JP2861145B2 - Attitude control device such as combine - Google Patents

Description

Description: TECHNICAL FIELD [0001] The present invention relates to an attitude control device such as a combine, and can be used for a combine having a crawler-type traveling device, a mobile agricultural machine such as a transport vehicle, a construction machine, and the like. .

(Prior art)

Conventionally, for example, in a combine, in order to maintain and control the vehicle body in a horizontal posture, a posture control device capable of performing rolling control for changing the relative vertical position between the vehicle body and the left and right crawler traveling devices, pitching control, and the like. With
In addition, a plurality of hydraulic cylinders provided in a hydraulic circuit by the same hydraulic pump as these components can perform steering control for controlling the traveling direction and cutting height control for moving the reaping device up and down with respect to the vehicle body. It is configured to perform this.

Also, Japanese Patent Application No. 63-124196, Japanese Patent Application No. 1-27
As shown in No. 4278, the left and right crawler-type traveling devices move up and down independently or integrally with the vehicle body in a hydraulic circuit using the same hydraulic pump, and maintain and control the vehicle body in a predetermined posture. And a hydraulic cylinder other than the vehicle body upper and lower hydraulic cylinders, and when operating a priority hydraulic cylinder other than the vehicle body upper and lower hydraulic cylinders, restricts the upward control in the direction of pushing up the vehicle body by the vehicle body upper and lower hydraulic cylinders. In addition, an attitude control device such as a combine, which is configured to restrict the descending side control in the direction of lowering the vehicle body, has been tried.

[Problems to be solved by the invention]

As described above, in order to control the vehicle body to be maintained in a horizontal posture, a rolling control for changing the relative vertical position between the vehicle body and the left and right crawler-type traveling devices, and a posture control device capable of performing pitching control and the like are further provided. In the case where the steering control for controlling the traveling direction and the cutting height control for moving the reaping device up and down with respect to the vehicle body can be performed, there are the following problems.

That is, in rolling control and pitching control for maintaining and controlling the horizontal posture of the vehicle body, during the process of lowering the vehicle body with respect to the crawler-type traveling device, since the weight of the vehicle body is acting in the downward direction, No particularly large hydraulic pressure (thrust) is required for the cylinder.

However, conversely, during the process of raising the vehicle body with respect to the crawler-type traveling device, the vehicle body is pushed up against the weight of the vehicle body, so that a large hydraulic pressure (thrust) is applied to the vehicle body vertical hydraulic cylinder. It costs.

Therefore, as described above, in the case of a configuration in which various controls are performed by a plurality of hydraulic cylinders provided in a hydraulic circuit by the same hydraulic pump, there is a limit in the discharge hydraulic pressure or oil amount of the hydraulic pump. At the same time, the hydraulic pressure or the amount of oil in each control is insufficient, so that the cutting height control, the steering control, and the like, which should be given priority over the posture control, are likely to be delayed. As a result, there is a problem that the harvesting section is sunk into the ground due to a delay in the cutting height control, or the combine is deviated from the row of the cutting culm due to a delay in the steering control, so that smooth work traveling cannot be performed. Was.

In addition, Japanese Patent Application No. 63-124196 and Japanese Patent Application No.
As in -274278, when operating a priority hydraulic cylinder other than the body vertical hydraulic cylinder, restricting the upward control in the direction of pushing up the vehicle by the vehicle vertical hydraulic cylinder,
In addition, when a configuration is also adopted in which the descending side control in the direction of lowering the vehicle body is restricted, there is little delay in cutting height control and steering control other than the posture control, but the posture control by the vehicle body vertical hydraulic cylinder is difficult. The delay caused the body to collapse,
For example, there is a problem that the sorting performance is reduced due to the inclination of the sorting device provided on the combine vehicle body.

[Means for solving the problem]

The present invention employs the following technical means in order to solve the above-mentioned problems.

