JP2972059B2 - Aircraft attitude control device for working vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work vehicle attitude control device, and more particularly to a work vehicle equipped with a crawler traveling device such as a combine. The present invention relates to a posture control device that performs control such that

[0002]

2. Description of the Related Art In a working vehicle equipped with a crawler traveling device, if the field is soft, the crawler traveling device sinks and the vehicle height is reduced, and traveling performance deteriorates. In addition, if the field is soft and there are irregularities, the machine body will tilt left and right, and the running performance will be degraded and the work efficiency will be degraded. Therefore, the left and right crawler traveling devices are vertically movable up and down independently by a hydraulic cylinder, and the hydraulic cylinder is operated and controlled by a posture control device so that the vehicle height of the aircraft is constant. What controls the posture so as to be horizontal is known, for example, from JP-A-62-296812 and JP-A-4-34672.

[0003]

The attitude control apparatus for a working vehicle described above is capable of controlling not only manual control but also automatic control so that the vehicle body can be controlled to be horizontal in the left and right direction as well as by adjusting the vehicle height. Is excellent in that the posture control can be automatically performed without bothering the operator.
However, conventional attitude control devices are equipped with a dedicated height setting device for adjusting the vehicle height, and when the operator selects automatic control, the height setting device must be operated to set the height of the aircraft. I had to. In addition, when setting the height, it is necessary to actually raise and lower the crawler traveling device automatically to check whether or not the desired vehicle height has been obtained, and the adjustment operation has been troublesome. In general, the attitude control of the body is such that the elevating speed of the crawler traveling device is slow in the automatic control and fast in the manual control in consideration of the stability of the control. Therefore, when the field condition changes suddenly, the automatic control is not enough to quickly control the machine body by manual control. However, in this case, in the case of the vehicle equipped with a height setting device for adjusting the vehicle height, even if the attitude of the body is temporarily corrected by manual control, the automatic control is performed after the completion of the manual control in the automatic control mode. Mode, and in particular, the vehicle height of the aircraft returns to the original height set by the height setting device with the return to the automatic control mode.
Therefore, the vehicle height becomes inappropriate again, and in order to avoid this, it is necessary to adjust the vehicle height manually, turn off automatic control, or operate the height setting device again to set again. Did not.

[0004]

SUMMARY OF THE INVENTION The present invention is directed to an improved attitude control device for an airframe, which is intended to solve the problem. Is selected, based on one of the left and right crawler traveling devices,
The other crawler traveling device is moved up and down based on the value detected by the tilt sensor to make the machine horizontally horizontal.
Also, when the crawler traveling device is manually raised and lowered by the manual operation switch, the elevation amount of one crawler traveling device immediately after the end of the manual operation is stored as a vehicle height setting value, and thereafter, based on the vehicle height setting value. The other crawler traveling device is configured to perform a vertical movement to perform the posture control.

[0005]

When starting the operation, the operator selects whether the attitude control of the airframe is to be performed automatically or manually by the automatic changeover switch. Here, when the automatic control is selected, the attitude control device enters the automatic control mode, and thereafter, the attitude control device performs one of the left and right crawler traveling devices so that the aircraft becomes horizontal based on the detection value of the tilt sensor. Based on the traveling device, the other crawler traveling device is moved up and down to control the attitude of the aircraft. Further, before the automatic control is selected or after the automatic control is started, when the operator operates the manual operation switch to perform the manual elevating and lowering of the aircraft, the attitude control device raises and lowers one crawler traveling device immediately after the end of the manual operation. The amount is stored as a vehicle height set value, and thereafter, when automatic control is selected, or when automatic control is resumed after manual control by a manual operation switch is completed, the attitude control device uses the stored vehicle height set value as a reference. Then, the other crawler traveling device is moved up and down to control the attitude of the body.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to a combine shown in the drawings. In FIG. 1, a combine 1 has a pre-processing device 4 vertically moved up and down on a front part of a body 3 having left and right crawler traveling devices 2 and 2. Install freely. A threshing device 5 is mounted on the body 3 behind it, and a control unit 6, a grain tank 8 having a grain discharging auger 7 and the like are mounted on the right side of the body 3 in order from the front. As shown in FIG. 2, a multi-lever 9 for steering the fuselage and elevating the pre-processing device 4, a key switch 10,
Further, instruments such as a threshing tachometer 11 are provided. On the left side of the front operation column, there is provided an automatic changeover switch 12 for switching the attitude control of the body 3 to the automatic control mode. The side operation column is provided with a traveling speed change lever 13, a cross lever 14 for manually controlling the attitude of the fuselage 3, and a dial 15 for setting the left-right inclination angle of the fuselage 3.

