JPS643284Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a side clutch type automatic steering device for a traveling vehicle such as a combine harvester, and more specifically, the present invention relates to a side clutch type automatic steering device for a traveling vehicle such as a combine harvester. A side clutch type automatic vehicle for a traveling vehicle, which is equipped with a control device that, in response to a detection result, opens and closes a side clutch interposed in each of the drive force transmission systems to the left and right traveling bodies in the direction of correcting deviation. It relates to a steering device.

As a side clutch type automatic steering system for this type of vehicle, for example, the system shown in FIG. 4 of Japanese Utility Model Application No. 56-76571 is known.

This conventional structure is provided with a motor 8 which is rotated in the forward and reverse directions in response to the detection result by the sensor 4, and with respect to the output shaft of the motor 8, one direction, left and right, is transmitted in opposite directions. clutch 031
The left and right crank structures 030, 030 are connected to the left and right crank structures 030, 030, and the operating parts 9, 9' of the left and right side clutches 6, 6' are connected to the crank structures 030, 030 to switch between forward and reverse rotation of the motor 8. According to
The left and right side clutches 6, 6' are selectively and intermittently engaged.

In the conventional structure configured in this way, when the desired side clutch 6, 6' is disconnected to stop driving the crawler 22 or 22', which is one of the traveling bodies,
By stopping intermittently in a pulsed manner, the purpose of achieving the purpose is to allow the aircraft to rotate smoothly without applying sudden rotational force to the aircraft.

However, in this conventional structure, since the motor 8 and the operating parts of the clutches 6, 6' are connected in a fixed connection relationship as described above, it is not possible to operate the motor 8 manually without using the control device 7. When you want to operate in the direction (for example,
If there is an unexpected foreign object in front of you in the direction of travel and there is a risk of colliding with it, if there is a failure in the control device, or if you move away from the steering indicator to perform unscheduled work), the control Since the control by the device 7 obstructs the manual operation of the clutches 6, 6', there is a drawback that it is difficult to perform the manual operation.

The present invention aims to eliminate such drawbacks.

In order to achieve this purpose, the side clutch type automatic steering device for a traveling vehicle of the present invention has a steering handle arranged on the control section of the aircraft body and the side clutch, so that the side clutch is on the entry side. While being connected via a rod in an energized state,
A base of a locking piece, which is biased to be held in a constant posture while being movable in the operating direction of the rod, is supported on each of the rods, and the locking piece is supported in the direction of movement of the rod. A rotor blade that is rotatable around a center line parallel to orthogonal directions is provided, and the free ends of the locking pieces held in the constant posture are located on both sides of the rotor locus of rotation of the rotor blade. Further, a one-way stopper for preventing the locking piece from moving from the fixed position to the cut side of the side clutch is fixed to the rod, and the rotary blade is fixed to the rod according to the detection result of the sensor. According to the present invention, the control device is provided with a forward/reverse motor that rotates forward/reverse based on the control device as its output device.

That is, according to the above configuration, when the rotor blade rotates during automatic steering based on the sensor, one of the left and right locking pieces is prevented from moving by the stopper depending on the rotation direction of the rotor blade, and the rotation is prevented. The rotor comes into contact with the blade, and the rotation of the rotor moves one rod toward the cutting side. At this time, the free end of this locking piece is sent out of the trajectory of the rotor as the rod moves, and when the rotor passes, the rod is returned to the entry side and the clutch becomes the entry side. In other words, one clutch is intermittently opened and closed as the rotor rotates. On the other hand, the locking piece of the other clutch is brought into contact with the rotor blade and moved so that the free end moves out of the rotational trajectory, but the rod does not move and the clutch is maintained in the engaged state. . Since the drive motor of the rotor blade is installed in the control device as described above, the direction in which the left and right clutches are engaged or disengaged is determined by the detection by the sensor so that the aircraft follows the steering indicator. The aircraft is configured to automatically follow the steering indicator without any shocking changes in direction.

Furthermore, the rotary blade, which rotates based on the detection result of the sensor, and the rod for disengaging the side clutch are indirectly connected via the locking piece, so that the rotary blade, which rotates based on the detection result of the sensor, is indirectly connected via the locking piece, so that the rotary blade rotates based on the detection result of the sensor. Since the motor that operates the side clutch on and off during steering is not fixedly connected to the side clutch, the steering handle connected to the side clutch automatically eliminates the artificial turning of the side clutch. This can be done immediately even in the steering state, and for both the left and right traveling devices.

