(19) Japan Patent Office (JP)
`
`(12) Unexamined Japanese Patent
`Application (A)
`
`(11) Japanese Patent Applic
`Laid-Open No.
`H3-276889
`(43) Published Date: December 9, 1991
`
`(51) Int. Cl.5
`B 62 D 55/116
`
`Identification Symbol
`
`JPO file number
`6948-3D
`
`Request for Examination: Not requested, Number of claims: 1 (Total of 7 pages)
`
`VEHICLE HEIGHT CONTROLLER OF CRAWLER VEHICLE BODY
`(54) Title of the Invention:
`(21) Japanese Patent Application H2-80507
`(22) Filing date: March 27, 1990
`
`(72) Inventor: Hitoshi Watanabe
`
`(72) Inventor: Yasushi Fujita
`
`(72) Inventor: Fumio Yoshimura
`
`(71) Applicant: Iseki & Co., Ltd.
`
`Engineering Dept. of Iseki & Co., Ltd.
`1, Yakura, Tobe-cho, Iyo-gun, Ehime, Japan
`Engineering Dept. of Iseki & Co., Ltd.
`1, Yakura, Tobe-cho, Iyo-gun, Ehime, Japan
`Engineering Dept. of Iseki & Co., Ltd.
`1, Yakura, Tobe-cho, Iyo-gun, Ehime, Japan
`700 Umaki-cho, Matsuyama-shi, Ehime, Japan
`
`1. Title of the Invention
`VEHICLE HEIGHT CONTROLLER OF
`CRAWLER VEHICLE BODY
`2. Claim
`A vehicle height controller of a crawler vehicle
`body, comprising:
`left and right rolling cylinders 3 that control
`a vehicle body 1 to be in a transversely horizontal
`state while independently moving a pair of left and
`right crawlers 2 up and down relative to the vehicle
`body 1, and
`a pitching cylinder 5 that controls a pitch
`attitude of a chassis 4 while tilting and pivoting the
`chassis 4 where a workplace is mounted
`longitudinally relative to the vehicle body 1,
`wherein
`the vehicle body 1 is controlled to be at a lowest
`vehicle position, and, at a parallel position, which is
`substantially parallel transversely relative to the
`crawlers [2], by the rolling cylinders 3 and the
`pitching cylinder 5 due to the predetermined tilt of
`the vehicle body 1.
`3. Detailed Description of the Invention
`(Industrial Field of Application)
`
`The present invention relates to a vehicle height
`controller of a crawler vehicle body, and can be
`utilized in mobile farming machines having a
`traveling device with a crawler configuration, such
`as combines.
`(Prior Art, and Problem to be Solved by the
`Invention)
`
`In mobile farming machines, such as combines,
`work performance of reaping, thrashing or the like
`is excellently maintained by controlling a thrashing
`device, a reaper or the like on a vehicle body to be
`in transversely horizontal state, but if control of a
`height of a vehicle body, i.e., a vehicle height, is
`further combined with such horizontal control, the
`control becomes complicated. In particular, if the
`vehicle height becomes higher, the vehicle body
`greatly tilts during the horizontal control, and this
`may easily cause overturn.
`
`The present invention is to lower a height of a
`vehicle body when such vehicle body greatly tilts
`and to stabilize the vehicle body due to lowering a
`position of the center of gravity, and to bring the
`vehicle body back to a predetermined basic attitude,
`which is easily controllable.
`(Means for Solving the Problem)
`
`CATERPILLAR EXHIBIT 1059
`
`Page 1 of 16
`
`