That is, a vehicle body vertical hydraulic cylinder for maintaining and controlling the vehicle body 10 in a predetermined posture by moving the left and right crawler type traveling devices up and down independently or integrally with respect to the vehicle body 10 by a hydraulic circuit 66 by the same hydraulic pump P. 2, 2, 8 and hydraulic cylinders 48, 70 other than the body vertical hydraulic cylinders 2, 2, 8 are provided,
When the priority hydraulic cylinders 48, 70 other than the vehicle body vertical hydraulic cylinders 2, 2, 8 are operated, while controlling the ascending side control in the direction of pushing up the vehicle body 10 by the vehicle body vertical hydraulic cylinders 2, 2, 8 This is a configuration of an attitude control device such as a combine, which is configured not to restrict the lowering side in the direction of lowering the vehicle body 10.

With this configuration, when the hydraulic pump P is driven, it becomes possible to supply oil to the vehicle body vertical hydraulic cylinders 2, 2, 8 provided in the hydraulic circuit 66 and the other priority hydraulic cylinders 48, 70, and to be provided in the hydraulic circuit 66. Each of the hydraulic cylinders 2, 2, 8, 48, 70 expands and contracts via the control valve.

Thus, the left and right crawler-type traveling devices move up and down with respect to the vehicle body 10 due to the expansion and contraction of the vehicle body vertical hydraulic cylinders 2, 2, and 8 by the hydraulic pressure. This allows the vehicle body 10 to be maintained in a horizontal posture.

When the priority hydraulic cylinders 48, 70 other than the vehicle body vertical hydraulic cylinders 2, 2, 8 expand and contract, the upward control of the vehicle body vertical hydraulic cylinders 2, 2, 8 in the push-up direction of the vehicle body 10 is restricted. . As a result, the supply of the hydraulic oil from the hydraulic pump P to the vehicle body upper and lower hydraulic cylinders 2, 2, and 8 is restricted, and the hydraulic oil is effective to the priority hydraulic cylinders 48 and 70 other than the vehicle body upper and lower hydraulic cylinders 2, 2, and 8. Supplied to

Also, in such a case, the vehicle vertical hydraulic cylinders 2, 2,
Since the lowering control of the vehicle body 10 in the direction of lowering the vehicle body 8 is not restricted, the vehicle body vertical hydraulic cylinders 2, 2, 8 can control the vehicle body 10 to move down.

When the vehicle body 10 is controlled to be lowered by the vehicle body vertical hydraulic cylinders 2, 2, 8 as described above, since the weight of the vehicle body 10 is acting in the downward direction, the vehicle body vertical hydraulic cylinders 2, 2, 8
Does not require a particularly large hydraulic pressure (thrust). As a result, the hydraulic oil from the hydraulic pump P is effectively supplied to the priority hydraulic cylinders 48 and 70, as described above.

〔The invention's effect〕

As described above, according to the present invention, the left and right crawler traveling devices are moved up and down independently or integrally with respect to the vehicle body 10 by the hydraulic circuit 66 using the same hydraulic pump P, and the vehicle body 10 is brought into a predetermined posture. Car body vertical hydraulic cylinders 2, 2, 8 to maintain and control
And hydraulic cylinders 48, 70 other than the vehicle body vertical hydraulic cylinders 2, 2, 8 are provided. When the priority hydraulic cylinders 48, 70 other than the vehicle body vertical hydraulic cylinders 2, 2, 8 are operated, the vehicle body A posture control device such as a combine that has a configuration in which the up-and-down hydraulic cylinders 2, 2, and 8 are configured to restrict the up-side control in the direction in which the vehicle body 10 is pushed up and not restrict the down-side control in the direction in which the vehicle body 10 is lowered. As a result, the oil supply from the hydraulic pump P can be effectively supplied to the priority hydraulic cylinders 48, 70, and the priority hydraulic cylinders 48, 70 can be operated appropriately. Direction control and the like can be performed smoothly, and work efficiency can be improved.

Further, even when the priority hydraulic cylinders 48, 70 are operated in this manner, since the lowering control in the vehicle body lowering direction by the vehicle body vertical hydraulic cylinders 2, 2, 8 is possible, the delay of the posture control of the vehicle body 10 is reduced. However, the collapse of the posture of the vehicle body 10 can be reduced, and for example, in a combine, a decrease in the sorting performance of the sorting device can be relatively reduced.

[Embodiment of the invention]

An embodiment of the present invention will be described with reference to the drawings.
On both left and right sides of the pitching frame 1, there are rolling wheels 5 on which each crawler 4 is stretched by a rolling hydraulic cylinder (vehicle vertical hydraulic cylinder) 2 provided on the pitching frame 1 and a rolling link mechanism 3 which moves up and down in parallel. A pair of left and right crawler frames 6 are independently provided so as to be able to move up and down independently, and the upper end of the pitching frame 1 is rotatable up and down on the other end side around a pitching shaft 7 at one end side. And a vehicle body 10 having a pitching hydraulic cylinder (vehicle vertical hydraulic cylinder) 8 and a pitching ring mechanism 9 for this vertical rotation.

The pitching frame 1 integrally connects a pair of left and right vertical frames 11 with front and rear connection frames 12, further connects the front ends of the vertical frames 11 with a pitching shaft 7, and the rolling arm shaft between the rear ends. Connect with 13. Rolling arms 14 and 15 constituting a pair of left and right rolling link mechanisms 3 are rotatably provided on the front and rear pitching shaft 7 and the rolling arm shaft 13. The front and rear sides of the crawler frame 6 are pivotally connected to the lower ends of the left and right front and rear rolling arms 14 and 15 by pivot shafts 16 and 17 and attached to a bracket 18 protruding above the front of the pitching frame 1. The hydraulic piston 19 of the rolling hydraulic cylinder 2 is connected to the upper end of the rear rolling arm 15, and the left and right crawler frames 6 move up and down with respect to the pitching frame 1 by the expansion and contraction of the rolling hydraulic cylinder 2. It has a configuration. Reference numeral 20 denotes a rod for connecting the front and rear rolling arms 14 and 15 to interlock with each other.

Each of the left and right crawler frames 6 is provided with a rolling wheel 5 on which the crawler 4 is stretched. The wheel 5 is provided with sprocket wheels 21 and 22 at the front and rear middle and rear ends, and is engaged with a driving hole provided along the center of the crawler 4 for guide rotation. The rear end sprocket wheel 22 is a guide frame that expands and contracts back and forth with respect to the rear end of the crawler frame 6.
The crawler 4 is always tensioned by adjusting the expansion and contraction of the tension bar 23.

On the front pitching shaft 7 of the vertical frame 11 of the pitching frame 1, a rotating boss 25 rotatable around the pitching shaft 7 is provided, and a bracket 26 at the front end of the vehicle body 10 is bolted to the rotating boss. , Nuts and the like, and the vehicle body 10 is configured to be rotatable up and down around the pitching shaft 7. A link pin 27 is provided on a rear portion of the left and right vertical frames 11 of the pitching frame 1, and a link of the pitching link mechanism 9 provided on the vehicle body 10.
The tip of 28 is rotatably fitted and supported.

The vehicle body 10 is mainly composed of a pair of left and right vertical frames, and the vertical frames are connected to each other by a suitable number of front and rear portions by a horizontal frame 29, and integrally formed. The axle housing 32 that covers the bearing is mounted and supported.

