JPH05330461A - Working vehicle - Google Patents

Abstract

(57) [Summary] [Construction] Working state detecting means 37 for detecting whether the traveling machine body 7 is in a working state of traveling in a working stroke or in a non-working state is provided, and the control means 101 is a working state detecting means. When the work state is detected at 37, the mode is switched to the lower limit reference mode, and the work state detecting means 3
A work vehicle configured to be switched to the upper limit reference mode when the non-working state is detected in 7. [Effect] Since the traveling vehicle can be turned or run at high speed while the control means is performing control in the upper limit reference mode, dirt, mud, obstacles, etc. can be held under the traveling vehicle and the turning performance can be improved. It is possible to provide a work vehicle that solves the inconvenience that traveling performance such as traveling speed and traveling speed deteriorates.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention includes a pair of left and right traveling devices provided on a traveling machine body, and elevating and lowering drive means for vertically moving the grounding portions of the pair of left and right traveling devices with respect to the traveling machine body.
Based on the information of the inclination angle detecting means for detecting the horizontal inclination angle of the traveling body with respect to the horizontal reference plane, and the information of the inclination angle detecting means, the elevating drive means is operated so as to maintain the horizontal inclination angle of the traveling body at the set inclination angle. The control means is provided, and the control means operates the lower limit reference mode in which the elevating and lowering drive means is operated so as to bring the grounding parts of the pair of left and right traveling devices closer to the traveling body side, and the grounding parts of the pair of left and right traveling devices. The present invention relates to a work vehicle configured to be switchable to an upper limit reference mode in which an elevating drive means is operated so as to be separated from a traveling machine body.

[0002]

2. Description of the Related Art A work vehicle of this type may be driven at a low speed along a straight or relatively straight curved travel route when the traveling machine body is in a working state in which it travels in a working stroke. On the other hand, in the non-working state, on the other hand, in many cases, the vehicle travels in a turn or at a high speed to move to the next work stroke. Further, the control means is usually used in the lower limit reference mode in many cases in consideration of the stability of the traveling machine body and advantages in traveling performance.

Therefore, the conventional control means in this type of work vehicle controls in the lower limit reference mode when the lower limit reference mode is selected in the working state even when the work vehicle is in the non-working state. (See Japanese Patent Application No. 3-92503, for example).

[0004]

However, according to the above-mentioned prior art, when the ground is relatively soft and the ground contact portion of the traveling device is likely to sink into the ground, such as in a wetland, the lower limit reference mode is used. When a controlled work vehicle turns or travels at high speed, the lower part of the machine body (for example, the frame that constitutes the machine body) may hold mud, dirt, obstacles, etc. There was an inconvenience that the running performance of the car deteriorated. The present invention is to eliminate the above-mentioned conventional drawbacks.

[0005]

A characteristic construction of a work vehicle according to the present invention is provided with work state detection means for detecting whether the traveling machine body is in a work state of traveling a work stroke or in a non-work state, and controls the work state. The means is switched to the lower limit reference mode when the working state detecting means detects that the working state is in the working state, and the upper limit is detected when the working state detecting means detects that the working state is in the non-working state. It is configured so that it can be switched to the reference mode.

[0006]

According to the characterizing feature of the present invention, the control means is configured to be switched to the upper limit reference mode when the work state detection means detects that the work state is not in operation. While the vehicle is performing control in the upper limit reference mode, the traveling machine body can be turned or traveled at high speed.

[0007]

According to the characterizing feature of the present invention, the traveling machine body can be turned or run at high speed while the control means is performing control in the upper limit reference mode. It is possible to provide a work vehicle that solves the inconvenience that traveling performance such as turning performance and traveling speed is deteriorated by holding mud and obstacles.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 12, before harvesting, which includes a raising device 1, a harvesting device 2 for harvesting the grain culms raised by the raising device 1, and a transport device 4 for transporting the harvested grain culm toward the rear threshing device 3. A combine is configured as an example of a working vehicle in which the processing device 5 is attached to a traveling machine body 7 including a pair of left and right crawler traveling devices 6 so as to be vertically swingable around a horizontal support axis X by an elevating cylinder 8.

