• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A steering device for a self-propelled harvesting machine (10) comprises: an operator interface (32) for specifying a desired steering angle, a steering motion transmission arrangement which is operatively connected to the operator interface (32) and steerable wheels (16) and which provides a variable transmission ratio between the operator interface ( 32) has a predetermined steering angle and a resulting steering reaction of the steerable wheels (16), and a controller (70) which automatically detects whether the harvesting machine (10) is in a headland mode and in the headland mode a greater gear ratio of the steering transmission device than outside which selects the headland operating mode.
    公开号:BE1023778B1
    申请号:E2015/0046
    申请日:2015-01-14
    公开日:2017-07-20
    发明作者:Johannes Zametzer；Martin Schäfer；Hermann Reissner；Karl-Josef Willeke
    申请人:Deere & Company；
    IPC主号:
    专利说明:

    Steering device for a self-propelled harvester Description
    The invention relates to a steering device for a self-propelled harvesting machine.
    Technological background
    Self-propelled harvesters have manual steering systems that can be optionally supplemented with automatic steering systems. The manual steering devices are usually composed of an operator interface, usually a steering wheel, as well as a hydraulic steering movement transmission arrangement, which is constructed of an actuated by the user interface, hydraulic steering valve and at least one steering cylinder, which adjusts the position of steerable wheels about the vertical axis. The transmission ratio of the steering movement transmission arrangement is fixed.
    The designer of the harvester must therefore select a translation that is sufficiently small so that the operator can follow a predetermined path with sufficient accuracy during harvesting to optimally reduce a field as possible without skipping or double driving over of subregions by tailor-made connecting runs. However, this relatively small ratio implies that the operator must achieve high rpm of the operator interface during turning operations in the headland in order to achieve the desired, large steering angles. The handling of the harvester in the headland proves to be uncomfortable for the operator.
    In contrast, EP 1 728 706 A2 proposes, in addition, to provide an electrohydraulic valve which acts on the steering cylinder together with the hydraulic steering valve when the deflection of the operator interface lies outside a defined range. For this purpose, the angle of rotation of the operator interface is detected by means of a sensor and the electrohydraulic valve is opened as soon as the deflection of the user interface has exceeded the specified range. The transmission ratio of the steering movement transmission arrangement accordingly depends on the steering angle and is substantially greater outside the specified range than within the specified range. There is a risk here that larger steering movements during harvest work will result in an unexpectedly large steering response that can unsettle the operator or lead to risky situations. Also, in the headland, as long as the steering angle remains within the specified range, the steering response to field work remains unchanged, requiring the operator to still set larger steering angles until the steering response increases
    task
    The present invention has set itself the task of providing a steering device for an agricultural harvester, which allows an improved steering response in the headland.
    invention
    The present invention is defined by the claims.
    A self-propelled harvester steering apparatus includes an operator interface for specifying a desired steering angle, a steering movement transmission assembly operatively connected to the operator interface and steerable wheels having a variable gear ratio between the steering angle given by the operator interface and a steering response of the steerable wheels resulting therefrom, and a controller which is arranged to automatically detect whether the harvester is in a headland mode and to change the gear ratio of the steering transmission arrangement depending thereon.
    In other words, the controller is supplied with signals from which it can make a conclusion as to whether the harvester is currently in a headland mode or not. Such signals are, for example, input signals for switching between a headland and a harvesting mode (ie for switching between a raised for the headland position of Emtevorsatzes and a lowered position of the header with contact pressure and / or height control) or they relate to the height of a header over the ground , which can be derived from the setpoint or actual value of a position of an actuating cylinder, which serves to adjust the height of the Emtevorsatzes. However, this height can also be detected directly by mechanical or non-contact sensors. Appropriate signals may be supplied to the controller by a system for controlling the height of the header over the ground (or its bottom pressure). Another possibility is to detect the position of the harvester on a field, e.g. with a satellite signal based positioning system, and with a map in which the headland or the headland of the field are drawn. If the harvester is now in the headland, the transmission ratio of the steering transmission arrangement is increased compared to the harvester located outside of the Vorgewerides.
    The steering movement transmission device can comprise, in a manner known per se, a hydraulic steering valve actuated by the user interface and a steering cylinder connected fluid-conductively to the hydraulic steering valve, which adjusts the steering angle of the steerable wheels. This hydraulic coupling between the operator interface and the steering cylinder is advantageous from a safety point of view.
    Alternatively or additionally, the steering movement transmission device may comprise a sensor connected to the control for detecting an angle change of the operator interface and an electrohydraulic steering valve connected to the control and a steering cylinder fluid-conductively connected to the electrohydraulic steering valve which adjusts the steering angle of the steerable wheels. This electrohydraulic coupling between the operator interface and the steering cylinder allows the controller to vary the transmission ratio of the steering transmission assembly depending on whether the harvester is headland, in particular by being indexed in the headland mode to the hydraulic branch of the steering motion transmission device mentioned in the previous paragraph , The controller and the electro-hydraulic steering valve can also serve in an alternative mode to an automatic steering of the harvester.