[0007] As shown in FIGS. 3 and 4, the left and right crawler traveling devices 2 and 2 are configured to be vertically movable with respect to the body 3. Specifically, the link mechanism that constitutes the elevating device includes front and rear and intermediate operating arms 16 and 1.
Each of the operating arms 16, 17, 18 pivotally supports an intermediate portion thereof to a lower frame 19 of the body 3. The front and rear operation arms 16 and 17 rotatably connect the traveling frame 22 to the lower end thereof.
Numeral 2 integrally mounts a plurality of rolling wheels 20... And idle wheels 21. Further, the front and rear operation arms 16 and 17 and the intermediate operation arm 18 are connected by connecting rods 23 and 24 provided at an upper portion, and the upper end of the intermediate operation arm 18 and the machine body 3 are connected via a hydraulic cylinder 25. On the other hand, the rubber crawlers 26 are connected to the wheels 20... Of the traveling frame 22, the idle wheels 21, the driving wheels 27 fixed to the axle of the transmission case, and the upper rollers 28 supported by the traveling frame 22. When the hydraulic cylinder 25 is extended and retracted, the intermediate operation arm 18 swings back and forth about the fulcrum c, and the front and rear operation arms 16 and 17 are thereby connected via the connecting rods 23 and 24 to the fulcrum a. , B.
Therefore, the traveling frame 22 moves up and down from a position closest to the body 3 shown in FIG. 3 to a position farthest from the body 3 shown in FIG.

The front and rear operation arms 16 and 17 have different arm lengths from the pivot points a and b of the lower frame 19 to the pivot points d and e of the traveling frame 22. 18 are connected based on different link ratios. Therefore, when the hydraulic cylinder 25 is actuated, the link mechanism particularly causes the body 3 to assume a forwardly inclined posture as the vehicle height increases, and moves the center of gravity of the body 3 forward. Further, the body 3 is made horizontal in the front-rear direction at the most reduced position, and the center of gravity of the body 3 is returned to the original position. On the other hand, the body 3 is moved rearward by the link mechanisms 16 and 17 relatively as the crawler traveling device 2 is lowered with respect to the body 3, and the center of gravity of the entire body is moved rearward. However, since the fuselage 3 is inclined forward as described above and cancels the movement of the center of gravity,
The front-rear balance of the combine 1 does not change before and after the vertical movement of the crawler traveling device 2. In addition, the hydraulic cylinder 25 of the right (cutted side) crawler traveling device 2 includes:
The stroke sensors 29 are arranged side by side. The stroke sensor 29 changes the resistance value as the crawler traveling device 2 operates from the most reduced position shown in FIG. 3 to the most extended position shown in FIG. Is detected in an analog manner. On the other hand, the hydraulic cylinder 25 of the left (uncut side) crawler traveling device 2 has
Lower limit switches 30 and 31 are provided (not shown). The upper limit switch 30 is connected to the hydraulic cylinder 25
Turns ON when the vehicle height is maximized and the vehicle height is maximized,
The lower limit switch 31 is turned ON when the hydraulic cylinder 25 is contracted most and the vehicle height is minimized.

