JPS60961B2 - Steering device for mobile agricultural machinery - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is characterized in that the side of the steering brake that independently brakes the left and right traveling devices is operated by a hydraulic cylinder that is operated via a control valve. The present invention relates to a steering device for a mobile agricultural machine in which a control valve is configured to be operable by a manual operation and a command from an automatic steering control mechanism.

Generally, when driving on the road, a wide range of steering and turning is required, from mechanical turns to sharp turns, so the brake machine for naked facing is designed to have a sufficiently large maximum braking force. If automatic steering control is performed using the side brakes, which exert a large braking force, as is, hunting may occur due to excessive turning.

The present invention makes it possible to perform desired steering turns using a wide range of braking forces when driving on the road, and at the same time, during automatic steering control, a slow turning steering state with a small braking force is used to achieve stable automatic steering without hunting. It was designed to allow steering.

Embodiments of the present invention will be described in detail below based on illustrative drawings.

FIG. 1 shows a schematic configuration of a steering device in a combine harvester, and 1 and lj are left and right traveling crawlers (traveling devices).

2, 2' are naked clutches, 3, 3' are steering braking machines,
4 and 4' are hydraulic cylinders for directing.

Each of the hydraulic cylinders 4, 4k disengages the steering clutches 2, 2' in the first half of the extension operation by supplying pressure oil, and operates the brake grooves 3, 3r in the second half of the operation, The braking force is determined by the magnitude of the cylinder hydraulic pressure during the second half of the braking operation.

Further, the hydraulic cylinders 4, 4' are connected to an electromagnetic three-position switching type control valve 5, and the left and right solenoid sections 6
, 6' is selectively energized, pressure oil from the pump 7 is supplied to one of the hydraulic cylinders 4 or 4', and when the valve 5 is in the neutral state, the hydraulic cylinders 4 and 4' are configured to return to a shortened position by deflecting the internal flexure. has been done.

This valve 5 is configured to be operated manually or automatically by the following configuration.

In other words, the solenoid parts 6, 6' are provided with the human operation circuit a.
and automatic operation circuit b are connected via circuit changeover switches S,,S,', and either one of circuits a, or b
It is configured to operate based on instructions from.

In the human operation circuit a, there are steering switches S2 and S2'.
As shown in FIG. 3, these switches S2 and S2' are opened by a force with a part of the pedal arm when the left and right directional pedals 8 and 8' are in the non-operated state, and the pedals are It is configured as a regular type switch that releases and closes the switch in conjunction with the depression. Further, an automatic bare orientation control mechanism 9 is connected to the automatic operation circuit b, and this control mechanism 9
As shown in FIG. 2, the switch S3, S3' senses the swinging motion of the pair of left and right shield stem contact sensors 10, 10' provided in the cutting section at the front of the aircraft. It is configured to detect a deviation in the left-right direction between the reaping part and the established stalk A, and issue a command to steer the machine in a direction to reduce this deviation. Furthermore, relief valves 11 and 11' that can change and adjust the relief pressure are connected to the pressure oil supply paths to the hydraulic cylinders 4 and 4', and as shown in FIG. The strength of the springs 12, 12' can be increased as the amount of depression of the steering pedals 8, 8' increases, respectively. Also, near the steering pedals 8, 8', there are locking mechanisms 13, 13 that can lock and fix the pedals 8, 8 at a predetermined depression position shallower than the maximum depression position.
' is provided. The circuit changeover switches S, ,
S,' are interlocked with this locking mechanism 13, 13'.

In other words, the lock pieces 14, 14 of the lock mechanism 13, 13'
Even in the state where the pedals 8, 8' are engaged and locked at ', the solenoid parts 6, 6' are connected to the automatic operation circuit b,
In the unlocked state, the solenoid parts 6, 6' are configured to be connected to the manual operation circuit a. According to the above configuration, when driving on the road or in a field other than reaping, by unlocking the steering pedals 8, 8', the valve 5 can be switched by pedal operation to perform arbitrary steering. Hydraulic cylinder 4 with pressure according to the amount of depression
, 4'' can be extended to perform steering in a desired steering braking state.