In short, the present invention has the advantage that smooth automatic steering can be performed while manual operation can be performed immediately if necessary.

In addition, automatic steering can be returned to as soon as you release your hands from the steering wheel, making it extremely easy to change between automatic steering and manual operation.

Next, embodiments of the present invention will be described based on the drawings.

In this embodiment, an automatic steering device for a combine harvester will be explained as an example.

Furthermore, in this embodiment, the steering indicator is a grain culm row 1 planted in the field, and the sensor is a swinging contact protruding from the left and right sides of the entrance of the stalk introduction path 3 of the reaping unit 2. This refers to sensors 4 and 4.

Further, the side clutches are on/off clutches 6, 6' provided in the transmission system to the left and right axles which are interposed in the traveling transmission 5.

Also, due to contact with the stem culm, the sensors 4, 4
When the sensor 4 is forcibly swung over a certain angle, limit switches (not shown) attached to the sensors 4, 4 are turned on. An electric motor 8 serves as a forward/reverse motor for output in the control device 7.
rotates in the forward direction based on the signal from the limit switch that is turned on when one of the left and right sensors 4, 4 is forcibly oscillated over a certain angle, and when the other sensor is forcibly oscillated, it rotates in the reverse direction. do. or,
In addition to the above-mentioned forward/reverse control, the electric motor 8 has the following functions:
When both the sensors 4, 4 are forcibly oscillated,
Alternatively, an electric control circuit is provided to control the electric motor 8 so as not to rotate when neither is forced to swing.

All of the above configurations are the same as the conventional structure shown in FIG. 4, so further detailed explanation will be omitted.

Next, the structure of the output side of the control device 7, which is the main part, will be explained. (See FIGS. 1 and 2) Both clutches 6, 6' have operating arms 9,
The left and right steering levers 13, 13' are arranged side by side on the left and right and housed in the control tower 11 of the aircraft, and are connected to left and right steering levers 13, 13' as steering handles via rods 12, 12' provided along the vertical direction. is connected to. As the steering levers 13, 13' swing back and forth, the rods 12, 12' are moved upward, thereby disengaging the clutches 6, 6', and conversely, the rods 12, 12' are moved downward, thereby disengaging the clutches 6, 6'. are connected so that they can be inserted. The clutches 6, 6' are urged toward the entry side by internal springs,
The rods 12, 12' are each urged downward by the urging force.

Between the left and right rods 12 and 12', a rotor blade 14 is arranged with its center line directed in the front-rear direction. It is the output shaft.

The output shaft of the motor 8 is connected to the input shaft of the reducer 16, and as the motor 8 rotates forward and backward, the rotating shaft 15 and the rotary blades 14 are also rotated forward and backward in the following predetermined directions. It has become commonplace.

Brackets 17, 17' as one-way stoppers extending toward the other rod are fixed to opposing sides of the rods 12, 12'.

At the free ends of the brackets 17, 17', intermediate portions of square shaft-shaped locking pieces 18, 18' are connected to the rotating shaft 15.
It is pivotably supported around axes P and P' that are parallel to .

The locking pieces 18, 18' are biased by a spring (not shown) in a direction in which the lower surfaces of the rod sides come into contact with the brackets 17, 17'.

In this way, when the locking pieces 18, 18' are in a substantially horizontal position, the lower surface on the rod side from the pivot position abuts the brackets 17, 17', and the free end portion beyond this comes into contact with the rod. (Wing side) Holding the locking pieces 18, 18' in a constant position that prevents upward swinging of the free end portions 19, 19', and vice versa. Swinging is allowed against the biasing force of the spring.

Then, in the stable posture, the free end portion 1
9 and 19' are located within the rotation locus A of the rotary blade 14, and are one of the locking pieces 18 or 19 with which the rotary blade 14 comes into contact from below when the rotary blade 14 rotates forward and backward. 18' is lifted and the rod 12 or 12' is moved upward to disengage the clutch intermittently.

The forward and reverse rotation of the rotary blade 14 is set to disengage one of the left and right clutches 6, 6' so that the aircraft is steered in a direction that follows the stem culm row 1.