`

`The present invention has a configuration of a
`
`vehicle height controller of a crawler vehicle body
`having
`
`
`left and right rolling cylinders 3 that control
`a vehicle body 1 to be in a transversely horizontal
`state while independently moving a pair of left and
`right crawlers 2 up and down relative to the vehicle
`body 1, and
`
`
`a pitching cylinder 5 that controls a pitch
`attitude of a chassis 4 while tilting and pivoting the
`chassis 4 where a workplace is mounted
`longitudinally relative to the vehicle body 1,
`wherein
`
`the vehicle body 1 is controlled to be at a lowest
`vehicle position, and, at a parallel position, which is
`substantially parallel transversely relative to the
`crawlers [2], by the rolling cylinders 3 and the
`pitching cylinder 5 due to the predetermined tilt of
`the vehicle body 1.
`(Operation)
`
`For example, if a reaping soil surface is soft
`ground during combine operation, the vehicle 1 is
`controlled to be horizontal. When the vehicle body
`1 greatly tilts transversely, because of this tilt, the
`left and right rolling cylinders 3 are extended or
`retracted and it causes a change in vertical gaps
`between the vehicle body 1 and the left and right
`crawlers 2, and transversely horizontal control is
`performed so as to maintain the vehicle body 1 to be
`transversely horizontal based upon the already-set
`vehicle height. Further, when the pitch of the
`vehicle body 1 is great, the pitch of the chassis 4
`relative to the vehicle body 1 is changed due to
`extension or retraction of the pitch cylinder 5, and
`longitudinally horizontal control is performed to
`adjust the chassis 4 to be in a longitudinally
`horizontal attitude.
` During such horizontal controls of the vehicle
`body 1 and the chassis 4, if the vehicle body 1
`greatly tilts toward any direction to the extent more
`than the predetermined [limit] and reaches a
`limitation where there is risk of overturn, then the
`vehicle body 1 and the chassis 4 are descended to a
`reference height, which is a lowest vehicle height
`position. This descent of the vehicle body 1 and the
`
`chassis 4 is performed by extending or retracting the
`left and right rolling cylinders 3 and the pitching
`cylinder 5. Further, at the lowest vehicle height
`position, each of the left and right rolling cylinders
`3, the pitching cylinder 5 and the like are at a
`certain extended/retracted position, and the vehicle
`1 becomes transversely in parallel with the left and
`right crawlers 2, and the chassis 4 becomes
`longitudinally in parallel with the vehicle body 1.
`(Effect of the Invention)
` As mentioned above, when the vehicle body 1 is
`controlled to be in a transversely horizontal state
`relative to a pair of the left and right crawlers 2, if
`the vehicle body 1 tilts to a dangerous angle for
`some reason, its vehicle height automatically is
`descended to the lowest vehicle height position
`because of this risky situation, and if the chassis 4
`tilts relative to the vehicle body 1, a pitch of this
`chassis 4 is also recovered, and these vehicle body 1
`and chassis 4 are longitudinally in parallel [with
`each other], and in addition, become transversely in
`parallel with the left and right crawlers 2; thus, the
`vehicle body 1 and the position of the center of
`gravity of entire weight of the operating machine
`are descended to become stabilized. Further, in
`addition, following horizontal control and vehicle
`height control, because the vehicle body 1, the
`chassis 4 and the like are in parallel with the left
`and right crawlers 2 and the controls will start from
`the lowest vehicle height position, thus no
`confusion of operation occurs and the machine can
`travel with safe control.
`(Embodiment)
`
`In illustration examples, a traveling device of a
`combine is constructed such that a pair of the left
`and right crawlers 2 are placed below the vehicle
`body 1 to be independently movable up and down,
`and an engine, a reaper, a thrashing device, a
`maneuvering gear and the like are mounted above
`the vehicle body 1, and the chassis 4 is placed. It is
`constructed such that a crawler frame 7 where track
`rollers 6 of each crawler 2 are arranged is supported
`to enable vertical movement relative to the vehicle
`body 1 in a parallel manner via a pair of the front
`and rear support arms 8 and 9; an upper end of the
`
`Page 2 of 16
`
`