When the mowing operation starts, both the locking mechanisms 13 and 13' are operated to fix the steering pedals 8 and 8' in the appropriate depressed state, thereby controlling the valve 5 based on the command from the automatic steering control mechanism 9. At this time, the steering braking force can be maintained at a relatively small constant value regulated by the position of the pedal 898', and automatic steering for slow turns can be performed.

As shown in FIG. 4, a bolt 15 may be provided on each of the lock pieces 14, 14' so that the pedal locking position can be adjusted. It is even more convenient because it can be adjusted.

Furthermore, if a return spring 16 is provided on each of the lock pieces 14, 14', the user can simply press the pedals 8, 8' even during automatic steering. The lock can be released, making it effective for turning and stopping in emergencies. As described in detail in the embodiments above, the present invention provides a hydraulic pressure operated via a control valve 5 to control brake gears 3 and 3' for braking the left and right traveling devices 1 and 1' independently, respectively. Constructed to operate with cylinders 4, 4',
In a steering system for a mobile agricultural machine in which the control valve 5 is configured to be operable by a manual operation smell 8, 8' and a command from an automatic steering control mechanism 9, a pressure oil supply path to the hydraulic cylinders 4, 4' is provided. Relief valves 11, 11' are provided in the interior, the relief pressure of which is changed according to the amount of operation of the artificially operated odors 8, 8', and the artificially operated odors 8, 8' are controlled at a predetermined amount of operating position. A locking mechanism 13, 13' that can be fixed is provided, and in this locked state, the control valve 5 is moved only by the automatic steering control mechanism 9, and in an unlocked state, the control valve 5 is moved only by the human operation odor 8, 8'. The control valve 5 is characterized in that it is configured to switch the operation system of the control valve 5 in conjunction with the operation of the lock mechanisms 13 and 13', so that it is not necessary to manually operate it as when driving on the road. By unlocking the manual operating tools 8 and 8', it is possible to arbitrarily perform steering operations with a wide range of turning characteristics, from bow turns to sharp turns.
During automatic steering, by locking the manual operation smells 8 and 8' in a predetermined position, steering with constant turning characteristics is performed through automatic steering, and stable automatic steering control without hunting is achieved. It became possible to do so.

[BRIEF DESCRIPTION OF THE DRAWINGS] The drawings illustrate an embodiment of the steering device for a mobile agricultural machine according to the present invention. A plan view, FIG. 3 is a side view showing a part of the human operating mechanism, and FIG. 4 is a side view showing a part of the human operating mechanism in another embodiment. , 3, 3'... Steering brake side, 4, 4'... Hydraulic cylinder, 5... Control valve, 8, 8'... Human operation odor, 9... ...
Automatic steering control mechanism, 11, 11'... relief valve, 13, 13'... lock mechanism. Figure 1 Figure 2 Figure 3 Figure 4

Claims (1)

[Claims] 1. Steering brake grooves 3, 3' that independently apply braking to the left and right traveling devices 1, 1' are configured to be operated by hydraulic cylinders 4, 4' that are operated via a control valve 5. In addition, in the steering device for a mobile agricultural machine in which the control valve 5 is configured to be operable by commands from the human operating tools 8, 8' and the automatic steering control mechanism 9, the hydraulic cylinders 4, 4'
Relief valves 11, 11 whose relief pressure is changed according to the amount of operation of the human operating tools 8, 8' are provided in the pressure oil supply path to the
', as well as locking mechanisms 13, 13' that can fix the human operating tools 8, 8' at a predetermined operating position, and in this locked state, the control valve 5 is only connected to the automatic steering control mechanism 9. At the same time, the operating system of the control valve 5 is switched in conjunction with the operation of the lock mechanisms 13, 13' so that the control valve 5 is interlocked only with the human operating tools 8, 8' in the unlocked state. A steering device for a mobile agricultural machine, characterized in that: