JP3306366B2 - Tilt control device for traveling vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention, a pair of left and right black
- available to combine with chassis supported by La running gear.

[0002]

Conventionally, in the combine, regardless of subsidence or the like of the traveling device for uneven change or field plane of the field plane, in order to always maintain a predetermined posture (left and right horizontal posture, etc.) the chassis, the chassis in contrast, a pair of right and left black - La running gear, the left and right such as a hydraulic cylinder Russia - adopts a configuration for controlling the inclination angle independently moved vertically by expansion and contraction of the ring cylinder.

[0003] In such an arrangement, in accordance with the sinking state of the traveling device, the left and right black - change the height of the chassis relative to La running gear, adjusting the height of the chassis relative to the field plane Is also possible. However, in such an inclination control, the vehicle height tends to change due to a difference in the expansion and contraction speed of the left and right rolling cylinders. If such a vehicle height change occurs, the ground height of the reaper also changes, and the reaping is performed. There was a problem that hindered work.

[0004] Therefore, as disclosed in the microfilm of JitsuganAkira No. 61-157591 (Japanese Utility Model No. 63-63346), a chassis pair of black - supported by La running gear, these black -The left and right rolling cylinders are interposed between the roller type traveling device and the chassis ,
The height of the chassis is adjusted and the left
In combine made by adjusting the right tilt angle, the tilt angle detecting means for detecting the lateral inclination angle of the chassis, the inclined angle detecting means according to the detection result before Symbol chassis of all rather before Symbol left and right maintained at the set position on the basis of b - a tilting swash control means Ru is alternatively stretch actuating the ring cylinder, wherein the right and left black - la type traveling
Left and right height detecting means for detecting the height of the chassis with respect to the device
Selected from among the detection results by the left and right height detection means.
To maintain one of the detected results at the specified vehicle height reference value.
Vehicle height control to extend and retract the left and right rolling cylinders
Means and a manual wheel drive that can optionally adjust the height of the chassis
Joint means and the hand when adjusting the vehicle height by the manual vehicle height adjustment means.
A new vehicle height based on the operation amount detection result of the moving vehicle height adjustment means
A tilt control device in a combine provided with vehicle height reference value setting means for setting a reference value has been devised.

[0005]

[Problems to be Solved by the Invention] Unevenness or black and white of the soil surface
If the chassis is tilted due to the sinking of
Move only one crawler traveling device up and down with respect to the chassis.
Is not enough to return the chassis to its original position.
Long time required, agile tilt control according to the tilting condition of the chassis
I cannot do it. Also, like this,
When moving only the crawler traveling device up and down,
Height (right and left of the chassis for right and left
Average height) has changed and the mowing device
The height of the ground changes, which hinders the harvesting operation.

[0006] Further , both the left and right traveling devices are attached to the chassis.
Even when tilt control is performed by reciprocating up and down,
The load applied to the rolling cylinder differs between
Difference in the expansion and contraction speed of the left and right rolling cylinders.
Occurs, and as a result, the vehicle height changes. Also, chassis
Control at a given height (horizontal posture) at an arbitrary height
If you want to keep this position,
Also, the height of the chassis does not change even if the tilt control is repeated
Thus, it is necessary to determine the reference vehicle height.

However, the above-mentioned Japanese Utility Model Application No. 61-157 has been disclosed.
No. 591 (Japanese Utility Model Application Laid-Open No. 63-63346)
As in the technology disclosed in
When the vehicle height is adjusted, the operation amount detection result of the manual
If the configuration is to set a new vehicle height reference value based on
Whenever the vehicle height changes during driving for the reasons described above,
It is necessary to readjust it, which makes the adjustment operation complicated.
I will.

In addition, the attitude of the undercarriage is controlled by the inclination control as described above.
Where the angle is larger than the range that can be corrected
In this case, the higher the vehicle height, the higher the risk that the chassis will fall.

