | 1986-06-16 | 1987-12-24 | 株式会社クボタ | Combine |
JPS62296812A (en) * | 1986-06-18 | 1987-12-24 | 株式会社クボタ | Combine |
JPS62296811A (en) * | 1986-06-18 | 1987-12-24 | 株式会社クボタ | Combine |
JPS637716A (en) * | 1986-06-28 | 1988-01-13 | 株式会社クボタ | Combine |
JPH074101B2 (en) * | 1986-10-23 | 1995-01-25 | 株式会社クボタ | Work vehicle |
JPS63105612A (en) * | 1986-10-23 | 1988-05-10 | 株式会社クボタ | Combine |
JPH0194022U (en) * | 1987-12-15 | 1989-06-21 | ||
JPH04278815A (en) * | 1991-03-05 | 1992-10-05 | Mitsubishi Agricult Mach Co Ltd | Inclination control device for travelling vehicle |
JPH04218311A (en) * | 1991-04-24 | 1992-08-07 | Kubota Corp | Working vehicle |
JPH04228011A (en) * | 1991-04-26 | 1992-08-18 | Kubota Corp | Working car |
JPH0638613A (en) * | 1993-06-14 | 1994-02-15 | Kubota Corp | Working car |
JPH07257444A (en) * | 1995-02-13 | 1995-10-09 | Kubota Corp | Running device for combine |
JPH07277234A (en) * | 1995-02-13 | 1995-10-24 | Kubota Corp | Travel device of combine |
JPH07277233A (en) * | 1995-02-13 | 1995-10-24 | Kubota Corp | Travel device of combine |
JPH0898619A (en) * | 1995-10-06 | 1996-04-16 | Kubota Corp | Working vehicle |
JP2013078290A (en) * | 2011-10-04 | 2013-05-02 | Yanmar Co Ltd | Traveling vehicle |
Also Published As
Publication number | Publication date |
---|---|
JPH0583403B2 (en) | 1993-11-26 |
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