Next, the mounting structure of the left and right crawler traveling devices 6 on the traveling machine body 7 will be described. As shown in FIGS. 3 and 4, the main frame 9 constituting the traveling machine body 7 in the front-rear posture
The horizontal frame 10 is connected to the lower side of the horizontal frame 10, and the left and right track frames 11 are connected and fixed by the horizontal frame 10. A drive sprocket 12 and a tension sprocket 13 are attached and fixed to the front and rear ends of the track frame 11, respectively. The track frame 11 is formed in a downward opening channel shape, and a pair of front and rear movable frames 1 pivotally supporting a plurality of idle wheel bodies 14 in the open space.
5A and 15B are mounted so as to be capable of relative vertical movement. The track frame 11 is provided at an intermediate position of the group of idle wheels 14.
A large-diameter freewheeling body 16 is supported so as to be vertically swingable.
The front and rear movable frames 15A and 15B are respectively attached with one ends of front and rear bell cranks 17A and 17B pivotally supported by the track frame 11 so as to be vertically swingable.
The front and rear bell cranks 17A and 17B are connected to the connecting rod 18.
And a rolling elevating cylinder 19 is connected to the other end of the rear bell crank 17B, so that the front and rear movable frames 15A and 15B are moved up and down by the same amount in the same direction. Are configured so that they can be raised and lowered separately on the traveling machine body 7. Here, the rolling elevating cylinder 19 is an example of elevating drive means for vertically moving the ground contact portion of the crawler traveling device 6 with respect to the traveling machine body 7.

As shown in FIG. 3, limit switches 20 and 22 are provided at both swing end positions of the front and rear bell cranks 17A and 17B, and whether the rear bell crank 17B and thus the rolling lift cylinder 19 reach the movable stroke end. To detect. That is, the limit for detecting the state in which the traveling device 6 is located farthest from the traveling machine body 7 is referred to as the upper limit switch 20, and the limit for detecting the state in the closest position is referred to as the lower limit switch 22. These limit switches 20, 22
As shown in FIG. 1, the detection result by the controller 21 is input to the control device 21, and the rolling elevator cylinder 1 with the control valve 29 is installed.
9 is operated to determine the height of the traveling device 6 against the traveling vehicle body 7.

The control device 21 includes a gravity type inclination sensor 23 as an inclination angle detecting means for detecting a horizontal inclination angle of the traveling machine body 7 with respect to a horizontal reference plane, and an inclination setter 28 shown in FIGS. 1 and 2. Therefore, based on the information of the gravity type inclination sensor 23, the rolling elevating cylinder 1 for maintaining the horizontal inclination angle of the traveling machine body 7 at the set inclination angle.
A control means 101 for activating 9 is configured. The control means 101 operates the rolling elevating cylinder 19 in a direction in which the difference between the information of the gravity type inclination sensor 23 and the set value of the inclination setter 28 (that is, the declination angle) is eliminated, so that the lateral inclination angle of the traveling machine body 7 is increased. Is configured to be maintained at the set inclination angle. In this case, the rolling lifting cylinder 1 is arranged so that the ground contact portions of the pair of left and right crawler traveling devices 6 approach the traveling machine body 7 side.
Two types of modes are prepared: a lower limit reference mode in which the rolling elevating cylinder 19 is operated, and an upper limit reference mode in which the rolling elevating cylinder 19 is operated so as to separate the ground contact portions of the pair of left and right crawler traveling devices 6 from the traveling machine body 7. ing.
That is, in the upper limit reference mode, the control means 101
To move the ground contact portion of one crawler traveling device 6 to the most lowered position, and to move the other crawler traveling device 6
The rolling elevating cylinder 19 is operated to move the ground contacting part of the crawler traveling device 6 to the direction in which the declination is eliminated, while the control means 101 moves the grounding part of the one crawler traveling device 6 to the most raised position in the lower limit reference mode. In addition, the rolling elevating cylinder 19 is operated to move the ground contact portion of the other crawler traveling device 6 in the direction in which the deviation angle is eliminated. Therefore, for example, when the traveling machine body 7 is tilted to the right in the upper limit reference mode, first, the left crawler traveling device 6 is operated toward the upper limit position, and the upper limit switch 2
If the deviation angle does not become "0" even if 0 is operated, the right crawler traveling device 6 is operated toward the lower limit position, and the horizontal inclination angle is adjusted to the set inclination angle. When the traveling machine body 7 is tilted to the left, the left and right relationships may be reversed from the above case. Further, in the lower limit reference mode, the operation may be performed by reversing the vertical relationship from the above case.