`

`rear side support arm 8 and a bracket 10 on the
`vehicle body 1 are coupled with the rolling cylinder
`3 that is telescopically activated by a rolling control
`valve 12 of a hydraulic circuit 11; and the front and
`rear support arms 8 and 9 are coupled with a rod 14
`and the support arms 8 and 9 are pivoted around
`pivot parts 15 and 16 relative to the vehicle body 1
`and the crawler frame 7 can move up and down.
`
`The symbol 17 represents a sprocket at the front
`end of the crawler 2, and it is secured to a drive
`shaft 18 that protrudes toward both left and right
`sides from a traveling transmission case integrally
`with a front end of the vehicle body 1, and the
`crawler 2 can be driven by rotating this sprocket 17.
`
`In the chassis 4, the front end side is supported
`to be pivotable around an axis of the pivot part 16
`relative to the vehicle body 1, and the rear end is
`supported to the vehicle bode 1 via the link arm 19;
`the upper end of this link arm 19 and the chassis 4
`are coupled with a pitching cylinder 5 that is
`controlled to be extended or retracted by a pitching
`control valve 20 of the hydraulic circuit 11; and the
`link arm 19 is pivoted due to the extension and
`retraction of this pitching cylinder 5 by hydraulic
`pressure and the chassis 4 can be pitched with the
`pivot part 16.
` A rolling control valve 12, a pitching control
`valve 20 and an unload valve 22 of the left and right
`crawlers 2 arranged in the hydraulic circuit 11 of a
`hydraulic pump P are in an electromagnetic
`solenoid configuration, and have a lower left
`solenoid 23, a lower right solenoid 24, an upper
`right solenoid 25, a lower right solenoid 26, a
`forward tilt solenoid 27, a backward tilt solenoid 28,
`an unload solenoid 29 and the like, and are placed at
`an output side of the controller 30 constituting a
`vehicle body horizontal controller. The symbol 31
`represents an automatic lamp, and will be
`illuminated when predetermined automatic control
`is performed to the controller 30.
`
`Further, this controller 30 has a microcomputer,
`and also constitutes a vehicle height controller that
`controls a height of the vehicle body 1, a pitching
`controller and the like. An overall vertical switch
`32 that simultaneously activates the upper left &
`
`right solenoids 23 and 25 and the lower left & right
`solenoids 24 and 26 to move the vehicle body 1 up
`and down in the transversely horizontal state, and
`that determines a vehicle height is placed at the
`input side of this controller 30. With the operation
`of a tilting lever in a maneuvering device forward or
`backward or left or right, a tilting lever switch 33
`that simultaneously activates the lower left solenoid
`24 and the upper right solenoid 25 with the
`operation to tilt toward the left side to roll the
`vehicle body 1 toward the left side; that
`simultaneously activates the lower right solenoid 26
`and the upper left solenoid 23 with the operation to
`tilt toward the right side to roll the vehicle body 1
`toward the right side; and, that activates the forward
`tilt solenoid 27 and the backward tilt solenoid 28 by
`tilting forward or backward to pitch the vehicle
`body 1 to the tilted side is placed.
`
`lever
`for
`Further, a thrashing clutch switch 34 is a switch for
`engaging or disengaging a thrashing clutch that
`Then, tilting operation of
`
`transmits momentum to a thrashing device., and
`lever
`
`engaging this thrashing clutch switch 34 engages
`the thrashing clutch, and,
`
`the thrashing clutch switch 34 is engaged and a vehicle
`
`body horizontal switch 35 is also activated and
`
`transversely horizontal controls by the vehicle body
`
`and longitudinally
`horizontal controller 3 are maintained.
`
`The vehicle body horizontal switch 35 is for
`controlling and maintaining the vehicle body 1 to be
`transversely horizontal and longitudinally
`horizontal. Using a roll sensor 36 that is placed in
`the vehicle body 1 and detects a roll angle, and, a
`pitch sensor 37 that is placed in the chassis 4 and
`detects a pitch angle, whether or not the vehicle
`body 1 or the chassis 4 is tilted beyond a
`predetermined range is detected. If it is
`detected, the vehicle body horizontal switch 35
`performs transversely rolling control and
`longitudinally pitching control so as allow these roll
`sensor 36 and pitch sensor 37 to detect a horizontal
`
`Page 3 of 16
`
`

