(19) Japan Patent Office (JP)
`
`(12) Unexamined Japanese Patent
`Application (A)
`
`(11) Japanese Patent Applic
`Laid-Open No.
`H3-139408
`(43) Published Date: June 13, 1991
`
`(51) Int. Cl.5
`B 60 G 17/01
`A 01 D 67/00
`B 60 G 17/015
`
`Identification Symbol
`
`N
`
`JPO file number
`8817-3D
`8808-2B
`8817-3D 
`
`Request for Examination: Not requested, Number of claims: 1 (Total of 6 pages)
`
`TRAVELING DEVICE OF MOBILE FARMING MACHINE
`(54) Title of the Invention:
`(21) Japanese Patent Application H1-278933
`(22) Filing date: October 25, 1989
`
`(72) Inventor: Yasushi Fujita
`
`(72) Inventor: Takao Akiyama
`
`(72) Inventor: Michio Ishikawa
`
`(72) Inventor: Masahiro Kurokawa
`
`(71) Applicant: Iseki & Co., Ltd.
`Continuation to the last page
`
`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
`Engineering Dept. of Iseki & Co., Ltd.
`1, Yakura, Tobe-cho, Iyo-gun, Ehime, Japan
`700 Umaki-cho, Matsuyama-shi, Ehime, Japan
`
`CATERPILLAR EXHIBIT 1060
`
`Page 1 of 15
`
`

`

`Specification
`1. Title of the Invention
` TRAVELING DEVICE OF MOBILE
`FARMING MACHINE
`
`2. Claim
` A traveling device, in a mobile farming machine
`comprising a pitching controller that controls
`maintenance of a longitudinally horizontal attitude
`of a vehicle body while changing a pitch angle of
`crawlers relative to the vehicle body, comprising:
`
`a pitching correction controller that controls
`correction of a pitch of the crawlers so as to
`maintain the vehicle body in a longitudinally
`horizontal attitude by detecting a change in the pitch
`angle of the crawlers during traveling.
`
`3. Detailed Description of the Invention
`INDUSTRIAL FIELD OF APPLICATION
`
`The present invention relates to a traveling
`device of a mobile farming machine, such as a
`combine or a seedling transplanter, having a
`pitching controller.
`PRIOR ART AND PROBLEM TO BE SOLVED BY THE
`INVENTION
`
`If a vehicle body pitches during traveling, a
`pitching controller performs control to maintain its
`longitudinally horizontal attitude by changing a
`pitch angle of crawlers relative to the vehicle body.
`If the vehicle body traverses a convex obstacle(s)
`during traveling, because the vehicle body
`exponentially becomes a downward tilted attitude
`after the vehicle body becomes an upward tilted
`attitude and traverses the obstacle(s), the vehicle
`situation cannot be followed with pitching controls
`of the vehicle body using a pitching controller in
`such case, and it causes a front part of the vehicle
`body to collide with soils or makes an operator
`uneasy or the like.
`
`Then, the present invention solves such
`problems to attempt driving stability of the vehicle
`body and hazard prevention of the operator.
`MEANS FOR SOLVING THE PROBLEM
`
`The present invention relates to a construction
`where a traveling device, in a mobile farming
`
`machine having a pitching controller that controls
`maintenance of a longitudinally horizontal attitude
`of a vehicle body while changing a pitch angle of
`crawlers relative to the vehicle body, is equipped
`with a pitching correction controller that controls
`correction of a pitch of the crawlers so as to
`maintain the vehicle body in a longitudinally
`horizontal attitude by detecting a change in the pitch
`angle of the crawlers during traveling.
`OPERATION OF THE INVENTION
` When a vehicle body pitches during traveling,
`pitching control is performed by a pitching
`controller so as to maintain this vehicle body to be
`in a longitudinally horizontal attitude by changing a
`pitch angle of the crawlers relative to the vehicle
`body. During this pitching control, when a change
`in the pitch angle of the crawlers is detected by a
`sensor, a pitching correction controller controls
`correction of the pitch of the crawlers, and the
`vehicle body is maintained in a longitudinally
`horizontal attitude.
`EFFECT OF THE INVENTION
` During the pitching control, if a vehicle body
`traverses a ridge or the like, this vehicle body is
`exponentially changed from an upward tilted
`attitude to a downward tilted attitude, and if a
`change in a pitch angle of the crawlers is detected at
`this time, a pitching correction controller corrects
`the pitch angle of the crawlers and the vehicle body
`is controlled to be maintained in a longitudinally
`horizontal attitude. When a vehicle body traverses
`a ridge as mentioned above, an exponential forward
`tilt of the vehicle body cannot be followed with the
`pitching control, but the pitching correction
`controller can control the vehicle body to smoothly
`maintain in a longitudinally horizontal attitude
`without causing the vehicle body to become a
`forward tilted attitude and collide with soils or
`causing an operator to provide a sense of anxiety.
`EMBODIMENT
`
`Furthermore, in illustration examples,
`longitudinal vehicle body frames 5 are placed at left
`and right sides in a lower part of a vehicle body 2,
`and left and right traveling axis pipes 7 of a
`traveling transmission case 6 that are mounted in
`
`Page 2 of 15
`
`