Next, the attitude control device of the airframe will be described with reference to the block diagram shown in FIG. 5. The attitude control device comprises a one-chip microcomputer 33. The microcomputer 33 includes an automatic changeover switch 12, upper and lower limit switches 30 and 31, and a manually operated switch 3 operated by a cross lever 14 at its input port.
4, the vehicle height raising / lowering contacts 34a, 34b,
The tilt angle setting volume 35 for varying the resistance value with the dials 15 and the lower left contacts 34c and 34d, the stroke sensor 29, and the tilt sensor 36 for detecting the lateral inclination of the body in a analog manner are connected. The output port of the microcomputer 33 is connected to the automatic ramp 37 and the left and right solenoids 38a, 38b, 39a, 39b. The left and right solenoids 38a, 38b,
39a, 39b are attached to the left and right direction switching valves 38, 39, and the left and right solenoids 38a, 38b, 39a, 39b
Is turned on, the direction switching valves 38 and 39 are switched to cause the hydraulic cylinders 25 and 25 to expand and contract.

FIG. 6 shows a microcomputer 33.
Shows a main flowchart of a program executed by
When the key switch 10 is turned on, the microcomputer 33
Is activated, the microcomputer 33 first performs an initial setting. Then, in response to the signals from the switches and sensors input to the input ports, or signals from other detectors, various controls such as depth control, sorting control, direction control, etc. are performed, and then the Execute attitude control. The attitude control of the airframe is shown in detail in the flowcharts of FIGS. 7 and 8, and starts with the determination of the presence or absence of a manual operation. Here, the cross lever 14 is operated to raise the vehicle height.
Lower contacts 34a, 34b, or lower right / left lower contacts 34
When one of c and 34d is closed, the attitude control of the aircraft shifts to manual control described later. If the manual operation has not been performed, it is determined whether or not the manual operation has just finished, by detecting the fall of the manual operation switch 34. It is memorized. Unless immediately after the operation, the vehicle height set value H is not updated, and the process shifts to the determination of the selection of the automatic control by the automatic changeover switch 12. If the automatic changeover switch 12 is OFF and automatic control is not selected, none of the solenoids 38a, 38b, 39a, 39b is energized, and the left and right hydraulic cylinders 25, 25 stop operating at that position.

On the other hand, when the automatic control switch 12 is turned on and automatic control is selected, the microcomputer 33 enters an automatic control mode.
, The value of the right stroke sensor 29 is stored as the vehicle height set value H. However, if a manual operation is performed at least once before selecting the automatic control, the vehicle height set value stored by the fall detection immediately after the end of the manual operation and the vehicle height set value stored this time match,
The vehicle height set value H is substantially the value immediately after the end of the manual operation and does not change. That is, the storage of the vehicle height set value H becomes substantially effective by the detection of the rise of the automatic change-over switch 12 because the microcomputer 33 is activated after the microcomputer 33 is activated.
When the manual control is not performed at all, or while the left and right hydraulic cylinders 25 are operating in the automatic control mode, the automatic changeover switch 12 is turned off, and then the automatic changeover switch 1 is turned on.
Only when 2 is turned ON. When the vehicle height set value H is stored as described above, the microcomputer 3
3 is a tilt angle setting volume 35 in the next step.
Is compared with the inclination angle of the body 3 detected by the inclination sensor 36, and the left and right inclination angles (horizontal) are set so that the body 3 becomes the set left and right inclination angle (horizontal). The crawler traveling devices 2 and 2 are lifted and lowered.

More specifically, as shown in FIG. 8, in a state in which the right side of the body 3 is low and the left side is high, the left hydraulic cylinder 25 outputs a left lowering signal until the left lower limit switch 31 is turned on. Is controlled, and the body 3 is controlled to be at the set inclination angle (horizontal). On the other hand, in the state where the left side of the body 3 is low and the right side is high and the left side is low, the left hydraulic cylinder 25 is extended by issuing a left raising signal until the left upper limit switch 30 is turned ON, and the body 3 is set to the set inclination angle. Control so that Further, if the lower left limit switch 31 is turned on in the downward right direction, the left crawler traveling device 2 cannot be further approached to the body 3. In this case, the right crawler traveling as the vehicle height reference side is used. A right-up signal is issued to move the traveling device 2 away from the body 3, and the left-down signal is stopped. Similarly, if the left upper limit switch 30 is turned on in the lower left state, the crawler traveling device 2 on the left side cannot be further separated from the body 3. A right lowering signal is issued so that the crawler traveling device 2 approaches the body 3, and the left raising signal is stopped.
When the upper and lower limit switches 30 and 31 and the right stroke sensor 29 detect the upper and lower limits in either the lower right or lower left states, the attitude control of the body is limited and both the left and right raising and lowering signals are stopped. .