    The present invention is suitable for any harvesters, in particular for combine harvesters and forage harvesters.
    Working Example
    In the drawings, an embodiment of the invention described in more detail below is shown, wqbei the reference numbers may not be used to a restrictive interpretation of the claims. It shows:
    1 is a schematic side view of a self-propelled harvester,
    Fig. 2 is a schematic plan view of the steering device of the harvester, and
    Fig. 3 is a flowchart according to which the control of the steering device operates.
    1 shows a self-propelled harvesting machine 10 in the manner of a self-propelled forage harvester in a schematic side view. The harvester 10 is built on a frame 12 supported by front driven wheels 14 and steerable rear wheels 16. The operation of the harvesting machine 10 is carried out by a driver's cab 18, from which a header 20 in the form of a pickup is visible. By means of the header 20 picked up from the ground crop, z. As grass or the like is fed via a feed conveyor 22 with Vorpresswalzen, which are arranged within a feed housing 24 on the front side of the forage harvester 10, arranged below the driver's cab 18 chopper 26 in the form of a chopper drum, which chops it into small pieces and it Releases conveyor 28. The crop exits the harvester 10 to a transporting vehicle traveling alongside, via an ejection manifold 30 which is rotatable about an approximately vertical axis and is adjustable in inclination. In the following, directions, such as laterally, downwardly and upwardly, refer to the forward direction V of the harvesting machine 10. which runs to the right in FIG.
    2 shows a schematic plan view of the steering device of the harvester 10. The steering device comprises an operator interface 32 in the form of a steering wheel for setting a desired steering angle, which is coupled via a shaft 34 with a hydraulic steering valve 36. The hydraulic steering valve 36 may be embodied as a so-called Orbitrol and is pressurized by means of a first pump 38, which is pressurized by a motor 40, which is usually the engine of the harvester 10, with pressurized hydraulic fluid. The hydraulic steering valve 36 controls a steering cylinder 40, the housing is connected to a rear axle 42 and the piston rod is connected to an adjusting rod 46 which adjusts the steering angle of the rear wheels 16, which are articulated about approximately vertical axes of rotation 44 on the rear axle 42. The steering cylinder 40 could also be designed as a synchronous cylinder. In addition, several steering cylinders 40 could be provided.
    A controller 70 is connected to a sensor 48 which detects the angle or angular changes of the shaft 34. The sensor 48 may include a coding disc connected to the shaft 34 and a photocell cooperating therewith, or may be constructed in any other way. The controller 70 is electrically connected to electromagnets 50, 52 of an electro-hydraulic steering valve 54, the input side with a second, also driven by the motor 40 pump 56 and a tank 58 and the output side leading from the hydraulic steering valve 36 to the steering cylinder 40 lines 62, 64th connected is. When a first solenoid 50 of the electro-hydraulic steering valve 54 is energized by the controller 70, the piston of the steering cylinder 40 moves down in Figure 2 and the harvester 10 is steered to the right as it travels in the forward direction V. Similarly, the piston of the steering cylinder 40 moves upward in FIG. 2 and the harvester 10 is steered to the left when a second solenoid 52 of the electro-hydraulic steering valve 54 is energized by the controller 70. The electro-hydraulic steering valve 54 is designed as a proportional valve, although it could also be realized as a pulse width modulated valve.
    The controller 70 is further connected to a switch 66 which is part of an input device 98 in the cab 18. The switch 66 is used to switch between road and field operation. In addition, the controller 70 is connected to a further input device 68, which serves to control the height adjustment of the header 20. The input device comprises two buttons 72, 74, of which a button 72 for lifting and a second button 74 for lowering the header 20 is used. The controller 70 is coupled for this purpose with a valve means 76 which controls a hydraulic cylinder 78 which pivots the feeder housing 24 about the axis of rotation of the chopper means 26 and thus controls the height of the header 20 above the ground. In a manner known per se, the controller 70 preferably provides two modes of operation of the hydraulic cylinder 78, namely a harvesting operation position in which the
    Harvesting attachment 20 is guided above the ground with a predetermined bearing force, and a headland position in which the harvesting attachment 20 is guided at a greater height (for example a few 10 cm) above the ground, if - in particular when turning in the headland - just no crop is to be taken. The keys 72, 74 are used to switch between the two modes. If another type of header 20 is used, e.g. a cutting mechanism for introducing whole plant silage or a mowing attachment for harvesting stalk-like crop, such as corn, in the harvesting operation position (instead of or in addition to the mentioned control force control) also a height control of the header 20 may be provided.
    3, the switch 66 is in the road operating position after the start in step 100 in step 102, the controller 70 in step 104, the solenoid valves 50 and 52 de-energized. The steering of the harvester 10 is then carried out exclusively via the hydraulic branch of
    Steering motion transmission assembly with the first pump 38, the hydraulic steering valve 36 and the steering cylinder 40, while the electro-hydraulic steering valve 54 is always closed, i. is in the position shown in Figure 2.
