JP3529342B2 - Work vehicle attitude control device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a posture changing operation means capable of changing the left and right inclination angles and front and rear inclination angles of a body with respect to a ground portion of a traveling device, and an attitude control for controlling the operation of the posture changing operation means. And an attitude control device for a work vehicle provided with the means.

[0002]

2. Description of the Related Art Conventionally, there is a work vehicle attitude control device having the above-mentioned structure, for example, as shown in Japanese Patent Laid-Open No. 3-61421. That is, in the combine for harvesting and harvesting as a work vehicle, each of the pair of left and right traveling devices of the crawler type moves up and down in parallel with the body of the machine by the expansion and contraction operation of the hydraulic cylinder for rolling,
The horizontal inclination angle of the machine body with respect to the grounding part of the traveling device is configured to be freely changeable, and the traveling devices on the left and right are integrated around the horizontal axis on the front side by the expansion and contraction operation of the hydraulic cylinder for pitching. There is a structure in which the longitudinal inclination angle of the machine body with respect to the ground contact portion of the traveling device can be freely changed by swinging up and down with respect to the machine body.
Therefore, in the attitude control device for the work vehicle, the attitude changing operation means is constituted by the rolling and pitching hydraulic cylinders.

More specifically, in each of the traveling devices, a track frame supporting a plurality of grounded wheels is pivotally connected to a support frame on the machine body side by a pair of front and rear bell cranks so as to be vertically movable. In addition, the front and rear bell cranks are linked so as to swing integrally at the connecting portion, and the swing operation is performed along with the expansion and contraction operation of the rolling hydraulic cylinder, whereby the track frame, that is, the traveling device is It is configured to move up and down in parallel with the machine body.For example, by moving one of the left and right traveling devices in the state where it is fixed to the machine body, the other is moved up and down. The left and right tilt angles of the machine body with respect to the section are changed. In addition, each support frame on the machine side for the left and right traveling devices is supported to be vertically swingable around the horizontal axis on the front side with respect to the machine side fixed part, and one pitching hydraulic cylinder is used. By integrally swinging the respective support frames up and down, the rear side of the machine body swings up and down around the horizontal axis with respect to the grounding portion of the traveling device to change the longitudinal inclination angle. ing.

Then, the combine controller, which functions as the attitude control means for controlling the operation of the attitude changing operation means, uses automatic attitude control for maintaining the tilt angle of the machine body at the set tilt angle and attitude change command information. Based on the manual attitude control. Incidentally, in the automatic attitude control, the horizontal tilt angle of the machine body is set based on the detection information of the horizontal tilt sensor that detects the horizontal tilt angle of the machine body. An automatic pitching operation for maintaining the front-rear inclination angle of the machine body at the set front-rear inclination angle is executed based on the detection information of the front-rear inclination sensor that detects the angle. Further, in the above manual attitude control, when a left tilt command and a right tilt command are commanded by a manual switch for a posture change command provided in the combine driving section, the machine body is tilted to the left tilt side and the right tilt side. When a front tilt command and a rear tilt command are issued, a manual pitching operation for tilting the machine body to the front tilt side and the rear tilt side is executed.

[0005]

In the above-mentioned conventional structure, when the rolling operation is executed, the left and right traveling devices are individually moved up and down with respect to the main body of the machine, so that the respective movement operation amounts are reduced. However, it is possible to sufficiently increase the amount of change in the left-right inclination angle. For example, a state in which the left-side traveling device is moved down most with respect to the machine body and the right-side traveling device is raised most with respect to the machine body, in other words, a state in which the machine body is in a maximum left upper tilted posture,
When the left-hand side traveling device is raised most with respect to the machine body and the right-hand side traveling device is lowered most with respect to the machine body, in other words, the body body is tilted largely to the left and right. You can change the corner.

However, in the pitching operation, the front and rear inclination angles are changed by vertically swinging each of the support frames supporting the left and right traveling devices around the horizontal axis on the front side. There is a disadvantage in that the amount of change in can not be increased. In addition, in order to increase the amount of change in the front-rear tilt angle in the above-described conventional configuration, it is necessary to increase the amount of vertical movement of each support frame, which is disadvantageous in that the driving means for moving operation becomes large.
In order to increase the tilt angle in the backward tilting direction in the above conventional configuration, it is necessary to increase the vertical distance between the swing fulcrum of each of the support frames and the body of the machine body. There are disadvantages such as high height, high body weight, and reduced steering stability.

The present invention has been made in view of the above circumstances, and an object thereof is to reduce the amount of movement operation of the body of the vehicle with respect to the ground portion of the traveling device when performing the rolling operation and the pitching operation. An object of the present invention is to provide a posture control device for a work vehicle that enables a large amount of change and that can easily perform rolling operation and pitching operation to the limit position of each operable range.

[0008]

According to a first aspect of the present invention, the posture changing operation means includes a left front part of the body main body,
The left-side rear portion, the right-side front portion, and the right-side rear portion each include four driving means that are adjustable to change the height of the traveling device with respect to the ground portion, respectively.
A plurality of operation amount detection means for detecting an operation amount by each drive means is provided corresponding to each of the drive means, and the posture control means includes the left front part and the left side of the four drive means. The two driving means located at the rear part and the two driving means located at one of the right front part and the right rear part are stopped, and the other two driving means are stopped. Rolling operation for driving and
Of the driving means, two driving means are located at the left front part and the right front part, and two driving means are located at the left rear part and the right rear part.
It is configured such that a pitching operation for driving and operating the other two driving means can be executed in a state in which one of the two driving means is stopped, and the rolling operation and the pitching. During any one of the operations, one of the two driving means that is performing the drive operation has reached the end position of the drive operation possible range based on the detection information of the operation amount detection means. As detected, after stopping the execution of either the rolling operation or the pitching operation that is being executed, the execution of any one of the stopped rolling operation and the pitching operation is instructed to continue. In this case, the drive means that has reached the end position of the drive operable range has not reached the end position of the drive operable range while holding the drive means at the end position. It is configured to perform the termination arrival operation to reach the drive means to its end position.