The upper limit reference mode and the lower limit reference mode are configured to be selected by the upper / lower limit reference mode changeover switch 25 connected to the control device 21 shown in FIGS. The control means 101 performs the above-mentioned control according to the mode selected by the upper / lower limit reference mode changeover switch 25.

By the way, as shown in FIG. 1, the control unit 21 has a stock origin sensor as a working state detecting means for detecting whether the traveling machine body 7 is in a working state in which it travels in a working stroke or in a non-working state. 37 is connected. The stock origin sensor 37 is configured by a limit switch (not shown) attached to the transport device 4, and the limit switch is actuated by the harvest culm moving on the transport path, so that the harvest culm is being transported. Is configured to be detected. That is, in the present embodiment, the working state means that the traveling machine body 7 travels the portion where the grain stalks are planted and the harvesting device 2 cuts the grain stalks, and the transport device 4 moves the harvested grain stalks backward. The state of being conveyed toward the threshing device 3 is shown, while the non-working state means that the traveling machine body 7 is traveling in a portion where grain culms are not planted.

Then, when the lower limit reference mode is selected by the upper / lower limit reference mode changeover switch 25, the control means 101 detects the working state by the stock origin sensor 37, and the lower limit reference mode. And is switched to the upper limit reference mode when the work state detecting means detects that the work state is in the non-working state. That is, in the state where the lower limit reference mode is selected by the upper / lower limit reference mode changeover switch 25, when the traveling machine body 7 is traveling in a portion where grain stalks are planted, the control means 101 causes the lower limit reference mode. The control means 101 is configured to perform control in the upper limit reference mode when the traveling machine body 7 is traveling in a portion where grain culms are not planted. When the upper limit reference mode is selected by the upper / lower limit reference mode changeover switch 25, the control means 101 is configured to perform the control in the upper limit reference mode even in the working state.

Further, as shown in FIG. 1, a front vehicle height sensor 36A and a rear vehicle height sensor 36B as vehicle height detecting means for detecting the height of the traveling machine body 7 with respect to the ground are connected to the control device 21, The control means 101 controls the front vehicle height sensor 36A or the rear vehicle height sensor 3 in the lower limit reference mode.
When the height detected by 6B is equal to or lower than a predetermined height, the traveling machine body 7 is configured to move to the machine body lifting side. That is, the control means 101 is automatically switched to the upper limit reference mode by the automatic switching means 102 configured in the control device 21 when the vehicle height becomes equal to or lower than a predetermined height in the lower limit reference mode,
When the vehicle height returns to a predetermined height or higher, the lower limit reference mode is automatically selected.

The front vehicle height sensor 36A and the rear vehicle height sensor 36B are, as shown in FIG. 13, a potentiometer 36.
a and a sensing bar 36b are provided, the sensing bar 36b is brought into contact with the ground and rocked to operate the potentiometer 36a, and the resistance value of the potentiometer 36a deviates from the setting range.
It is configured to detect that the height of the traveling body 7 with respect to the ground has become equal to or lower than a predetermined height. The front vehicle height sensor 36A and the rear vehicle height sensor 36B are provided at respective positions of the traveling machine body 7 in the longitudinal direction of the machine body, as shown in FIG.