`

`state by controlling the solenoids 23 to 26 or the
`solenoids 27 and 28.
` A left stroke sensor 38 is to detect an extended
`or retracted length of the left rolling cylinder 3; a
`right stroke sensor 39 is to detect an extended or
`retracted length of the right rolling cylinder 3; and a
`longitudinal stroke sensor 40 is to detect an
`extended or retracted length of the pitching cylinder
`5. In controls that require detection of these stroke
`sensors 38 to 40 and the like, feedback control is
`performed.
`
`The vehicle height control is automatically
`performed when the vehicle height exceeds a limit
`for some reason by using the height of the vehicle
`body 1 as reference upon completion of the vehicle
`height control by the overall vertical switch 32, and
`this control is performed so as to maintain the
`reference vehicle height. These reference vehicle
`height, transition height before control and the like
`are according to mean values of the vehicle height
`in each of left and right crawlers 2.
` As shown in Fig. 4, the vehicle height at the left
`crawler 2 side is detected as L by the left stroke
`sensor 38, and the vehicle height at the right crawler
`2 side is detected as R by the right stroke sensor 39,
`and the mean height is expressed as follows:
`
` H = (L + R)/ 2
`
`The left and right stroke sensors 38 and 39 are
`established to detect that the left and right rolling
`cylinders 3 have been retracted and reached a
`position to be no longer retracted as an abnormal
`stop, and, the longitudinal stroke sensor 40 is
`established to detect that the pitching cylinder 5 has
`been extended and reached a position to be no
`longer extended as an abnormal stop. Because
`these left and right rolling cylinders 3 have retracted,
`the vehicle body 1 is lowered, and because the
`pitching cylinder 5 has been extended, the chassis 4
`becomes in a longitudinally parallel state relative to
`the vehicle body 1, and becomes in a front-
`downward tilted state due to the retraction.
`Therefore, the left and right crawlers 2 and the
`vehicle body 1 are in the transversely parallel state
`at the lowest vehicle height position where the
`vehicle body 1 has descended at maximum relative
`
`to the left and right crawlers 2, and in addition, the
`chassis 4 becomes in transversely and longitudinally
`parallel states relative to this vehicle body 1 at the
`position where the chassis 4 is rotated backward-
`tilting at maximum relative to the vehicle body 1,
`and this becomes the lowest vehicle height
`reference.
` As shown in Fig. 4, the left and right crawlers 2
`are controlled to vary from the lowest height h to
`the highest height H relative to the vehicle body 1.
`With the transversely horizontal control, as shown
`in Fig. 5, when a traveling ground is sloped toward
`the left side, because the vehicle body 1 also tilts
`toward the same direction due to this situation, this
`tilt is detected by the roll sensor 36, and if this
`detected tilt angle becomes a certain level or greater,
`the left and right rolling control valves 3 are
`activated and the rolling cylinders 3 are controlled
`to be extended or retracted, and the vehicle body 1
`becomes in a transversely horizontal attitude. At
`this time, if detected values by the left and right
`stroke sensors 38 and 39 at the initially set reference
`height are deemed as L and R, respectively,
`detected values after the traveling ground has tilted
`become L+α by the left and right stroke sensors 38
`and R-β by the right stroke sensor 39 in Fig. 5.
`Now, the values are output as α=β, but in actuality,
`the left rolling cylinder 3 is extended so as to push
`the vehicle body 1 upward against a load, and the
`right rolling cylinder 3 is retracted in a direction to
`receive a load oppositely; thus, there are a
`difference in speed between extension and
`retraction, and these values are detected as α is
`nearly equal to β. Further, the vehicle height at this
`time is adjusted so as to satisfy the following
`condition:
`
` = (L+R)/ 2.
`However, when the vehicle body 1 becomes in a
`transversely horizontal state, if the vehicle height
`become as mentioned below for some reason,
`
`
`{(L+α) + (R-β)}/ 2
`{(L+α) + (R-β)}/ 2
` ≠ (L+R)/ 2,
`
`the vehicle height control is corrected and this is
`
`Page 4 of 16
`
`

`

`controlled to correct the vehicle height to become a
`condition for (L+R)/ 2.
` As shown in Fig. 6, because the traveling
`ground has reached a predetermined dangerous tilt
`angle A, which is a limitation at greater risk that
`would cause a combine machine body to be
`overturned, and because this is detected by the roll
`sensor 36, the left and right rolling cylinders 3 are
`retracted and the vehicle body 1 is descended to be
`at the lowest vehicle height position. At this time,
`both the left and right stroke sensors 38 and 39 both
`detect h, and it causes an emergency stop. At the
`same time as this, the output for extension or
`retraction of the rolling cylinder 3 will be stopped
`(see Fig. 7).
`
`Further, when the chassis 4 pitches relative to 1
`at this time, this is controlled to extend the pitching
`cylinder 5 and to bring it to be in parallel with the
`vehicle body 1, and the longitudinal stroke sensor
`40 detects an emergency stop (see Fig. 8). This
`causes stoppage of the output for extension or
`retraction of the pitching cylinder 5.
`
`Such vehicle height control to the lowest vehicle
`height position may be performed not only by
`detection of a dangerous tilt angle by the roll sensor
`36, but also by detection of a dangerous tilt angle by
`the pitch sensor 37, and in addition, by switching
`the vehicle speed from a range of low speed, such
`
`as operating speed, to a range of high speed, such as
`traveling speed on roads, as well.
` As mentioned above, even if the left and right
`cylinders 3 are retracted and detected values by the
`stroke sensors 38 and 39 no longer change, outputs
`thereafter will be stopped due to the detection of an
`emergency stop, but when such detected values are
`output by manual operation with the overall vertical
`switch 32 or a tilting lever switch 33, if it is
`configured such that the output by manual operation
`can be continued regardless of the stroke sensors 38
`and 39 (see Fig. 9), even though the stroke sensors
`38 and 39 fail, the output operation can be
`performed and the manual operation can be
`controlled.
`4. Detailed Description of Drawings
` Drawings show one embodiment of the present
`invention, and Fig 1 is a side view, Fig. 2 is a
`control block diagram, Fig. 3 is a hydraulic circuit
`diagram, Figs. 4 to 6 are partial front view showing
`operation, and Figs. 7 to 9 are flowcharts showing
`partial control.
`(Description of Symbols)
`1 vehicle body
`2 crawler
`3
`rolling cylinder
`4 chassis
`5 pitching cylinder
`
`Page 5 of 16
`
`