`

`the vehicle body 2 and transmit momentum to a pair
`of left and right crawlers 1 are mounted at front
`ends of these left and right vehicle body frames 5.
`Further, a support shaft 8 that supports these left
`and right vehicle body frames 5 is placed near rear
`sides of the left and right vehicle body frames 5,
`and left and right pitching arms 9 that are protruded
`toward a front part are placed in this support shaft 8
`to be rotatable integrally, and a pitching cylinder 10
`that oscillates these left and right pitching arms 9 is
`placed at one side of the vehicle body frames 5.
`Links 11 are placed at ends of these left and right
`pitching arms 9 to be turnable, respectively.
` A pitching frame 12 that is configured as
`framework is placed inside these left and right
`vehicle body frames 5. Traveling frames 14 are
`placed at transversely outside and below both the
`left and right pitching frames 13 in a longitudinal
`direction. A plurality of track rollers 15 are placed
`outside these left and right traveling frames 14 by
`utilizing bearings to be rotatable, and, ring bodies
`16 for tension that is mounted to be retractable
`from/into this traveling frames 14 are placed at rear
`ends.
`
`The traveling device is configured by winding
`the crawlers 1 around these ring bodies 16 and
`plurality of track rollers 15, and drive sprockets 48
`at the ends of left and right traveling axis pipes 7 in
`the traveling transmission case 6.
` A sensor 37 that detects a change in a pitch
`angle of the crawlers 1 during traveling of the
`vehicle body 2 is established. For this sensor 37,
`movable track rollers 15a with a large diameter
`positioned in the center of the plurality of track
`rollers 15 are placed to be vertically oscillable
`relative to the traveling frames 14 via the arms 47,
`and, are established to elastically press downward,
`respectively. Then, the sensor 37 is configured to
`detect a change in the pitch angle of the crawlers 1
`and to turn on a switch when the movable track
`rollers 15a are pivoted upward at the time of
`traversing a convex area on the soil surface or the
`like.
` A vehicle speed sensor 39 that detects traveling
`speed of the crawlers 1 is placed on a transmission
`
`route of the traveling transmission case 6 that
`transmits momentum to the crawlers 1.
`
`Spindles 17 are placed in front of and behind the
`pitching frame 12 across the left and right pitching
`frames 13, respectively, and rolling arms 18 are
`placed at both left and right ends that protrude from
`the pitching frames 13 of these front and rear
`spindles 17, respectively. One ends of these rolling
`arms 18 are coupled to pins 19 of the traveling
`frames 14 to be pivotable, respectively, and the
`other ends couple the front and rear rolling arms 18
`with coupling rods 20, respectively, and rolling
`cylinders 21 are placed between the end of the rear
`rolling arms 18 at the other side and the pitching
`frames 13, respectively. It is configured such that
`extension and retraction of these rolling cylinders
`21 cause the front and rear rolling arms 18 using the
`front and rear spindles 17 as a rotation axis, and the
`traveling frames 14 move vertically relative to the
`pitching frame 12.
` Both left and right sides of the spindle 17 in
`front of the pitching frame 12 are borne below the
`left and right vehicle body frames 5 to be rotatable,
`respectively, and ends of the links 11 of the left and
`right pitching arms 9 are mounted to pins 22
`mounted at the rear sides on the left and right
`pitching frames 13 to be rotatable, respectively.
` When the pitching arm 9 gyrates around the
`support shaft 8 due to extension of the pitching
`cylinder 10, it is configured such that the pitching
`frame 12 and the left and right traveling frames 14
`are interlocked via the links 11 so as to integrally
`rotate downward using the front spindle 17 as a
`rotate axis.
` When the rolling cylinders 21 are extended, the
`front and rear rolling arms 18 integrally pivot using
`the front and rear spindles 17 as their pivot axes,
`and it is configured such that the traveling frames
`14 are interlocked so as to move downward while
`maintaining a parallel state relative to the pitching
`frames 13. Furthermore, the pivot axis of the front
`rolling arm 18 and that of the pitching frame 12 are
`the same.
` A stroke sensor 23 that detects any strokes of
`the pitching cylinder 10 is established, and left and
`
`Page 3 of 15
`
`

