JP3663785B2 - Farm vehicle traveling equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a traveling apparatus for agricultural work vehicles, and belongs to a field in which a plurality of wetland modes can be selected according to the state of the wetland soil surface in a state in which left and right horizontal control and front and rear horizontal control of a vehicle body are possible.
[0002]
[Background Art and Problems to be Solved by the Invention]
In the wet field, when switching to the wet field mode by the wet field selection means and moving the farm vehicle backward, the traveling device sinks from the soil surface due to the soft state of the soil surface, and the rear part of the vehicle body is lifted by the driving reaction force. When the wet field selection means is in a single wet field mode, the rear part of the vehicle body is lifted greatly when the softness of the soil surface is heavy and the driving reaction force of the traveling device is excessive. There is a risk of hindrance to backward movement due to the forward leaning posture that touches the surface. In particular, when a grain is stored in a grain tank in a combine as an agricultural vehicle, the forward tilt phenomenon of the vehicle body appears prominently, and the lower side of the harvesting device sinks into the soil surface. The mud is easily clogged in the part and the like, which hinders the next cutting operation and takes time for the maintenance and the like, and the working efficiency is remarkably lowered. In the worst case, the cutting blade or the like may be damaged.
[0003]
Therefore, the present invention provides a vehicle body in a forward leaning posture by switching the wet field selection means having a plurality of wet field modes even when the soil surface changes in softness when the farm vehicle in the wet field is moved backward, and the front part thereof is the soil surface. To avoid contact.
[0004]
[Means for Solving the Problems]
The present invention includes a left / right horizontal control means 2 for adjusting the left / right inclination and the vehicle height of the vehicle body 1, a front / rear horizontal control means 3 for adjusting the front / rear inclination of the vehicle body 1, and a reverse detection means 4 for detecting the backward movement state of the vehicle body 1. In a farm vehicle having a wet field selection means 5 capable of selecting and switching a plurality of wet field modes according to the soft state of the wet field soil surface, when the wet field selection means 5 is set to a mild degree of soil surface softness, When the reverse detection means 4 detects the reverse state of the vehicle body 1, the left and right horizontal control means 2 raises the vehicle body 1 to a predetermined height, and the wet field selection means 5 sets the degree of soft soil surface softness. If the wet field selection means 5 sets the degree of soft soil surface softness, the left and right horizontal control means 2 is configured to raise the vehicle body 1 to the highest vehicle height position. The the structure of agricultural vehicle running device according to claim.
[0005]
[Action]
With the above configuration, when the vehicle body 1 is moved backward during the operation of the farm vehicle in the wet field, the traveling device sinks due to the soft soil surface, the driving reaction force becomes large, the rear portion of the vehicle body 1 is raised, and the front portion is the soil surface. For example, the rotary wet field selection means 5 selects and rotates the most appropriate wet field mode from a plurality of wet field modes according to the soft state of the soil surface. Switch.
[0006]
For example, in the wet paddy mode that is set when the degree of softness of the soil surface is light, the switching is performed by detecting the reverse movement by the reverse detection means 4, and the vehicle height position set in advance in the controller or the like, particularly as a combine for a farm work vehicle. in such, cutting up avoidable vehicle height position that the cutting blade unit and the like dive into the mud and brought into contact with the soil surface of the device, Ru automatically raises the vehicle body 1 by the left and right horizontal control unit 2.
[0007]
Further, in the wet field mode set when the soil surface softness is severe, the left and right horizontal control means 2 automatically raises the vehicle body 1 to the highest vehicle height position by setting the wet field mode.
In addition to the above-described wet field mode setting by the wet field selection means 5, various wet field modes can be set.
[0008]
【The invention's effect】
Thus, even if the softness of the soil surface changes to light or severe, an appropriate wet field mode is selected from a plurality of wet field modes by switching operation of the wet field selection means 5, and the vehicle of the vehicle body 1 is selected. by performing a rise in the high location, and brought into contact with inclined posture and become soil surface its front end before the vehicle body 1 by the driving reaction force during reverse travel, dive into the mud especially cutting blade portion, etc. of the cutting device in combine such Since it can prevent troubles such as the following mowing work, the adaptability of working conditions in wet fields can be expanded to improve workability, and multiple switches to switch between multiple wet field modes configuration it is not necessary to provide a kind becomes easy, and easy operation of the operator because it is possible to process on the temperature automatically of the vehicle body 1.