    If the switch 66 is in the field position, the step 106 follows, in which the controller 70 recognizes from the inputs to the input device 68, whether the header 20 is currently in the raised headland position. If this is the case, step 104 also follows. Otherwise, step 108 follows in which the controller detects the respective steering action of the operator on the basis of the sensor 48 and uses it to control the electromagnets 50 and 52, depending on the steering direction. The steering movement of the wheels 16 generated via the hydraulic branch of the steering movement transmission assembly (including the first pump 38, the hydraulic steering valve 36, and the steering cylinder 40) is provided by the electro-hydraulic branch of the steering motion transmission assembly (with the second pump 56, the electro-hydraulic steering valve 54, and the steering cylinder 40 ) is therefore reinforced, so that when driving the headland, a larger transmission ratio of the steering movement transmission arrangement results as during the harvesting operation. In the headland thus a smaller rotation of the operator interface 32 is required to achieve a certain steering angle of the harvester 10 as in the harvesting operation. This allows the operator during harvesting the harvesting machine 10 sensitively lead along the swath or crop stock and turn them in the headland without major steering movements. Achieving a maximum angle of the steering deflection of the wheels 16 can be detected by sensors (not shown) connected to the controller 70 and, if necessary, serve to switch off the hydraulic branch of the steering movement transmission arrangement.
    It should be noted that still further modifications and refinements of the described embodiment are possible. Thus, if in step 106 of FIG. 3 it appears that the harvester 10 is not in headland, the controller 70 could activate the electrohydraulic branch of the steering motion transfer assembly analogously to step 108, but to a lesser extent than in step 108 the input device 68 serve to activate a headland routine, which not only automatically lifts the header 20, but also lowers the speed of the internal combustion engine of the harvester 10 and / or reflects the position of the discharge chute about the vertical axis. Such a headland routine could also be activated automatically by means of a position determination system 80 and a map stored in the controller 70.
    In addition, a switch (not shown) or an input option could also be provided in the input device 98 with which the described relationship of the steering gear ratio of the headland mode can be switched on and off. Finally, in the input device 98, an input possibility for the steering ratio in the headland mode (step 108) and / or at the harvest (step 104 following step 106, although there also the electro-hydraulic branch of the steering movement transmission arrangement is active) can be provided.
    权利要求:
    Claims (6)
    [1]
    claims
    A steering apparatus for a self-propelled harvester (10), comprising: an operator interface (32) for preselecting a desired steering angle, a steering movement transmission assembly operatively connected to the squadron interface (32) and steerable wheels (16), which provides a variable gear ratio between the transmission through the Operator Steefefefle (32) predetermined steering angle and a resulting steering reaction of the steerable wheels (16), and a controller (70) which is adapted to automatically detect whether the harvester (10) is in a headland mode and in the headland mode to select larger transmission ratio of the steering transmission device than outside the headland mode.
    [2]
    2. Steering device according to claim 1, wherein the controller (70) is adapted to detect the headland mode on the basis of the reference or actual value of the height of a Emtevoreatzes (20) above the Erctooden.
    [3]
    3. Steering device according to one of the preceding claims, wherein the steering movement transmission device a hydraulic branch with a by the user interface (32) controlled, hydraulic Lenkverrtil (36) and at least one with the hydraulic Lenkvent! (36) fluidly connected steering cylinder (40), softers the steering angle of the steerable wheels (16) adjusted.
    [4]
    4. Steering device according to one of the preceding claims, wherein the steering movement transmission means an electro-hydraulic branch with a control (70) connected to the sensor (48) for detecting a change in angle of the operator interface (32), connected to the controller (70), electro-hydraulic steering valve ( 54) and at least one with the electro-hydraulic steering event! (54) fluid-conductively connected steering cylinder (40) which adjusts the steering angle of the steerable wheels (16).
    [5]
    5. A steering device according to claim 4, wherein the controller (70) is operable, in the headland mode, the electro-hydraulic branch of the hydraulic branch. add switch. *
    [6]
    6. harvesting machine (10) with a steering device according to one of the preceding claims.
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    同族专利:
    公开号 | 公开日
    DE102014201092A1|2015-07-23|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP1728706A2|2005-06-03|2006-12-06|CLAAS Selbstfahrende Erntemaschinen GmbH|Steering system for agricultural vehicles|
    DE102005059237A1|2005-12-12|2007-06-14|Linde Ag|Hydraulic steering device|
    法律状态:
    2017-10-30| FG| Patent granted|Effective date: 20170720 |
    优先权:
    申请号 | 申请日 | 专利标题
    DEDE102014201092.6|2014-01-22|
    DE102014201092.6A|DE102014201092A1|2014-01-22|2014-01-22|Steering device for a self-propelled harvester|
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