`

`right stroke sensors 24 that detect any strokes of
`these rolling cylinders 21 are placed in the left and
`right rolling cylinders 21, respectively.
` A roll sensor 25 that detects a roll of the vehicle
`body 2, and a pitch sensor 26 that detects a pitch are
`established. Further, a vehicle height
`raising/lowering lever that activates the left and
`right rolling cylinders 21 to adjust the vehicle height
`vertically by raising or lowering the left and right
`crawlers 1 is placed, and a manual tilting lever that
`activates the left and right rolling cylinders 21 or
`the pitching cylinder 10 to tilt the vehicle body 21
`longitudinally or transversely is placed.
` A reaper that reaps grains is placed at the front
`part of the vehicle body 2 to be vertically movable
`by an elevation cylinder 27, and an elevation lever
`that ascends or descends this reaper is placed.
`
`Fig. 2 shows a hydraulic circuit, and an
`electromagnetic valve 29 is placed on an oil passage
`from a hydraulic pump 28 to the pitching cylinder
`10, and, another electromagnetic valve 31 is placed
`on another oil passage to the left rolling cylinder
`21L, and another electromagnetic valve 30 is placed
`on another oil passage to the right rolling cylinder
`21R. An upward solenoid valve 32 and a
`downward solenoid valve 33 are also placed on the
`oil passage of the elevation cylinder 27 in the reaper.
`The symbol 34 represents an unload valve.
` When detection information by a manual tilting
`switch 35 that will be turned on by a tilting
`operation of the manual tilting lever forward or
`backward or left or right, detection information by a
`vehicle height raising/lowering switch 36 that will
`be turned on by the upward/downward operation of
`the vehicle height raising/lowering lever; detection
`information by the sensor 37 that detects a change
`in a pitch angle of the pair of left and right crawlers
`1, pitch information of the vehicle body 2 by a
`vehicle body horizontal switch 38 that starts
`horizontal control of the vehicle body 2 and the
`pitch sensor 26, roll information of the vehicle body
`2 by the roll sensor 25, detection information of
`strokes of the pitching cylinders 10 by the stroke
`sensor 23, detection information of each stroke of
`the left and right rolling cylinders 21 by the
`
`left/right stroke sensor 24, detection information by
`the vehicle speed sensor 39 and the like are entered
`into a controller that is equipped with the rolling
`controller 3 and a pitching controller 4; in response
`to such information, it is configured to be controlled
`so as to enter the information to a left rising
`solenoid 40 and a left lowering solenoid 41 of the
`electromagnetic 30, a right raising solenoid 42 and a
`right lowering solenoid 43 of the electromagnetic
`31, an upward raising solenoid 44 and a downward
`lowering solenoid 45 of the electromagnetic valve
`29, and the unload valve 34 from the controller,
`respectively. The symbol 46 represents a pitching
`speed changing means.
` When a pitch of the vehicle body 2 is detected
`by the pitch sensor 26, the upward raising solenoid
`44 or the downward lowering solenoid 45 are
`activated by the pitching controller 4 of the
`controller to switch over the electromagnetic valve
`29, and the pitching cylinder 10 is extended or
`retracted and the vehicle body 2 is pitching-
`controlled to be longitudinally horizontal. When a
`roll of the vehicle body 2 is detected by the roll
`sensor 25, the right raising solenoid 42 or the right
`lowering solenoid 43, or, the left raising solenoid 40
`or the left lowering solenoid 41 is activated by the
`rolling controller 3 of the controller to switch over
`the electromagnetic valves 30 or 31, and the left and
`right rolling cylinder 21 are extended or retracted,
`and the vehicle body 2 is rolling-controlled to be
`transversely horizontal.
`
`The controller is equipped with a pitching
`correction controller 4a. This pitching correction
`controller 4a is configured to control the correction
`of the pitch of the crawlers 1 so as to maintain the
`vehicle body 2 to be in a longitudinally horizontal
`attitude when the sensor 37 detects a change in a
`pitch angle of a pair of the left and right crawlers.
`
`If the vehicle body 2 transversely tilts during
`traveling, this tilt is detected by the roll sensor 25,
`and the left rolling cylinder 21L and the right
`rolling cylinder 21R are extended or retracted based
`upon this detection information, and the rolling is
`controlled by the rolling controller 3 so as to
`maintain the vehicle body 2 to be transversely
`
`Page 4 of 15
`
`