The pitching link mechanism 9 provided on the vehicle body 10 includes a pair of left and right arm links 34 rotatable around a pitching arm axis 33 at a rear portion, and a link pivotally connected to a tip end of the arm link 34 by a pivot pin 35. 28 and these arm links
The arm 36 and the like are pivoted integrally with the arm 34. The arm 36 is connected to the hydraulic piston 37 of the pitching hydraulic cylinder 8 attached to the vehicle body 10, and the link 28 is pitched by the hydraulic expansion and contraction of the pitching hydraulic cylinder 8. By rotating around the link pin 27 of the frame 1, the vehicle body 10 is vertically rotated around the pitching axis 7 by the link 28 and the arm link 34.

Each of the rolling arms 14 and 15 provided before and after the pitching frame 1 has an inner arm 38 formed in a crank shape in a front view and an outer arm 39 having a straight plate shape, which are integrally formed by tightening with bolts 40. The ends of the rolling arm shafts 7 and 13 are rotatably provided between the intermediate portion of the arm 38 and the distal end of the outer arm 39 with the collars 41 and 42 interposed therebetween.
The vertical frame 11 is provided such that the collar 41 is fixed and positioned within the space between the inner and outer arms 38 and 39 together with the vehicle body 10 located above the rolling arm shafts 7 and 13. Inner arm
The crawler frame 6 provided at the lower end of the 39 by the pivot shafts 16 and 17 is mounted outside the rolling arms 14 and 15.

The vehicle body 10 has a horizontal frame 29 on the upper side and this horizontal frame
It has a vertical frame 43 extending across the left and right lateral ends of 29 and the like, and on the upper side, for example, in the case of a combine, mounts a threshing device, an engine, a control device, and the like, and also supports a mowing device. Reference numeral 44 denotes a transmission case equipped with a traveling transmission that transmits the drive sprocket 30, and includes brackets 26 and 45,
It is integrally attached to the front end or the rear end of the vehicle body 10 via an axle housing 32 or the like. The crawler 4 is wound and stretched between the driving sprocket 30 and each of the rolling wheels 5, and can be rotated and driven by the driving of the driving sprocket 30. The bracket 26 of the vehicle body 10 rotates the sprocket 30 up and down around the pitching axis 7 by pitching the vehicle body 10 by positioning the sprocket 30 ahead of the frontmost wheel 5, but maintains the tensioning drive of the crawler 4. Is configured. 46 is an engine exhaust stack, and 47 is its muffler cover.

8 and 9, a control configuration of the traveling device will be described. As shown in FIG. 8, a hydraulic circuit 66 of a hydraulic pump P for hydraulically operating a rolling hydraulic cylinder 2, a pitching hydraulic cylinder 8, and a cutting vertical cylinder (priority hydraulic cylinder) 48 for raising and lowering the cutting device with respect to the vehicle body 10 is provided. Can be
The hydraulic circuit 67 of the cutting vertical cylinder 48 is provided with a cutting control valve 49 for raising the cutting and a cutting control valve 50 for lowering the cutting so as to be electromagnetically operated. The hydraulic circuit 68 of the pitching hydraulic cylinder 8 includes a pitching control valve for switching the vehicle body 10 to rotate around the pitching shaft 7 to rotate backward and downward, and vice versa. 51 will be provided. Further, a rolling control valve 52 is provided in each of the hydraulic circuits 69 of the rolling hydraulic cylinder 2 integrated with the left and right sides, and the left or right crawler frame 6 is switched so as to move up and down independently or simultaneously. 53 is an unload valve.

In addition to the above, the hydraulic circuit 66 is provided with a hydraulic circuit 71 of a steering cylinder (priority hydraulic cylinder) 70 that operates the transmission clutch of the left and right crawlers 4 and the brakes to steer the traveling direction left and right. A steering control valve 72 is electromagnetically switched and interlocked by operating the steering lever. Also, an auger for removing threshed and harvested paddy from the paddy tank is provided with a hydraulic circuit 75 such as an auger turning cylinder 73 for rotating left and right or up and down to select a removal position, and an auger vertical cylinder 74. Auger control valves 76 and 7 that are electromagnetically switched by the operating lever
7 are provided.