[0009]
【Example】
Hereinafter, a combine for harvesting cereals as an agricultural vehicle will be described with reference to the drawings.
A grain traveling machine 8 having a pair of left and right traveling crawlers 7 traveling on the soil surface is disposed on the lower side of the combine traveling frame 6, and the grains supplied by being sandwiched by the feed chain 9 on the traveling frame 6. A threshing device 11 having a grain tank 10 for threshing the straw and sorting and collecting the threshed grain and temporarily storing it is placed. A weeding body 12 for weeding napped cereals from the front end position on the front side of the threshing device 11, a pulling part 13 for causing the weeded cereals, a cutting blade part 14 for cutting the induced cereals, and this The reaping device 16 having a picking and transporting portion 15 that changes the posture of the harvested cedar while being conveyed rearward to the feed chain 9 and transfers it to the feed chain 9 is suspended to the front end portion of the traveling frame 6. And suspended and supported by a lifting cylinder 18 that is hydraulically driven.
[0010]
An operating device 19 for controlling the operation of the combine and an operation seat 20 for this operation are provided on one side of the mowing device 16, and the grain tank 10 is disposed on the rear side of the operation seat 20, and these The combined vehicle body 1 is composed of the traveling device 8, the threshing device 11, the reaping device 16, the operating device 19, and the like.
Support frames 22 are respectively provided at the front lower portions of the left and right vertical frames 21 fixed vertically to the center left and right sides of the traveling frame 6, and a rolling metal 23 is fixed to the left and right support frames 22. The upper arm 25a and the lower arm 25b are respectively pivotally fixed to the inner end portion and the outer end portion of the front rolling shaft 24 pivotally supported on the metal 23 so as to be seen in a side view. The lower end position of the lower arm 25b of the left and right front rolling arms 25 and the position of the front side of the left and right wheel frames 26 respectively located below the left and right vertical frames 21 are rotated. It is configured to be connected by a pin 27 so as to be movable.
[0011]
A pitching shaft 29 is pivotally supported on a pitching metal 28 fixed to the rear lower portion of each of the left and right vertical frames 21, and one end of each of the left and right pitching arms 30 is attached to the left and right sides of the pitching shaft 29. The shaft is fixed and the other end portion and the left and right end portions of the connecting arm 31 having a H shape in a plan view are connected by a pin 32 so as to be rotatable. The upper and lower arms 34a and 34b are pivotally fixed to the inner and outer ends of the left and right rear rolling shafts 33, respectively, to form a rear rolling arm 34, and the left and right rear rolling shafts are formed. Between the upper arm 34a and the lower arm 34b of the shaft 33, the other end portions on the left and right sides of the connecting arm 31 are pivotally supported. A lower end position of the lower arm 34b of the left and right rear rolling arms 34 and a rear side position of the left and right wheel frame 26 are rotatably connected by a pin 35.
[0012]
The other end of the right pitching arm 30 is extended upward, and the upper end thereof is pin-connected to the tip of the movable piston 36a of the pitching cylinder 36 that expands and contracts by hydraulic pressure or the like. Is fixedly connected to the upper projection of the right vertical frame 21 by a pin. The upper end portion of the upper arm 25a of the left and right front rolling arms 25 and the middle portion of the upper arm 34a of the left and right rear rolling arms 34 are respectively rotated by left and right connecting rods 37 so that a four-point parallel link can be formed. It is configured by connecting pins as possible .
The upper arms 34a of the left and right rear rolling arms 34 are extended further upward than the connecting position of the connecting rod 37, and the upper ends thereof and the tips of the movable side pistons 38a of the left and right rolling cylinders 38 that are expanded and contracted by hydraulic pressure or the like. In the state where the fixed side of the left and right rolling cylinders 38 and the protrusions protruding from the other end portions of the left and right pitching arms 30 are pinched from both sides by the belt-shaped holding plates 39, respectively. A pin is connected so as to be rotatable, and this connecting portion is connected to the left and right vertical frames 21 via a link 39a so as to be swingable.