Reference numeral 20 denotes a limit switch which turns off a drive maintenance circuit included in the drive control circuit of the electric motor 8, and when it comes into contact with a cam 21 provided on the rotary shaft 15, the rotor blade 14 locks the left and right locking pieces. 18,18'
On the other hand, this is for stopping the rotation of the rotary blades 14 at a position where they do not come into contact with each other during the non-operation signal from the sensor 4. (See FIG. 3) In the embodiment described above, the configuration and aspect may be changed by one or more of the following combinations.

The automatic steering device can be used not only for combines but also for binders, weeding machines, etc.

When applying this automatic steering device to a transportation vehicle in a factory, it is recommended to
It can be easily applied by arranging electric wires and installing magnetic sensors on the aircraft body to detect the left and right relative positions with respect to the electric wires.

The configurations of these sensors and index bodies are generally well known.

The motor 8 may be a forward/reverse hydraulic motor, and a switching solenoid valve operated by the sensor may be provided in an oil supply circuit to the motor.

The number of the rotary blades 14 is not limited to two, but one or three or more may extend from the rotary shaft 15. However, the spacing between the blades must be set so that the locking piece can be released from the blade tip and the rod can return to the inserted position.

In the case where the clutch is changed to the cut side by moving the rods 12, 12' downward, the biasing direction of the locking pieces 18, 18' by the spring and the arrangement relationship with the brackets 17, 17' which are the stoppers are determined. Do the opposite of the above.

The urging force of the locking pieces 18, 18' toward the contact side of the brackets 17, 17', which are stoppers, is as follows.
Caused by deviation of the center of gravity relative to its pivot center.

The direction of movement when the rods 12, 12' are turned on and off is determined by the steering levers 13, 13' and the operating arm 9.
This is determined by the relative positional relationship with the rod 9' and the presence or absence of intermediate inclusions other than the rods 12, 12', and does not necessarily have to be in the vertical direction, but may be in the longitudinal direction of the fuselage 10.

The locking piece shall be attached to the rod so that it can slide up and down.

Note that although reference numerals are written in the claims section of the utility model registration for convenience of comparison with the drawings, the present invention is not limited to the structure of the attached drawings by such entry.

[Brief explanation of the drawing]

The drawings show an embodiment of the side clutch type automatic steering system for a traveling vehicle according to the present invention, and FIG. 1 is a partially cutaway side view showing the main parts, and FIG. 2 is a partially cutaway front view showing the main parts. 3 are rear views showing the cam switch structure. FIG. 4 is a schematic plan view showing a conventional example. 1... Steering indicator body (culm row), 4... Sensor,
6, 6'...Side clutch, 7...Control device,
8...Motor, 10...Airframe, 12, 12'...
Rod, 13, 13'... Steering handle, 14...
...Rotary blade, 15... Rotating shaft, 17, 17'... One-way stopper (bracket), 18, 18'...
Locking piece, 19, 19'... Free end, 22, 22'...
...Traveling device.

Claims (1)

[Scope of utility model registration request] In response to the detection result of the sensor 4 that detects the left and right deviation of the aircraft body with respect to the steering index body 1 fixed on the ground, the drive power transmission system for the left and right traveling bodies 22, 22' is interposed. Side clutch 6,6'
In a side clutch type automatic steering system for a vehicle, which is equipped with a control device 7 for turning on and off in the direction of correcting deviation, steering handles 13, 13' disposed on the control section of the vehicle body and the side clutch are provided. 6,
6' are connected via the rods 12, 12' with the side clutches 6, 6' being biased toward the entry side, and the rods 12, 12' are movable in the operating direction of transmitting the operating force. In this state, the bases of the locking pieces 18, 18', which are biased so as to be held in a constant position, are supported by the rods 12, 12', respectively, and are aligned in the direction of movement of the rods 12, 12'. A rotary blade 14 that is rotatable around a center line parallel to an orthogonal direction is held on both sides of the rotation locus of the rotary blade 14 in a state in which the locking pieces 1 are held in the constant posture.
The free ends 19, 19' of the side clutches 6, 18' are positioned respectively, and the locking pieces 18, 18' are prevented from moving from the fixed position to the cutting side of the side clutches 6, 6'. One-way stopper 17,
17' is fixed to the rods 12, 12', and a forward/reverse motor 8 rotates the rotary blade 14 in the forward or reverse direction based on the detection result of the sensor 4.
A side clutch type automatic steering system for a running vehicle, characterized in that the control device 7 is provided with the following as its output device.