In FIG. 9, a controller 54 having a microcomputer has a manual tilt lever switch 55 on the input side.
The lever switch 55 and the manual tilting lever are provided in the steering device, and the tilting switch is turned on according to the tilting direction by tilting by operating the manual tilting lever, and the pitching control valve 51, the rolling control valve 52 is switched to output a pitching operation of the vehicle body 10 or a rolling operation by moving the left or right crawler frame 6 up and down.

Further, a vehicle height up / down lever switch 56 and a vehicle height up / down lever for switching the up / down lever switch 56 are provided in the steering device, and when the up / down lever switch 56 is operated to raise the vehicle height, the left and right rolling control valves 52 are turned on. When the vehicle is raised and the vehicle height is raised, and the vehicle is operated to lower the vehicle height, the left and right rolling control valves 52 are switched to the lower side and the control output is made to lower the vehicle height.

Also, the cutting lever switch 57 is connected to the cutting vertical control valves 49, 50.
The reaping device is vertically controlled by a reaping control valve 49, and is lowered by a reaping control valve 50.

The vehicle body horizontal switch 58 controls the left and right rolling control of the pitching frame 1 and the front and rear pitching control. The grain stalk sensor 59 detects that the grain stalk is in a state of being harvested by the reaping device, and thereby the front and rear inclination sensor 60 for performing each control as described above,
Left and right tilt sensor 61, each of these stroke sensors 62, 63,
64 are provided. Sensitivity changing means for changing the sensitivity of each of the inclination sensors 60, 61 and the stroke sensors 62, 63, 64, etc.
65 are provided.

For pitching control of the vehicle body 10, a front-back tilt sensor
When the vehicle 60 detects the inclination of the vehicle body 10 in the front-rear direction, the pitching control valve 51 is switched rearward or rearward to expand and contract the pitching hydraulic cylinder 8, and the longitudinal stroke sensor 62 provided on the pitching hydraulic cylinder 8 detects the pitching control valve 51. By detecting and performing feedback control, the vehicle body 10 is controlled and maintained in the front-rear horizontal state.

Regarding the rolling control of the pitching frame 1,
By detecting the left and right inclination of the vehicle body 10 or the pitching frame 1 by the left and right inclination sensor 61, a left rolling control valve is provided.
52 or the right rolling control valve 52 is switched to expand and contract the left and right rolling hydraulic cylinders 2, and feedback control is performed while detecting the amount of expansion and contraction of each of the rolling hydraulic cylinders 2 with the left and right stroke sensors 63 and 64 to perform pitching. The configuration is such that the frame 1 is controlled and maintained in a horizontal state.

The height control of the pitching frame 1 is performed simultaneously with or prior to the rolling control, and the left and right rolling control valves 52 and the rolling control valve are detected by a height sensor that detects the height of the pitching frame 1 with respect to the soil surface. The hydraulic cylinder 2 is controlled to expand and contract to maintain a constant height. In addition, as the height sensor, the height may be detected by an average value of the rolling control stroke sensors 63 and 64.

8 to 10, the rolling hydraulic cylinder 2
Regarding the operation control relationship between the pitching hydraulic cylinder 8 and the other cutting vertical cylinders 48 and the like, the direction in which the rolling hydraulic cylinder 2 or the pitching hydraulic cylinder 8 extends by the rolling control valve 52 or the pitching control valve 51, that is, the crawler 4, the cutting vertical cylinder 48 is simultaneously extended by the cutting control valve 49 to raise the cutting device, or the steering cylinder 70 is operated by the steering control valve 72. When the vehicle is steered by the expansion and contraction operation, the rolling control valve 52 and the pitching control valve 51 are stopped at the neutral position, and the pushing up of the vehicle body 10 due to the extension of the rolling hydraulic cylinder 2 and the pitching cylinder 8 is stopped. Also, during this time, the harvesting vertical cylinder 48 is extended by the harvesting control valve 49,
Alternatively, when the operation of the steering cylinder 70 by the steering control valve 72 is completed, the rolling control valve 52, the pitching control valve 51, and the like are output.