[0013]
In this way, the left and right front and rear rolling arms 25 and 34, the left and right rolling cylinders 38, and the like constitute the left and right horizontal control means 2 by rolling control for moving the vehicle body 1 up and down or left and right. The front / rear horizontal control means 3 is configured by pitching control for tilting the vehicle body 1 forward / backward by the action of the pitching arm 30 and the pitching cylinder 36.
[0014]
Rear wheel receivers 41a for rotatably supporting the left and right rear wheel 40 on the rear end upper side of the left and right wheel frames 26, respectively, have a support arm 41 that is held so as to be adjustable in the front-rear direction. At the same time, a plurality of grounding wheels 42 are pivotally supported on the lower side of the outer surface of the left and right wheel frames 26 at predetermined intervals. The left and right rear wheels 40 and the plurality of ground wheels 42 and the left and right traveling wheels 40 are connected to the driving wheels 44 that transmit power from the traveling mission case 43 mounted on the front end of the traveling frame 6. -Each of the rollers 7 is wound and stretched. Reference numeral 42a denotes an auxiliary wheel.
[0015]
A front / rear stroke sensor 45 for detecting the expansion / contraction stroke of the pitching cylinder 36 is provided adjacent to the cylinder 36. The working arm of the sensor 45 and the vicinity of the upper end of the pitching arm 30 are connected by a lot 45a. A left / right stroke sensor 46 for detecting an expansion / contraction stroke of the rolling cylinder 38 is provided on the left and right cylinders 38, and an operating arm of the sensor 46 and an upper end connecting portion of the rolling arm 38 are connected by a lot 46a.
[0016]
A front / rear inclination sensor 47 that detects a front / rear inclination due to the pitching action of the vehicle body 1 and a left / right inclination sensor 48 that detects a left / right inclination due to the rolling action of the vehicle body 1 are arranged in the traveling frame 6 in the lower space of the grain tank 10. In addition, the reverse detection means 4 (reverse switch) for detecting the reverse state of the vehicle body 1 is engaged and disposed at a position that can be detected by the reverse operation of the main shift lever 49, and the vehicle speed sensor 50 for detecting the vehicle speed is provided in the mission. The case 43 is configured to engage with the transmission path of the case 43.
[0017]
When the degree of softness of the soil surface is mild, the wet field mode A, and when the soil surface is heavy, the wet field mode B is appropriately selected and switched according to the state of the wet field, rotary type wet field selection means 5 (wet field switch) as shown in FIG. A front / rear switch 51 and a left / right switch 52 that automatically perform front / rear horizontal control and left / right horizontal control of the vehicle body 1 by detecting the tilt state by the front / rear and left / right tilt sensors 47, 48, and the vehicle body 1 with respect to the traveling device 8. A vehicle height switch 53 for automatically raising and lowering, a vehicle height manual switch 54 for raising and lowering manually, a manual inclination switch 55 including four push buttons for appropriately inclining the vehicle body 1 front and rear, left and right, and the cutting device 16 The power steering lever 57 that engages the cutting up / down switch 56 that moves up and down with respect to the soil surface, and the action of the threshing device 11 and the cutting device 16 are detected. And cutting removal lever 59 that engages the cutting de switch 58 which is constructed by arranging the main speed change lever 49 each on one side of the operating device 19.
[0018]
A controller 60 that controls the vehicle height, the tilt state, and the vehicle speed of the vehicle body 1 with a CPU as a main body is provided in the vicinity of the operating device 19, and the wetland switch 5 is provided on the input side of the controller 60 as shown in FIG. (Wet field selection means), reverse switch 4 (reverse detection means), front / rear stroke sensor 45, left / right stroke sensor 46, front / rear tilt sensor 47, left / right tilt sensor 48, vehicle speed sensor 50, front / rear switch 51, left / right switch 52, vehicle height The switch 53, the vehicle height manual switch 54, the inclination switch 55, the cutting up / down switch 56, the cutting / removing switch 58, etc. are connected to each other, and the pitching solenoid valve 61 on the extension side for operating the pitching cylinder 36 to the output side and the shortening side. Left and right rolling solenoids for operating the pitching solenoid valve 62 and the left and right rolling cylinders 38 63 and short side of the right and left rolling solenoid valve 64 is constructed by connecting each of the unloading valve 65 and the like.