Further, by the attitude control described above,
When the body reaches the set inclination angle and is in an appropriate state, the stored vehicle height setting value H and the value X of the right stroke sensor 29 are compared, and if they are equal, both the left and right raising and lowering signals are stopped. However, as described above, simply raising and lowering the crawler traveling device 2 on the opposite side (left side) to the reference side (right side) cannot control the inclination angle to the set inclination angle, so that the crawler traveling device 2 on the reference side (right side) cannot be stopped without stopping. When activated, the vehicle height will change. Therefore, once the body reaches the set inclination angle and is in the proper state, the attitude control device 33 sets the vehicle height set value H stored in the crawler traveling device 2 on the reference side (right side).
The operation is controlled so as to match. That is, if the value X of the right stroke sensor 29 is larger than the vehicle height set value H and the vehicle height is too high, the left lower limit switch 31 is turned ON,
Until the right stroke sensor 29 detects the lower limit, both the right and left lowering signals are issued to lower the vehicle height. Similarly,
If the value X of the right stroke sensor 29 is smaller than the vehicle height set value H and the vehicle height is too low, the right / left position is set until the left upper limit switch 30 is turned on or the right stroke sensor 29 detects the upper limit. Send a raise signal to increase the vehicle height. In other cases, the inclination angle of the fuselage 3 is broken by the attitude control device 33, so that neither the left nor right raising / lowering signal is output, and the left / right crawler traveling device 2 is moved up and down until a margin occurs. No control is performed.

FIG. 9 shows a flowchart of the manual control. When the contacts of the manual operation switch 34 are closed, the manual operation is executed with priority even if the automatic changeover switch 12 is switched to the automatic side. . Specifically, when the vehicle height lowering contact 34a of the manual operation switch 34 is closed, a lowering signal is output to the right crawler traveling device 2 until the right stroke sensor 29 detects the lower limit. Crawler traveling device 2 on the left until is turned on
At the same time. Therefore, the left and right crawler traveling devices 2 and 2 approach the body 3 at the same time, and the vehicle height decreases. When the vehicle height raising contact 34b is closed,
An up signal is output to the right crawler traveling device 2 until the right stroke sensor 29 detects the upper limit, and a similar up signal is output to the left crawler traveling device 2 until the left upper limit switch 30 is turned on. Therefore, the left and right crawler traveling devices 2 and 2 are simultaneously separated from the body 3,
The vehicle height increases.

When the lower right contact 34c is closed,
A lowering signal is output to the right crawler traveling device 2 until the right stroke sensor 29 detects the lower limit, and when the right stroke sensor 29 detects the lower limit, the left upper limit switch 30 is turned on until the left upper limit switch 30 is turned on. An up signal is issued to the crawler traveling device 2. Therefore, when the right crawler traveling device 2 approaches the body 3 and the lower right contact 34c keeps closing, the left crawler traveling device 2 is separated from the body 3 and the right body 3 is moved to the right side. It will be in a lowered inclined posture. Conversely, when the left lowering contact 34d is closed, a lowering signal is output to the left crawler traveling device 2 until the lower left limit switch 31 is turned on,
When the left lower limit switch 31 is turned on, an up signal is output to the right crawler traveling device 2 until the right stroke sensor 29 detects the upper limit. Accordingly, the left crawler traveling device 2 approaches the body 3, and further, if the left lowering contact 34d keeps closing, the right crawler traveling device 2 separates from the body 3 and the body 3
Is in an inclined posture with the left side lowered.