`

`FIG. 1
`
`
`FIG. 2
`
`
`
`
`
`
`Upward
`Downward
`Left
`Right
`Front
`Rear
`
`Overall vertical
`
`
`Tilting lever switch
`
`Thrashing clutch switch
`Vehicle body horizontal
`h
`Tilt sensor (transverse)
`
`Tilt sensor (longitudinal)
`
`Stroke sensor (left)
`
`Stroke sensor (right)
`
`Stroke sensor
`
`
`Solenoid (upper left)
`
`Solenoid (lower left)
`
`Solenoid (upper right)
`
`Solenoid (lower right)
`
`Solenoid (front)
`
`Solenoid (rear)
`
`Solenoid (unload)
`
`Automatic lamp
`
`
`
`
`
`Page 6 of 16
`
`

`

`3
`
`FIG. 3
`FIG. 3
`
`3
`
`oS
`
`rc
`CO
`
`dc
`O
`
`se
`C)
`
`23 12
`24h
`AATUeLXE
`
`25 12
`26
`27 20
`LS
`ATeX ATTAEA
`
`LJ
`
`ws
`
`Wy]
`
`us
`
`2|
`
`21 ko
`
`(*)
`
`DL
`
`oA*J
`
`
`
`FIG. 4
`
` 2
`
`FIG. 5
`
`FIG. 6
`
`
`
`
`
`Page 7 of 16
`
`
`
`Page 7 of 16
`
`

`

`FIG. 7
`
`FIG. 8
`
`Is transverse tilt A
`or greater?
`
`Is transverse tilt A
`or greater?
`
`Set lower left output.
`Set lower right
`output.
`
`Have both left & right
`sensors detected
`emergency stop?
`
`Reset left output.
`Reset right output.
`
`Rear downward
`
`Set rear upward output.
`
`Rear upward
`
`What about
`longitudinal tilt?
`parallel
`Set rear downward output.
`
`Have both left &
`right sensors
`detected emergency
`stop?
`
`Set rear downward output.
`
`Has backward tilt been
`detected as emergency
`stop?
`
`Reset rear output.
`
`FIG. 9
`
`
`
`Output by manual
`lever.
`
`START
`
`Has manual lever been
`activated?
`
`Has control output
`been detected?
`
`Left output?
`
`Change left
`stroke sensor?
`
`Stop output by left
`stroke sensor.
`
`Right output?
`
`Change left stroke
`sensor?
`
`Stop output by right
`stroke sensor.
`
`
`
`Page 8 of 16
`
`

`

`I, Shoko Sato, declare as follows:
`
`1.
`
`2.
`
`3.
`
`4.
`
`5.
`
`6.
`
`I am over 21 years of age and am competent to make this declaration.
`
`I am a native speaker of Japanese.
`
`I am fluent in English.
`
`I have 24 years of experience translating Japanese to English.
`
`I translated the document “JPA 1991-276889” from Japanese to English.
`
`I certify that the translation of the document “JPA 1991-276889” is, to the
`
`best of my knowledge, a true and accurate translation from Japanese to English.
`
`7.
`
`In signing this declaration, I understand that the translation and this
`
`declaration may be filed as evidence in a contested case. I acknowledge that I may
`
`be subject to cross-examination in the United States.
`
`8.
`
`I declare under penalty of perjury that all statements made herein are true
`
`and accurate to the best of my knowledge and belief, and that these statements
`
`were made with the knowledge that willful false statements and the like so made
`
`are punishable by fine or imprisonment, or both, under Section 1001 of Title 18 of
`
`the United States Code.
`
`Executed: July 14, 2022
`
`
`
`
`
`
` By:___________
`
` Shoko Sato
`
`Page 9 of 16
`
`

`

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`Page 12 of 16
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