[0019]
When the vehicle body 1 rolls and tilts left and right, the left and right horizontal control means 2 by rolling control turns on the left and right switch 52 and the tilt is detected by the left and right tilt sensor 48, and the left or right side is controlled by the controller 60. By operating the rolling cylinder 38, the left or right wheel frame 26 is moved up and down in parallel by the parallel link action of the front and rear rolling arms 25, 34 and the connecting rod 37, and left or right with respect to the traveling frame 6. By raising and lowering the traveling crawler 7, the vehicle body 1 can be relatively inclined and adjusted to a horizontal state.
[0020]
When the vehicle body 1 is pitched and tilts forward and backward, the front / rear horizontal control means 3 by pitching control turns on the front / rear switch 51 and detects the tilt by the front / rear tilt sensor 47, thereby controlling the pitching cylinder 36 under the control of the controller 60. The left and right rear rolling arms 34 are moved up and down through the connecting arm 31 by the vertical pivoting action of the pitching arm 30, and the rear rolling arms 34 move the rear side of the left and right rolling frames 26 to the front rolling shaft. The vehicle body 1 can be relatively tilted back and forth and adjusted to a horizontal state by moving the left and right traveling crawlers 7 up and down simultaneously with respect to the traveling frame 6 by moving up and down 24 with the fulcrum 24 as a fulcrum.
[0021]
When the vehicle body 1 is moved up and down in parallel with the travel crawler 7, the left and right rolling cylinders 38 are simultaneously operated by the same amount by turning on the vehicle height manual switch 54, and the left and right rolling arms 25 and 34 are turned up and down. Accordingly, the vehicle body 1 can be moved up and down relatively in parallel by moving the left and right wheel frame 26 up and down in parallel and moving the left and right driving crawlers 7 up and down in the same manner with respect to the driving frame 6. it can.
[0022]
At the time of the combine work in the wet field, if the softness of the soil surface is mild, the wet field switch 5 (the wet field selection means) is switched to the wet field mode A side, and the cutting / removing switch 58 is turned ON by the operation of the cutting / removing lever 59, In the state where the front / rear switch 51, the left / right switch 52 and the vehicle height switch 53 are turned ON and the cutting device 16 is lifted by turning ON the cutting up / down switch 56 by operating the power steering lever 57, as shown in the flowchart of FIG. When 49 is switched from forward to reverse, the reverse switch 4 (reverse detection means) is turned on, and the rear portion of the travel frame 6 interferes with the travel crawler 7 when the vehicle body 1 is tilted forward, which is set in the controller 60. Raise the vehicle to a position where it will not.
[0023]
This rising to the set vehicle height position causes the left and right rolling cylinders 38 to extend at the same time and causes the left and right rolling frame 26 to move downward in parallel by the downward rotating action of the left and right rolling arms 25 and 34. Thus, by lowering the left and right traveling rollers 7 with respect to the traveling frame 6, the vehicle body 1 is relatively raised in parallel with the traveling device 8 .
Upon confirming the rising of the vehicle body 1, the pitching cylinder 36 is automatically extended to rotate the pitching arm 30, and the rear rolling arm 34 is lifted from the pitching arm 30 via the connecting arm 31 by the left and right rear rolling shafts 33. By acting, the left and right wheel frames 26 are pulled up by the rolling arm 34, and the vehicle body 1 is tilted forward relative to the traveling device 8. The extension action of the pitching cylinder 36 at the time of the front raising tilt is stopped at the front raising uppermost tilt position by detecting the stroke end by the front / rear stroke sensor 45.
[0024]
Further, by confirming the forward tilt, the left and right rolling cylinders 38 are automatically extended to rotate the front and rear rolling arms 25, 34, and the left and right rolling frame are evenly distributed by the rolling arms 25, 34. The vehicle body 1 is relatively raised to the highest vehicle height position by the detection of the stroke end by the left and right stroke sensors 46.
[0025]
Next, when the degree of soil surface softness is severe, by switching the wetland switch 5 (wetland selection means) to the wetland mode B side, the vehicle body 1 is raised to the highest vehicle height position as described above, When the reverse switch 4 (reverse detection means) is turned on, the vehicle body 1 is raised to the highest tilt position and then raised to the highest vehicle height position. The state of these upwardly inclined slopes and the highest vehicle height position is maintained during reverse travel.