FIG. 10 shows a second embodiment. In the second embodiment, the upper and lower limit switches 30 and 31 provided on the left crawler traveling device 2 are eliminated, but the right crawler traveling device 2 is replaced. Stroke sensor 29 provided for
Is provided on the left crawler traveling device 2. FIGS. 11 and 12 show flowcharts of the attitude control of the aircraft in that case, and are similar to the first embodiment in that the elevation amount of the crawler traveling device 2 immediately after the end of the manual operation is stored as a vehicle height setting value. It is. But the first
The difference from this embodiment is that the left and right stroke sensors 29, 3
2 in that the value of the lower stroke sensor of the vehicle height is stored as the vehicle height setting value. In the second embodiment, the crawler traveling device 2 on the lower vehicle height side is used as a reference. The other crawler traveling device 2 is moved up and down based on the detection value of the inclination sensor 36 to control the body 3 to be horizontal.

More specifically, when the vehicle height set value is stored by detecting the falling of the manual operation and by detecting the rising of the automatic changeover switch 12, the attitude control device 33 sets the vehicle height set value to the crawler in the automatic control mode. It is called which of the left and right sides of the traveling devices 2 and 2 is stored. For example, if the vehicle height set value is the one that stores the amount of elevation on the left side, the left and right sides of the aircraft set by the inclination angle setting volume 35 The inclination angle (usually set to be horizontal) is compared with the inclination angle of the body 3 detected by the inclination sensor 36. Thereafter, if the inclination is lower left, a lower right signal is output until the right stroke sensor 29 detects the lower limit. The right crawler traveling device 2 is lifted and lowered so that the vehicle height is reduced. Further, when the right stroke sensor 29 detects the lower limit, the right lowering signal is stopped, and a left raising signal is output until the left stroke sensor 32 detects the upper limit, so that the body 3 is controlled to have the set inclination angle. On the other hand, if the vehicle height setting value stores the amount of vertical movement on the right side, the inclination angle of the body 3 (normally set to horizontal) set by the inclination angle setting volume 35 and the inclination of the body 3 detected by the inclination sensor 36. The angle is then compared with the angle. If the angle is left lower, a left-up signal is output until the left stroke sensor 32 detects the upper limit, and the left crawler traveling device 2 is moved up and down so that the vehicle height becomes higher. I do. Further, when the left stroke sensor 32 detects the upper limit, the left raising signal is stopped, and a right lowering signal is issued until the right stroke sensor 29 detects the lower limit, so that the body 3 is controlled to have the set inclination angle. Also, when the aircraft body 3 reaches the set inclination angle, it stops both right and left and up and down.

Therefore, in the first embodiment, the left crawler traveling device 2 is moved up and down based on the detected value of the inclination sensor 36 with the right crawler traveling device 2 as a reference, so that the body 3 is horizontally moved left and right. Control so that Therefore, the right crawler traveling device 2 moves up and down with less frequency than the left crawler traveling device 2, and moves up and down to a predetermined cutting height based on the right side of the preprocessing device 4 in order to adjust the cutting height of the preprocessing device 4. Even after the adjustment, the cutting height on the right side of the pre-processing device 4 rarely fluctuates with the attitude control of the aircraft, and
Even if it fluctuates, the right side of the pre-processing device 4 can be easily seen from the control unit 6, so that the left crawler traveling device 2
There is an advantage that the height of the cutting can be easily adjusted as compared with the one in which the posture is controlled on the basis of. In the second embodiment, the left and right crawler traveling devices 2 are moved up and down based on the detection value of the inclination sensor 36 based on the lower one of the crawler traveling devices 2 based on the detected value of the vehicle. 3 is controlled to be horizontal left and right. For this reason, the reference-side crawler traveling device 2 has an advantage that the vehicle height can be kept low as a whole without much change in the vehicle height, and stable traveling with a low center of gravity can be expected.

In the second embodiment, the left, right, up and down motions are stopped when the airframe 3 reaches the set inclination angle. The vehicle height control may be performed such that the crawler traveling device 2 on the reference side has the vehicle height set value H as in the embodiment. When the body 3 deviates from the set inclination angle, in both the first and second embodiments, the crawler traveling device 2 on the side opposite to the reference side is moved up and down, and the crawler traveling device 2 on the opposite side is moved. If the set inclination angle is not reached even when the upper and lower limits are reached, the crawler traveling device 2 on the reference side is moved up and down without stopping, but the crawler on the opposite side to the reference side is maintained in order to maintain the vehicle height on the reference side to the last. Only the traveling device 2 may be moved up and down. In that case, when the crawler traveling device 2 on the opposite side reaches the upper and lower limits, the control is stopped at that point. Further, the crawler traveling devices 2, 2
In both the first and second embodiments, the ascending and descending speed is configured to be slower in the automatic control and faster in the manual control. More specifically, the switching valves 38 and 39 are operated by inching in the automatic control and the hydraulic pressure is increased. The operation of the cylinder 25 is slowed down, and the manual control is performed directly or by changing the inching duty ratio to speed up the operation of the hydraulic cylinder 25.