[0009]

The present invention employs the following technical means in order to solve the above-mentioned problems. That is, the chassis 4 of the pair Black - La running gear 2,
Supported by 2, these black - La running gear 2,2 side and the car
Ring cylinders 3 and peak - left and right (b) between the base 4 side
With the switching cylinder 5 interposed , the right and left rolling
The height of the chassis 4 is adjusted by the expansion and contraction of the
Adjusting the right and left inclination angle and expansion and contraction of pitching cylinder 5
In a combine which adjusts the chassis 4 in the front-rear direction by operation, the inclination angle detecting means 36 , 37 for detecting the left-right inclination angle and the front-rear inclination angle on the chassis 4 side , and the detection results by the inclination angle detecting means 36 , 37 Hollow maintaining all rather before Symbol lateral pre SL chassis 4 to set the posture based on the - ring cylinder 3,
3 is reciprocally extended and retracted , and the pitching
A tilt control means 30A for extending and retracting actuating the Sunda 5, the left
Height of chassis 4 side with respect to right crawler traveling devices 2 and 2
Right and left height detecting means 38 and 39 for detecting the
The average value of the detection results by the height detection means 38 and 39 is
The left and right rolling series are used to maintain the constant vehicle height reference value.
Height control means 30B for extending and retracting the cylinders 3 and 3;
Manual vehicle height adjusting means 3 capable of arbitrarily adjusting the height of the chassis 4
2 and at the end of the vehicle height adjustment by the manual vehicle height adjustment means 32
Detected by the left and right height detecting means 38, 39
Vehicles that set the average value of the detection results as a new vehicle height reference value
A high reference value setting means 30C;
37 detects the predetermined falling danger inclination angle A,
Operating the rolling cylinders 3 and 3 to lower the vehicle height to the minimum vehicle height
And the pitching cylinder 5 is operated so that the chassis 4
And the left and right crawler-type traveling devices 2 and 2
And a parallel control means 30D for parallelizing the components.

[0010] Thus, the chassis 4, a pair of right and left black - La
Is supported by the formula traveling apparatuses 2, the left and right B -
Right and left black by the expansion and contraction operation of the ring cylinders 3 - La
The traveling devices 2 and 2 are moved up and down relatively to the chassis 4 side , whereby the vehicle height and the lateral inclination angle of the chassis 4 are changed and adjusted. Also, for the expansion and contraction operation of the pitching cylinder 5
Front and rear between the left and right crawler traveling devices 2 and 2 and the chassis 4
Change the relative attitude in the direction,
The front-back tilt angle is changed and adjusted.

[0011] The left and right of the black - when La running gear 2, 2, affected by the subsidence, such as to the uneven changes and field surface of the field surface,
The attitude of the chassis 4 changes. Then, the inclination angle detecting means 3
6, 37 detects the inclination angle, the tilt control means 30A, the left and right B - black of left and right stretch actuating ring cylinders 3 is a contradictory manner - La running gear 2,2 contradictory to rise <br/> to later, also, the undercarriage pitching cylinder 5 expands and contracts operated
4 is side is tilt control, before and after the left and right inclined posture undercarriage 4 will be rectified to set <br/> constant attitude.

[0012] Then, when the vehicle height is changed in such a tilt control, the left and right height detection means 38 and 39
Therefore, the vehicle height change is detected, and the vehicle height control means 30B
From the left and right height detecting means 38 and 39
Left and right to maintain the average value of
-The ring cylinders 3, 3 expand and contract, and the left and right
-Type traveling devices 2 and 2 are raised and lowered, and the vehicle height on the chassis 4 side is set.
High to Ru is maintained.

The manual vehicle height adjusting means 32 controls the right and left
The rolling cylinders 3 and 3 are arbitrarily extended and retracted to increase the vehicle height.
The height of the vehicle can be adjusted at the end of this height adjustment.
The left and right height detecting means 3 are provided by the reference value setting means 30C.
The average value of the detection results detected by
It is set as a vehicle height reference value.