[0026]
When the set vehicle height position is low and the vehicle is tilted up as it is, the interference between the rear portion of the travel frame 6 and the travel crawler 7 is calculated by the controller 60 from the detection position of the front / rear stroke sensor 45. The high position is automatically raised to a position where interference can be avoided.
Thus, when the vehicle body 1 is moved backward during the combine operation in the wet field, the vehicle body 1 sinks due to the soft soil surface, and the driving reaction force becomes large, the rear portion of the vehicle body 1 is raised, and the front portion of the reaping device 16 is the soil. Although it becomes a forward leaning posture that touches the surface, this tendency appears particularly when the grain is stored in the grain tank 10, and at this time, the plurality of wetland modes A and B are switched to the wetland switch. 5 (wet field selection means) is selected by switching, and the height of the vehicle body 1 is raised and the vehicle is tilted upward, so that the cutting device is used even when the vehicle body 1 is in a forward leaning posture due to the driving reaction force during reverse travel. Since the 16 cutting blades 14 and the front end side of the take-up transport unit 15 are dive in the mud and can prevent the next cutting operation, the adaptability of working conditions in wetlands can be expanded. Workability can be improved. Shitsuden mode A, the configuration is not necessary to provide a plurality of switches to switch B becomes simple.
[0027]
In the wet paddy mode A where the degree of softness is light, after the vehicle body 1 is tilted forward, the vehicle height is further raised to the highest vehicle height position in two steps, so that the vehicle body 1 is detected at the time of the first reverse travel detection. Therefore, it is possible to prevent the lowering of work efficiency as much as possible.
Further, when the wet field switch 5 (selection of wet field) that selectively switches between the plurality of wet field modes A and B is a wet field switch 5 that performs only switching at the time of a simple wet field, when the wet field switch 5 is turned ON, As shown in the flowchart of FIG. 7, when the reverse switch 4 (reverse detection means) is turned on in the state where the cutting / removing switch 58, the front / rear switch 51 and the vehicle height switch 53 are turned on, the vehicle body 1 is lifted up to the uppermost position. Then, when the left / right switch 52 is subsequently turned ON, the vehicle body 1 may be controlled to be in the highest raised vehicle height position in addition to the forwardly raised highest inclined position.
[0028]
Further, when the wetland switch 5 that performs only switching at the time of a wetland is turned on, the reverse drive is performed in the state where the cutting / removing switch 58, the left / right switch 52, and the vehicle height switch 53 are turned on as shown in the flowchart of FIG. When the switch 4 is turned on, the vehicle body 1 is raised to the highest raised vehicle height position, and when the front / rear switch 51 is subsequently turned on, the vehicle body 1 is added to the highest raised vehicle height position to become the forwardly raised highest tilt position. Such control may be performed.
[0029]
Thus, according to the soft state of the wetland soil surface, the front and rear switch 51 and the left / right switch 52 are selectively turned ON, and a plurality of wetland modes A and B are selectively selected by switching between the wetland modes. As described above, since the wet field switch 5 (wet field selection means) is not required, the adaptability of the working conditions in the wet field can be expanded and the workability can be improved while the configuration is easy.
[0030]
FIG. 9 is a diagram showing a state in which the left and right wheel frames 26 in the traveling device 8 are moved up and down by the front rolling arm 25 and the rear rolling arm 34. In this diagram, The rear rolling arm 34 is a lower arm 34c formed longer than the lower arm 25b of the front rolling arm 25, and the rear rolling shaft 33 is pivotally supported on a fixed rolling metal 66 like the front rolling shaft 24. A configuration in which the lower end portion of the lower arm 34c of the rear rolling arm 34 and the wheel frame 26 are connected by the intermediate link 67 by the pins 35 and 68, respectively, and a configuration in which the pitching control system is omitted are the above-described embodiments. It is a different part.