A volume-type elevation detection sensor 24 is provided at the pivotal support shaft X portion of the cutting pretreatment device 5 for the traveling machine body 7 to detect the amount of elevation of the cutting pretreatment device 5 with respect to the traveling machine body 7. Based on the detection value from the ultrasonic type ground height sensor 33 provided near the raising frame, the ground height of the pre-cutting device 5 (cutting height for grain stems) is detected. The cutting height can be controlled by the elevating cylinder 8 with the control valve 30 so that the cutting height is set within the range set by the cutting height setting device 35.

With the above construction, the crawler traveling device 6 is provided.
The raising and lowering control will be described with reference to the flow charts of FIGS. The rolling lift cylinder 19 has an upper and lower limit switch 2 at the end of the movable stroke.
0 and 22 are provided, and the upper and lower limit switches 2
When both 0 and 22 are activated, the inclination angle cannot be larger than the inclination angle determined by this limit position, so the inclination angle alarm lamp 34 is activated. First, the control flow is shown in FIG.
As shown in FIG. 5, it is confirmed that the tilt angle warning lamp 34 is not turned on, and the tilt angle (setting angle) set by the tilt angle setting device 28 and the angle detected by the gravity type tilt sensor 23 are set as the deviation angle (setting angle). The difference between the angle and the current detected angle. If the difference is +, the difference can be made zero by tilting the traveling machine to the right. If the difference is −, the traveling machine is tilted to the left.) ( Step Ia). Next, the upper / lower limit reference mode changeover switch 25 is checked, and when the upper limit reference mode is selected, the “mode designation” flag is set to “upper limit”, and when the lower limit reference mode is selected, “mode designation” is selected. Set the flag to "lower limit". However, when the lower limit reference mode is selected and the stock origin sensor 37 is OFF, "mode designation"
The flag is set to "upper limit" (step Ib). Next, as shown in FIG. 6, the front vehicle height sensor 36A, and
The rear vehicle height sensor 36B is inspected, and when both or one of the sensors is ON, the "mode designation" flag is set to the upper limit reference mode. If both are OFF, the "mode designation" flag remains in either mode that has already been set (step Ic).
Then, it is determined whether the traveling machine body 7 is tilted rightward or leftward according to the declination angles (+) and (-), and the up-and-down control of the crawler traveling device 6 is performed according to the setting of the "mode designation" flag (step Id). ).

Hereinafter, the elevation control of the crawler traveling device 6 when the deviation angle is (+) will be described in detail. First, if it is determined whether the upper / lower limit reference mode is selected and the upper limit reference mode is selected, it is necessary to tilt the traveling machine body 7 to the right. Therefore, as shown in FIG.
Lifting cylinder 1 for left rolling if is not working
9 is extended. Then, if the left traveling device 6 is set at the position most lowered from the traveling machine body 7 (that is, the left upper limit switch 20 is activated), the other traveling device 6 is moved up and down to the set angle. In this case, when the right upper limit switch 20 is operating, the right rolling elevator cylinder 19 is contracted. If the right lower limit switch 22 operates before the declination becomes zero due to the operation of the right rolling lift cylinder 19, the left upper limit switch 20 also operates.
The tilt angle beyond this cannot be taken, and the tilt angle warning lamp 34 is turned on. As described above, by operating the left and right rolling elevating cylinders 19 and 19, the operation is repeated according to the above flow in order to make the declination zero (for example, the control frequency is once every 10 ms).

Next, in the lower limit reference mode, as shown in FIG. 8, in order to set the vehicle height low, the right rolling elevating cylinder 19 is contracted when the right lower limit switch 22 is not operating. Let Then, when the right traveling device 6 is set to the most raised position with respect to the traveling vehicle body 7 (that is, the right lower limit switch 22 is activated), the left traveling device 6 is moved up and down to the set angle. Let In this case, when the left lower limit switch 22 is operating, the left rolling elevator cylinder 19 is contracted. If the left upper limit switch 20 is activated before the declination becomes zero due to the operation of the left rolling lift cylinder 19, the right lower limit switch 22 is also activated. The alarm lamp 34 is turned on. As described above, the declination is made zero by operating the left and right rolling elevating cylinders 19 and 19 (step II).