`

`horizontal by raising or lowering the left and right
`crawlers 1 relative to the pitching frame 12. If the
`vehicle body 2 longitudinally tilts during traveling,
`this tilt is detected by the pitch sensor 26, and the
`pitching cylinder 10 is extended or retracted based
`upon this detection information, and the pitching
`frame 12 pivots relative to the vehicle body 2 and
`their rear sides of the left and right crawlers 1 are
`integrally pivoted up or down, and pitching is
`controlled by the pitching controller 4 so as to
`maintain the vehicle body 2 to be longitudinally
`horizontal.
` During this pitching control, when a soil surface
`being traveled becomes a down-slope from an up-
`slope, for example, when a vehicle traverses a ridge,
`if the movable track roller 15a in the center
`traverses this ridge, it is pivoted upward and a
`switch is turned ON, and the sensor 37 detects a
`change in the pitch angle of the crawlers 1; the
`pitching correction controller 4a is activated to
`retract the pitching cylinder 10; the pitching frame
`12 is pivoted upward around the spindle 17 at the
`front side relative to the vehicle body 2 and the left
`and right crawlers 1 are pivoted upward; and the
`vehicle body 2 is controlled for correction so as to
`be in a longitudinally horizontal attitude.
` As mentioned above, when the vehicle traverses
`a ridge as mentioned above or loads are loaded to a
`truck by using a footboard(s), because the vehicle
`body 2 rapidly has a head forward attitude after
`
`becoming a horizontal attitude from an upward
`attitude, the pitching control is not sufficient to
`follow such situation; thus, an operator may feel a
`danger or a front part of the vehicle body 2 may
`collide with soils or the like, but because of the
`pitching correction controller 4a, the vehicle body 2
`is smoothly controlled to be maintained in a
`longitudinally horizontal attitude. Further, because
`the speed of the change in this pitching attitude can
`be linked to the vehicle speed by the pitching speed
`changing means 46, the vehicle body 2 can be more
`smoothly controlled to be maintained in a
`longitudinally horizontal attitude.
`
`4. Brief Description of Drawings
` Drawings show one embodiment of the present
`invention, and Fig. 1 is a control circuit diagram,
`Fig. 2 is a hydraulic circuit diagram, Fig. 3 is a side
`view and Fig. 4 is a plan view.
`
`In the drawings, the symbol 1 represents a
`crawler, 2 is a vehicle body, 4 is a pitching
`controller, 4a is pitching correction controller, 26 is
`a pitch sensor and 46 is a pitching speed changing
`means.
`
`
`Title of Applicant
`Iseki & Co., Ltd.
`Representative: Haruhisa/Eiji Mizuta
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`Page 5 of 15
`
`

`

`Forward lowering
`
`Left
`lowering
`
`Right
`lowering
`Forward
`raising
`Vehicle height raising
`
`Vehicle height lowering
`
`
`
`
`
`FIG. 1
`
`
`Pitching correction controller
`
`Pitching speed changing means
`
`
`
`
`Page 6 of 15
`
`

`

`FIG. 2
`
`
`Left
`raising
`
`Left
`lowering
`
`Right
`raising
`
`Right
`lowering
`
`Forward
`lowering
`
`Reaper
`lowering
`
`Reaper
`raising
`
`
`
`
`
`
`
`
`FIG. 3
`
`
`
`
`
`
`
`
`Page 7 of 15
`
`

`

`FIG. 4
`
`
` Continuation from Page 1
`(51) Int. Cl.5
`Identification Symbol
`
`B 62 D 55/116
`
`
`
`
`JPO file number
`6948-3D
`
`
`
`
`
`(72) Inventor: Takeshi Hagiyama
`
`
`
`
`
`(72) Inventor: Atsushi Sogabe
`
`
`
`
`
`
`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
`
`
`
`
`
`
`
`Page 8 of 15
`
`

`

`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 1991-139408” from Japanese to English.
`
`I certify that the translation of the document “JPA 1991-139408” 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 15
`
`

`

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