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Working vehicle posture controlling device

A technology of control device and working vehicle, which is applied to the chassis of agricultural machinery, agriculture, agricultural machinery and machinery, etc., can solve the problems of complex and tedious calculation processing, etc., and achieve the effect of rapid driving operation

Inactive Publication Date: 2006-04-05
KUBOTA LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, when requesting the target driving speed of each driving device necessary to make the fore-aft inclination angle of the body relative to the horizontal reference plane become the target fore-aft inclination angle, and the left-right inclination angle of the body body relative to the horizontal reference plane become the target left-right inclination angle, it must be considered How does the position on the main body of the machine body acted by the plurality of driving devices change in three dimensions according to the posture change operation? Therefore, cumbersome calculation processing is required, and the processing for obtaining the target driving speed is also very complicated.

Method used

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Examples

Experimental program
Comparison scheme
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no. 1 Embodiment approach 〕

[0106] [Basic configuration of a combine harvester as an example of a work vehicle]

[0107]As shown in Figure 1, the composition of the combine includes: a pair of crawler-type traveling devices 1R and 1R (an example of a left and right traveling device); , the body V of the grain box 4 etc. that are used to store the grains of threshing; Harvesting section 10 comprises: the weeding tool 6 that is arranged on the tip portion, the lifting device 5 that lifts up the growing grain straw processed by the grassing tool 6 through the weeding process, and the scissors type harvesting that cuts off the root side of the raised grain straw. Knife 7, and the longitudinal conveying device 8 etc. which change the posture and supply the conveyance start end part of the threshing device 3 on the rear side while gradually laying down the reaped grain straw.

[0108] In addition, the harvesting unit 10 is installed so as to be able to swing freely around the horizontal axis P1 by means of th...

no. 2 Embodiment approach 〕

[0209] Hereinafter, a second embodiment of the present invention will be described with reference to FIGS. 22 to 26 . As can be seen from the description below, the main difference between the second embodiment and the first embodiment lies in the "synchronous posture correction control" in the above-mentioned "posture change control".

[0210] In the following description, parts of FIGS. 1 to 21 referred to in the first embodiment are also referred to as necessary, and the substantially same configurations as those in the first embodiment are denoted by the same reference numerals, and descriptions thereof are omitted.

[0211] 〔Control composition〕

[0212] In this embodiment, similarly to the first embodiment, as shown in FIGS. The positions corresponding to the rotation fulcrums of the above-mentioned rockers 17a, 17b in 1R are provided with potentiometer-shaped stroke sensors that detect the stroke amounts of the telescopic movements of the hydraulic cylinders C2, C3, C4...

no. 3 Embodiment approach 〕

[0287] Next, a third embodiment of the present invention will be described with reference to FIGS. 28 and 29 .

[0288] In this third embodiment, the processing configuration of the above-mentioned "flow rate correction processing" of the control device 22 and the configuration of the operation tool for performing the processing are different, but the configuration other than this configuration is the same as that of the second embodiment. . Therefore, only the configurations different from those of the second embodiment will be described here, and descriptions of the configurations that are the same as those of the second embodiment will be omitted.

[0289] In this third embodiment, as the above-mentioned "flow rate correction process", the control device 22 is configured differently from the second embodiment in that it responds to the target flow rate for front-rear correction and the target flow rate for left-right correction by human operation. The priority set by the s...

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PUM

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Abstract

The invention provides a posture controlling device which can rapidly conduct posture changing operation on the work vehicle. Aiming at the target, the invention is provided with four driving devices which can freely change the intervals among the grounding parts of walking devices corresponding to the left front part, the left rear part, the right front part and the right rear part of the machine body. Aiming at simultaneously correcting the front and the rear inclinations as well as the left and the right inclinations , and changing the inclinations into the object front and rear inclinations, and object left and right inclinations, the invention maintains the states on each supposed planes of the grounding part of the four parts, as uses the form that the bigger the deviation is, the higher the speed is to calculate the object driving speed for correcting the front and the rear inclinations of each driving device, and calculate the object driving speed for correcting the left and the right inclinations of each driving device of each driving device. By figuring out the total object driving speed of each driving device by adding up the two object driving speeds, the invention implements such driving operation treatment that the total object driving speed drives each driving device.

Description

technical field [0001] The present invention relates to a posture control device for work vehicles such as a combine harvester. Background technique [0002] Conventionally, the posture control device for a work vehicle configured as described above has the following configuration. In other words, the structure is such that, when changing the attitude of the main body relative to the traveling devices on the left and right sides, for example, three of the four driving devices are simultaneously operated, or one of the four driving devices is operated simultaneously. All operate at the same time, and simultaneously correct the front and rear inclination angles and left and right inclination angles of the body relative to the horizontal reference plane. Specifically, a configuration is adopted in which the direction to be operated and the target driving speed of each driving device, that is, the target flow rate of the driving device to hydraulic cylinder hydraulic fluid are ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D67/00
CPCA01D41/1278A01D75/28
Inventor 池田博
Owner KUBOTA LTD