When the set angle is (-), as shown in FIGS. 10 and 11, the control target cylinder 19 is selected to tilt the traveling machine body 7 to the left, and the operating procedure is the set angle (+).
You can proceed as in step (step III).

When the declination angle becomes zero (same as the set angle), as shown in FIG. 9, in the upper limit reference mode,
The left and right rolling elevating cylinders 19, 19 are extended and stopped when either of the left and right upper limit switches 20, 20 is actuated, and the vehicle height of the traveling machine body 7 is set high. In the lower limit reference mode, the left and right rolling elevating cylinders 19 and 19 are contracted and stopped while the lower limit switches 22 and 22 are in operation, and the vehicle height of the traveling machine body 7 is set low (step IV).

[Other Embodiments] In the above-described embodiment, the work state detecting means for detecting whether the traveling machine body 7 is in the work state of traveling in the work stroke or in the non-work state is the conveyance path of the conveyance device 4. Although the stock origin sensor 37 attached above was used, the sensor which detects the harvested grain culm in the reaping device 2, or the grain culm which is attached to the front part or the side part of the traveling machine body 7 and is planted. A sensor or the like for detecting the presence of the may be used. Further, the stock origin sensor 37 is configured by a limit switch, but any sensor that can detect the presence of grain culm may be appropriately changed, such as an optical sensor or a touch sensor.

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a control configuration.

FIG. 2 is a front view showing an operation panel.

FIG. 3 is a side view showing a lifting drive means of the traveling device.

FIG. 4 is a vertical cross-sectional rear view showing a lifting / lowering drive means of the traveling device.

FIG. 5 is a flowchart showing the configuration of control means.

FIG. 6 is a flowchart showing the configuration of control means.

FIG. 7 is a flowchart showing the configuration of control means.

FIG. 8 is a flowchart showing the configuration of control means.

FIG. 9 is a flowchart showing the configuration of control means.

FIG. 10 is a flowchart showing the configuration of control means.

FIG. 11 is a flowchart showing the configuration of control means.

FIG. 12 is a side view showing the overall structure of the work vehicle.

FIG. 13 is an explanatory diagram showing a configuration of a vehicle height sensor.

[Explanation of symbols]

 6 Traveling device 7 Traveling machine 19 Lifting / driving means 23 Inclination angle detecting means 37 Working state detecting means 101 Control means

Claims (1)

[Claims] 1. A pair of left and right traveling devices (6) is provided on a traveling machine body (7), and a grounding portion of the pair of left and right traveling devices (6) is individually lifted and lowered with respect to the traveling machine body (7). The traveling based on the information of the ascending / descending driving means (19), the inclination angle detecting means (23) for detecting the horizontal inclination angle of the traveling machine body (7) with respect to the horizontal reference plane, and the inclination angle detecting means (23). A control means (101) for operating the elevating and lowering drive means (19) is provided so as to maintain the left-right inclination angle of the machine body (7) at the set inclination angle, and the control means (101) causes the left-right traveling pair. The lower limit reference mode in which the elevating and lowering drive means (19) is operated so that the ground contact portion of each device (6) approaches the traveling machine body (7) side, and the ground contact portion of each of the pair of left and right traveling devices (6) are set. Keep away from the traveling aircraft (7) A work vehicle configured to be switchable to an upper limit reference mode for operating the elevating and lowering drive means (19) so that the traveling machine body (7) is in a working state in which it travels in a work stroke or is in a non-working state. A working state detecting means (37) for detecting whether or not the working state is present is provided, and the control means (101) is provided with the working state detecting means (3).
The lower limit reference mode is switched when the work state is detected in 7), and the upper limit is detected when the non-work state is detected in the work state detecting means (37). A work vehicle configured to be switched to the standard mode.