As described above, when the cutting vertical cylinder 48, the steering cylinder 70, and the like compete with the operation of the rolling hydraulic cylinder 2, the pitching hydraulic cylinder 8, and the like as the priority control cylinder, the hydraulic cylinders 2, 8 and the like are controlled. Output operation with priority. The rolling hydraulic cylinder 2 and the pitching hydraulic cylinder 8 are connected to the vehicle body 10.
It is sufficient that the operation is limited in the operation stroke in the direction of pushing up the vehicle, and the restraint control may be performed so that the operation control on the pushing side of the vehicle body 10 as well as the operation on the descending side is stopped at the same time.

In the case of FIG. 8, the auger control cylinders 73 and 74 are not the priority control cylinders. Therefore, the extension control of the rolling hydraulic cylinder 2, the pitching hydraulic cylinder 8, and the like may be performed simultaneously with the operation of the auger control cylinders 73 and 74.

FIG. 11 to FIG. 13 show a control unit A for controlling the controller 54 for controlling the horizontal level of the vehicle body for performing rolling control, pitching control, and the like, and a control for performing steering control, cutting height control for moving the cutting device up and down, and the like. A control signal line 78 for controlling the hydraulic output as described above is provided between the control boxes A and B. It is configured to perform check communication by a pulse signal.

As shown in FIG. 12 and FIG. 13, when the state changes from the non-restraining state C to the restraining state D, the rolling control valve 52 of the vehicle body horizontal control and the solenoid output of the pitching control valve 51 are turned off by the pulse signal, and the rolling control and the pitching control are performed. The control is suspended, and during this time, when the control by the steering control valve 72, the reaping control valve 51, the reaping control valve 50, and the like is completed, the vehicle body horizontal control is started.

[Brief description of the drawings]

FIG. 1 shows an embodiment of the present invention. FIG. 1 is a side view of a traveling device, FIG. 2 is an exploded side view thereof, FIG. 3 is a plan view, and FIG. 5, FIG. 5 is a side view of a part thereof, FIG. 6 is a front sectional view of a part indicated by an arrow VI in FIG. 1, FIG. 7 is a side view thereof, FIG. 8 is a hydraulic circuit diagram, FIG. FIG. 10 is a control block diagram, FIG. 10 is a partial control flowchart, and FIG.
FIG. 12 is a block diagram showing another embodiment, FIG. 12 is a control signal diagram thereof, and FIG. 13 is a control flowchart of a part thereof. Explanation of symbols P: hydraulic pump 2: rolling hydraulic cylinder (vehicle vertical hydraulic cylinder) 8: pitching hydraulic cylinder (vehicle vertical hydraulic cylinder) 10: vehicle body 66: hydraulic circuit 48: cutting vertical cylinder (priority hydraulic) Cylinder) 70 Steering cylinder (Priority hydraulic cylinder)

Claims (1)

(57) [Claims] 1. A vehicle body for maintaining and controlling a vehicle body 10 in a predetermined posture by moving a left and right crawler type traveling device up and down independently or integrally with respect to the vehicle body 10 in a hydraulic circuit 66 by the same hydraulic pump P. Vertical hydraulic cylinders 2, 2, 8 and hydraulic cylinders 48, 70 other than the vehicle vertical hydraulic cylinders 2, 2, 8 are provided,
When performing the operation of the priority hydraulic cylinders 48, 70 other than the vehicle body vertical hydraulic cylinders 2, 2, 8 while controlling the upward control in the direction of pushing up the vehicle body 10 by the vehicle body vertical hydraulic cylinders 2, 2, 8 A posture control device for a combine or the like, characterized in that a control for lowering the vehicle body 10 in a lowering direction is not restricted.