Further, the inclination angle detecting means 36, 37
When the falling risk inclination angle A is detected, the parallel control means 3
0D activates the left and right rolling cylinders 3,3
And the pitching cylinder 5
The chassis 4 and the left and right crawler-type traveling devices 2, 2 are activated.
It becomes parallel in the front-back direction.

[0015]

As described above, according to the present invention, before and after
When performing tilt control in the horizontal direction in addition to tilt control in the
And the left and right crawler-type traveling devices 2 and 2 are raised and lowered reciprocally
To return the chassis 4 to the set attitude in a short time.
Agile tilting control according to the tilting state of the chassis 4
You can take control. Also, like this,
In order to raise and lower the la-type traveling devices 2 and 2 reciprocally, the chassis 4
Side vehicle height (vehicles for left and right crawler traveling devices 2, 2)
There is little change in the average height of the left and right sides of the platform 4)
It is possible to suppress the change in the ground height of the reaper due to
And mowing work can be performed smoothly.

The vehicle height can be controlled by such inclination control.
Is changed by the vehicle height control means 30B.
The height can be corrected and maintained at a predetermined vehicle height.
Also, the detection results of the left and right height detection means 38 and 39 are
The average value, that is, the average of the left and right crawler traveling devices 2
The height rises reciprocally the left and right crawler traveling devices 2 and 2
The height of the rolling axis (virtual axis) when descending
Therefore, the inclination control and the vehicle height control are performed continuously.
In this case, the change in vehicle height due to tilt control is small,
The operation can be continued smoothly.

Also, the manual vehicle height adjusting means 32
Adjust the vehicle height to the new vehicle height
Set as the high reference value, this vehicle height reference value and the tilt control output
Vehicle height control is performed by comparison with the detected vehicle height
Therefore, every time the vehicle height changes during driving as in the past,
No need to manually adjust the vehicle height
The operation is simplified, and the operability can be improved.

In addition, the vehicle height reference value is set as described above.
The vehicle height by manual operation
As a result, the changed vehicle height is used as the new vehicle height reference value.
The pilot will try to set
The vehicle height reference value
The vehicle height reference value can be set after the
Accuracy can be improved.

Further, the inclination angle detecting means 36, 37
When the falling risk inclination angle A is detected, the parallel control means 3
0D activates the left and right rolling cylinders 3,3
And the pitching cylinder 5
The chassis 4 and the left and right crawler-type traveling devices 2, 2 are activated.
Because they are parallel in the front-rear direction, the entire combine
Lowering the center of gravity makes it harder to fall and enhances safety
be able to.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the illustrated example, a pair of left and right crawlers 2 (crawler- type traveling device 2 ) are independently provided vertically below a vehicle body 1 , and an engine and a reaper are provided above the vehicle. An undercarriage 4 for mounting or supporting a threshing device, a control device, and the like is provided to constitute a traveling device of the combine. A crawler frame 7 on which rolling wheels 6 of each crawler 2 are arranged is supported via a pair of front and rear support arms 8 and 9 so as to be able to move up and down in parallel to the vehicle body 1. The upper end and the bracket 10 on the vehicle body 1 are connected by a rolling cylinder 3 which is expanded and contracted by a rolling control valve 12 of a hydraulic circuit 11, and the front and rear support arms 8 and 9 are connected by a rod 14. Then, the support arms 8, 9 are rotated around the pivots 15, 16 with respect to the vehicle body 1 by the expansion and contraction of the rolling cylinder 3, so that the crawler frame 7 moves up and down.

Reference numeral 17 denotes a sprocket at the front end of the crawler 2, which is fixed to a drive shaft 18 projecting to the left and right sides from a traveling transmission case integrated with the front end of the vehicle body 1, and drives the crawler 2 by the rotation of the sprocket 17. can do. The undercarriage 4 has the front end side with respect to the
6 is rotatably supported around the axis, and the rear end is a link arm 1
The pitching cylinder 5 supported by the pitching control valve 20 of the hydraulic circuit 11 is connected between the upper end of the link arm 19 and the chassis 4, and the pitching cylinder 5 is supported between the upper end of the link arm 19 and the chassis 4. The link arm 19 is rotated by hydraulic expansion and contraction so that the chassis 4 can be tilted back and forth around the pivot 16.

The rolling control valve 12, pitching control valve 20, and unloading valve 22 of the left and right crawlers 2 arranged in the hydraulic circuit 11 of the hydraulic pump P are in the form of an electromagnetic solenoid, and have an upper left solenoid 23 and a lower left solenoid 2
4. A controller 30 (inclination control means 30A, vehicle height control means) having an upper right solenoid 25, a lower right solenoid 26, a forward tilt solenoid 27, a rearward tilt solenoid 28, an unload solenoid 29 and the like, and constituting a vehicle body level control device. 3
0B , vehicle height reference value setting means 30C, parallel control means 30
D ) is provided on the output side. Reference numeral 31 denotes an automatic lamp which lights when predetermined automatic control is performed by the controller 30.

The controller 30 has a microcomputer, and also constitutes a vehicle height control device (vehicle height control means 30B) for controlling the height of the vehicle body 1, a pitching control device, and the like. On the input side of this controller 30,
The left and right solenoids 23 and 25 and the left and lower right solenoids 24 and 26 are simultaneously switched, and the vehicle body 1 is moved up and down in a left-right parallel state to determine the vehicle height.
(Manual vehicle height adjusting means 32) is provided. By tilting the tilting lever of the steering device in the left-right and front-rear directions to tilt leftward, the lower left solenoid 2 is operated.
4 and the upper right solenoid 25 are simultaneously turned on, and the vehicle body 1 is rolled to the left and tilted to the right to operate the lower right solenoid 26 and the upper left solenoid 23 at the same time. The tilt lever switch 3 for tilting the vehicle body 1 to the tilt side by turning the front tilt solenoid 27 and the rear tilt solenoid 28 by turning the vehicle 1 to the right and tilting it forward and backward.
3 is provided. The threshing clutch lever is for turning on and off the threshing clutch that transmits the threshing device. Then, the threshing clutch is turned on by the tilting operation of the threshing clutch lever, the threshing clutch switch 34 is turned on, and both the vehicle body horizontal switches 35 are turned off.
The left and right and front and rear horizontal control by the vehicle body horizontal control device 3 is maintained in the state of N.

The vehicle body horizontal switch 35 is for controlling and maintaining the vehicle body 1 horizontally and horizontally, and is provided on the vehicle body 1 and has a left and right inclination sensor 36 for detecting a left and right inclination angle.
(Inclination detecting unit 36), the longitudinal inclination sensor 37 (inclination detecting unit 37) for detecting a longitudinal inclination angle provided on the chassis 4, a vehicle body 1, or the chassis 4 is inclined more than a predetermined area, as described above The left and right tilt sensors 36 and the front and rear tilt sensors 37 perform horizontal rolling control and front and rear pitching control so as to detect the horizontal state by controlling the solenoids 23 to 26 or the solenoids 27 and 28 and the like. .

The left stroke sensor 38 (left height detecting means 38 ) detects the length of expansion and contraction of the left rolling cylinder 3, and the right stroke sensor 39 (right height detecting means 39 ) detects the right rolling cylinder. The front / rear stroke sensor 40 detects the extension / contraction length of the pitching cylinder 5. Feedback control is performed in control that requires detection of the stroke sensors 38 to 40 and the like.

The vehicle height control is based on the height of the vehicle body 1 when completed by operating the overall up / down switch 32.
This is automatically performed when the vehicle height goes wrong for some reason, and is performed so as to maintain the reference vehicle height. The reference vehicle height or the displacement height before control is
It is based on the average value of the vehicle height in each of the left and right crawlers 2.

As shown in FIG. 4, when the vehicle height on the left crawler 2 side is detected by the left stroke sensor 38 and is L, and the vehicle height on the right crawler 2 side is detected by the right stroke sensor 39 and is R, the average height Is H = (L + R) / 2.

The left and right stroke sensors 38, 39
Is provided so as to detect, as an abnormal stop, that the left and right rolling cylinders 3 are shortened and reach a position where they are not further shortened.
Is provided to detect that the pitching cylinder 5 has been extended and has reached a position where it cannot be extended any more, as an abnormal stop.

The left and right rolling cylinders 3 have a lower body 1 due to shortening, and have a pitching cylinder 5
As a result, the undercarriage 4 becomes parallel to the front and rear with respect to the vehicle body 1 by extension, and becomes a forward-downward inclined state by shortening. Therefore,
With respect to both the left and right crawlers 2, the left and right crawlers 2 and the vehicle body 1 are parallel to the left and right at the lowest vehicle height position where the vehicle body 1 has descended the most, and At the position where the vehicle body 1 is turned backward, the chassis 4 is parallel to the left and right and the front and rear with respect to the vehicle body 1, and this is the minimum vehicle height reference.

As shown in FIG. 4, the left and right crawlers 2 are controlled to be changed with respect to the vehicle body 1 in a range from a lower limit height h to an upper limit height H. In the left-right horizontal control, as shown in FIG. 5, when the running ground is tilted to the left, the vehicle body 1 is also tilted in the same direction. Therefore, the tilt is detected by the left-right tilt sensor 36, and the detected tilt angle is constant. As described above, the left and right rolling control valves 3 are switched, the rolling cylinder 3 is controlled to expand and contract, and the vehicle body 1 is brought to the left and right horizontal posture. At this time, assuming that the detection values of the left and right stroke sensors 38 and 39 at the first set reference height are L and R, the detection values after the inclination of the running ground are L + α in the left stroke sensor 38 and the right stroke sensor in FIG. 39 becomes R-β. Here, α = β is output, but in reality, the left rolling cylinder 3 extends so as to push up the vehicle body 1 against the load, and the right rolling cylinder 3 moves in the direction of receiving the load. Since it is shortened, it has a speed difference between expansion and contraction, and is detected as α ≒ β. The vehicle height at this time is set so as to satisfy the condition of {(L + α) + (R−β)} / 2 = (L + R) / 2. When the vehicle height is {(L + α) + (R−β)} / 2 ≠ (L + R) / 2, the vehicle height control is corrected (L +
R) / 2 is corrected and controlled.

As shown in FIG. 6, when the running ground reaches a predetermined dangerous inclination angle A, which is a limit of the danger of overturning of the combine body, the left and right inclination sensor 36 detects the inclination angle A. The cylinder 3 is shortened, and the vehicle body 1 is lowered to reach the lowest vehicle height position. At this time, both the left and right stroke sensors 38 and 39 detect h and stop abnormally. At the same time, the output for expanding and contracting the rolling cylinder 3 is stopped (see FIG. 7).

At this time, when the chassis 4 is inclined forward and backward with respect to the vehicle body 1, the pitching cylinder 5 is extended to control the vehicle so as to be parallel to the vehicle body 1, and the longitudinal stroke sensor 40 stops abnormally. Is detected (see FIG. 8). As a result, the output for the expansion and contraction of the pitching cylinder 5 is stopped.

Such control of the vehicle height to the lowest vehicle height position is performed not only by detecting the dangerous inclination angle by the right and left inclination sensor 36 but also by detecting the dangerous inclination angle by the front and rear inclination sensor 37, Alternatively, the vehicle speed may be switched from a low speed range such as a working speed to a high speed range such as a road running speed.

As described above, the left and right rolling cylinders 3
If the detection values of the stroke sensors 38 and 39 no longer change as soon as possible, the output after that is stopped by the detection of the abnormal stop.
2, or when outputting by manual operation using the tilt lever switch 33, regardless of the stroke sensors 38 and 39,
If the configuration is such that manual output can be continued (see FIG. 9), even if the stroke sensors 38 and 39 fail, operation output can be performed, and manual operation control can be performed.

[Brief description of the drawings]

FIG. 1 is a partial side view of an embodiment of the present invention.

FIG. 2 is a control block diagram according to an embodiment of the present invention.

FIG. 3 is a hydraulic circuit diagram in one embodiment of the present invention.

FIG. 4 is a partial front view showing the operation in one embodiment of the present invention.

FIG. 5 is a partial front view showing the operation in one embodiment of the present invention.

FIG. 6 is a partial front view showing the operation in one embodiment of the present invention.

FIG. 7 is a flowchart showing a part of control in one embodiment of the present invention.

FIG. 8 is a flowchart showing a part of control in one embodiment of the present invention.

FIG. 9 is a flowchart showing a part of control in one embodiment of the present invention.

[Explanation of symbols]

2 Black - La (Black - La running gear) 3 B - ring cylinder 4 chassis 5 pitching cylinder 30 controller - La (tilt control unit 30A, the vehicle height control means 30B, the vehicle height reference value setting means 30C, parallel control means 3
0D ) 32 Overall up / down switch (manual vehicle height adjustment means) 36 Left / right inclination sensor (inclination detection means) 37 Front / back inclination sensor (inclination detection means) 38 Strokesen (height detection means) 39 Stroke sensor (height detection means) ) A danger inclination angle (fall danger inclination angle)

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-63-70307 (JP, A) JP-A-63-63346 (JP, U) JP-A-59-26083 (JP, U) JP-A-61-63 37716 (JP, U) (58) Field surveyed (Int. Cl. ⁷ , DB name) B60G 17/015 A01B 63/10 B62D 55/116

Claims (1)

(57) [Claims] 1. A undercarriage 4 pair black - supported by La running gear 2, 2, these black - the left and right between the La type traveling device 2, 2 side <br/> and chassis 4 side Russia - ring cylinder 3,3 及
And the pitching cylinder 5 and the left and right rolling
The height of the chassis 4 is adjusted by expanding and contracting the cylinders 3
Of the pitching cylinder 5
The right and left inclination angles and the front and rear inclination angles of the undercarriage 4 side in a combine formed by adjusting the undercarriage of the undercarriage 4 by the expansion and contraction operation.
Tilt angle detecting means 36 for detecting angular, 37 and means 36, 37 before Symbol chassis 4 on the basis of the detection result by leaving the inclined angle detection <br/>
The sustain all rather before SL depend on the setting attitude b - the pitching with extending and retracting operation of the ring cylinder 3,3 contradictory manner
A tilt control means 30A for extending and retracting actuating the cylinder 5, before
The chassis 4 side with respect to the left and right crawler traveling devices 2 and 2
Left and right height detecting means 38 and 39 for detecting the height of
Average value of detection results by left and right height detection means 38 and 39
The left and right rolling to maintain the vehicle height reference value
Vehicle height control means 30B for extending and retracting cylinders 3 and 3
And a manual vehicle height adjustment capable of arbitrarily adjusting the height of the chassis 4
Means 32 and the end of the vehicle height adjustment by the manual vehicle height adjustment means 32.
At the time of detection by the left and right height detecting means 38, 39
The average value of detected results as a new vehicle height reference value
Vehicle height reference value setting means 30C and the inclination angle detecting means
When 36, 37 detects the predetermined falling danger inclination angle A,
Operate the left and right rolling cylinders 3, 3 to minimize the vehicle height.
Lower the vehicle height and operate the pitching cylinder 5
The chassis 4 and the left and right crawler traveling devices 2
And a parallel control means 30D for making parallel .