[0020]

As described above, according to the present invention, the left and right crawler traveling devices 2, 2 for supporting the body 3 are vertically movable by hydraulic cylinders 25, 25, and the hydraulic cylinders are controlled by the attitude control device 33. In a working vehicle that can be controlled in an automatic control mode and a manual control mode, the attitude control device 33 controls the automatic changeover switch 12
When the automatic control mode is selected, the one crawler traveling device 2 of the left and right crawler traveling devices 2 is used as a reference, and the other crawler traveling device 2 is moved up and down based on the detection value of the inclination sensor 36, Since the body 3 is controlled to be horizontal horizontally, the one crawler traveling apparatus 2 on the reference side raises / lowers the other crawler traveling apparatus 2 without changing the vehicle height so much that the body is horizontally oriented horizontally. So that the running performance can be maximized and efficient work can be performed. Further, when the crawler traveling devices 2 and 2 are manually moved up and down by the manual operation switch 34, the elevation amount of one crawler traveling device 2 immediately after the end of the manual operation is stored as a vehicle height set value H,
Thereafter, the other crawler traveling device 2 is configured to perform the elevation control based on the vehicle height set value H to perform the attitude control. Therefore, the attitude control of the body 3 is manually adjusted by the manual operation switch 34 by the operator. Can be controlled based on the height of the vehicle, and the height setting device is completely unnecessary.
As soon as the manual operation is completed, the problem of returning to the original vehicle height before the manual operation can be eliminated, and the operability can be dramatically improved.

[Brief description of the drawings]

FIG. 1 is a perspective view of a combine.

FIG. 2 is a perspective view of a control unit.

FIG. 3 is a side view of the crawler traveling device.

FIG. 4 is a side view of the crawler traveling device in a state where the vehicle height is maximized.

FIG. 5 is a block diagram of a control device.

FIG. 6 is a main flowchart.

FIG. 7 is a flowchart of attitude control.

FIG. 8 is a flowchart illustrating a continuation of the attitude control.

FIG. 9 is a flowchart of manual control.

FIG. 10 is a block diagram of a control device according to a second embodiment.

FIG. 11 is a flowchart of the attitude control according to the second embodiment.

FIG. 12 is a flowchart illustrating a continuation of the attitude control according to the second embodiment;

[Explanation of symbols]

 H Height setting value 2 Crawler traveling device 3 Airframe 12 Automatic changeover switch 25 Hydraulic cylinder 33 Microcomputer 34 Manual operation switch 36 Tilt sensor

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-4-104724 (JP, A) JP-A 63-63347 (JP, U) (58) Fields investigated (Int. Cl. ⁶ , DB name) A01D 67/00 B60G 17/01 B62D 55/116

Claims (1)

(57) [Claims] The right and left crawler traveling devices that support the body are vertically movable up and down by hydraulic cylinders.
In a working vehicle in which the hydraulic cylinder can be controlled in an automatic control mode by a posture control device and in a manual control mode, when the automatic control mode is selected by an automatic changeover switch, the left and right crawler traveling devices are controlled. Based on one crawler traveling device as a reference, the other crawler traveling device is moved up and down based on the detection value of the inclination sensor to control the aircraft to be horizontal left and right, while manually operating the crawler traveling device by a manual operation switch. When the vehicle is moved up and down, the amount of movement of one crawler traveling device immediately after the end of the manual operation is stored as a vehicle height setting value, and thereafter, the other crawler traveling device is moved up and down based on the vehicle height setting value, and An attitude control device for an airframe in a working vehicle, which performs control.