[0031]
In such a configuration, the left and right rolling cylinders 38 are expanded and contracted by the detection value of the left and right tilt sensor 48 and the detection value of the stroke sensor 46, and the front and rear rolling arms 25 and 34 are moved to the front and rear rolling shafts. By rotating up and down 24 and 33 as fulcrums, the rear rolling arm 34 increases the vehicle height increase amount a by adding the pitching increase amount b to the vehicle height increase amount a by the front rolling arm 25. Since the rolling cylinder 38 is operated by the detection value of only the left / right tilt sensor 48 without using the front / rear tilt sensor 47, the pitching control can be performed simultaneously with the raising / lowering of the vehicle height by the rolling control. It is simple and easy to control and inexpensive, and the control time is equivalent to omitting the pitching control system. Only it can be shortened.
[0032]
Since the lower arm 34c of the rear rolling arm 34 is long, a large space on the lower side of the traveling frame 6 can be secured when the vehicle height is raised, so that the wetland traveling performance is improved.
Further, as an embodiment different from the above, as shown in FIG. 10, the front end portions of the left and right wheel frames 69 for supporting the respective wheels are respectively pivotally supported on the fixed left and right front metals 70, and thereafter The end portions are connected to the front end portions of the left and right pitching lower arms 72 via the intermediate links 71, respectively. A pivoting shaft center portion of the left and right pitching lower arms 72 is connected to a left and right pitching metal 73 fixed to the frame by a pitching shaft 74, and a single pitching upper portion is directed upward from an appropriate position of the pitching shaft 74. The arm 75 is extended, and the upper end portion of the pitching upper arm 75 and the tip portion of the piston 76a of a single pitching cylinder 76 that is expanded and contracted by hydraulic pressure or the like are connected by pins. With such a configuration, the pitching lower arms 72 provided on the left and right sides are rotated up and down by the action of the single pitching cylinder 76 via the single pitching upper arm 75 to raise and lower the wheel frame 69. By adopting a simple configuration, the configuration is easy and inexpensive.
[0033]
In addition, the wheel frame 69 for performing the above pitching control is only on the right side, and the left wheel frame 69 is fixed, so that the balance is maintained when the grain tank (right side) or the like is filled with the grain. Even if it changes greatly, since the balance can be corrected by performing the pitching control only on the grain tank side where the change of the balance is large, the effect is great while minimizing the inexpensive control.
[Brief description of the drawings]
FIG. 1 is a flowchart showing a procedure for inclining or raising / lowering a vehicle body by selection switching of a wetland field selection means during reverse travel.
FIG. 2 is a plan view showing the structure of a wetland field selection means (a wetland field switch).
FIG. 3 is a block diagram showing an electric circuit that performs automatic control of the horizontal direction of the vehicle body and the vehicle body elevation.
FIG. 4 is a side view showing an elevating mechanism of a travel crawler in the travel device.
FIG. 5 is a plan view showing an elevating mechanism of a travel crawler in the travel device.
FIG. 6 is a side view showing the entire combine.
FIG. 7 is a flowchart showing a procedure for tilting or raising / lowering the vehicle body during reverse travel.
FIG. 8 is a flowchart showing a procedure for tilting or raising / lowering the vehicle body during reverse travel.
FIG. 9 is a side view showing the lifting and lowering action of the wheel frame in the traveling device.
FIG. 10 is a schematic side view showing an elevating mechanism for a wheel frame in a traveling device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Vehicle body, 2 ... Left-right horizontal control means, 3 ... Front-back horizontal control means, 4 ... Reverse drive detection means, 5 ... Wet field selection means.

Claims (1)

Left / right horizontal control means 2 for adjusting the right / left inclination and vehicle height of the vehicle body 1, front / rear horizontal control means 3 for adjusting the front / rear inclination of the vehicle body 1, reverse detection means 4 for detecting the reverse movement state of the vehicle body 1, and wetland soil surface In a farm vehicle having a wet field selection means 5 capable of selecting and switching a plurality of wet field modes according to the soft state of the soil, when the wet field selection means 5 sets a mild degree of soil surface softness, the reverse detection means When 4 detects the reverse state of the vehicle body 1, the left and right horizontal control means 2 is configured to raise the vehicle body 1 to a predetermined height, and when the wet field selection means 5 sets a severe soil surface softness level, Based on the fact that the wet field selection means 5 sets the degree of soft soil surface softness, the left and right horizontal control means 2 is configured to raise the vehicle body 1 to the highest vehicle height position. Farming vehicles traveling device.

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