That is, the two driving means located on the left front part and the left rear part, and the two driving means located on the right front part and the right rear part.
Rolling operation for driving and driving the other two driving means while stopping driving of one of the two driving means, and two located at the left front part and the right front part In the state where two driving means of the driving means and the two driving means located on the left rear portion and the right rear portion are stopped, the other two driving means are driven to perform a pitching operation. It is feasible, and the operation amount by each driving means is detected, and the driving operation is performed during execution of either the rolling operation or the pitching operation.
Based on the detection information of the operation amount by the individual driving means, it is detected that one of the two driving means reaches the end position of the drive operable range, and the rolling is being executed. When the execution of any one of the rolling operation and the pitching operation stopped is commanded after stopping the execution of the operation and the pitching operation, the end position of the drive operable range is reached. With the driving means held at the end position, the end reaching operation is performed to make the other driving means not reaching the end position of the drive operable range reach the end position.

Therefore, in the rolling operation, one of the four driving means, one of the two driving means located on the front and rear of the left side of the machine body and the other of the two driving means located on the front and back of the right side of the machine, is stopped. The other one is driven to change the horizontal inclination angle of the machine body with respect to the ground portion of the traveling device, and in the pitching operation, two driving means located on the left and right of the front of the machine out of the four driving means. And one of the two drive means located on the left and right of the rear part of the machine body is driven and operated while the other is driven to change the longitudinal inclination angle of the machine body with respect to the ground portion of the traveling device. In the rolling operation and the pitching operation, it is possible to increase the amount of posture change while reducing the amount of movement operation of the machine body with respect to the ground contact portion of the traveling device.

During execution of either the rolling operation or the pitching operation, it is detected that one of the two driving means which is drivingly operated has reached the end position of the driveable range. And, the execution of any one of the rolling operation and the pitching operation being executed is stopped, but in that case, by a simple operation of only instructing to continue the execution of the stopped rolling operation or the pitching operation, A driving operation is performed such that the other driving means that has not reached the end position of the drive operable range reaches the end position while holding the driving means that has reached the end position of the drive operable range at the end position. Thus, both of the two driving means that are drivingly driven can reach the end positions of the respective driving operable ranges. As a result, for example, when applied to the combine, the aircraft is greatly inclined rearward under conditions such as wetlands, and therefore the cutting unit attached to the front side of the aircraft is lowered to the lower limit position of the cutting height change range. May not reach the appropriate cutting height position, but in such a case, when performing the pitching operation, it is possible to easily perform an operation to operate to the limit position of the operable range of the pitching operation. In addition, tilt the machine to the left or right to avoid obstacles, or tilt the machine to the left or right when the auger that discharges the cut grain stored in the tank does not reach the discharge location. May be carried out to reach the discharge location.In such a case, the operation to reach the limit position within the operable range of the rolling operation is performed. It is possible to easily take place.

Therefore, when the rolling operation and the pitching operation are executed, it is possible to increase the posture change amount while reducing the movement operation amount of the machine body with respect to the grounding portion of the traveling device, thereby eliminating the disadvantages of the prior art. In addition, there is provided a posture control device for a work vehicle that can easily perform rolling operation and pitching operation to the limit position of each operable range.

According to a second aspect of the present invention, in the first aspect, the attitude control means includes the grounding portion of the traveling device for each of the two driving means that have been stopped during the rolling operation and the pitching operation. By setting a reference plane including each height position with respect to, and driving the other two driving means so that the respective operation amounts from the reference plane become the same, the four driving means are It is configured to execute a plane maintaining posture changing operation for maintaining a state of forming a plane at each height position with respect to the ground contact portion of the traveling device.

That is, in each of the rolling operation and the pitching operation, each operation amount from the reference plane including each height position with respect to the ground portion of the traveling device of each of the two drive means that are stopped is the same. As described above, by driving the other two driving means, the state of forming a plane at each height position of the four driving means with respect to the ground portion of the traveling device is maintained.

Therefore, in the case of performing the rolling operation and the pitching operation, two of the four driving means are stopped while the other two driving means are driven and operated. When changing the inclination angle of the main body, the state of forming a flat surface at each height position of the four driving means with respect to the grounding portion of the traveling device is maintained, so that the main body of the machine body is kept as flat as possible, It is possible to prevent unreasonable force from acting on the body of the machine, and thus the preferred means of claim 1 can be obtained.

According to a third aspect of the present invention, in the first or second aspect, the tilt operation command of the body is a left tilt command,
A manually operated attitude change command means for commanding a right tilt command, a front tilt command, and a rear tilt command is provided, and the attitude control means, as the rolling operation, based on the command information of the attitude change command means, When the left tilt command is commanded, the horizontal tilt angle of the machine body is changed to the left tilt side, and when the right tilt command is commanded, the left and right tilt angle of the machine body is shifted to the right tilt side. A manual rolling operation to be changed is executed, and as the pitching operation, based on the command information of the attitude change command means, when the forward tilt command is commanded, the longitudinal tilt angle of the machine body is changed to the forward tilt side. In addition, when the rearward tilt command is issued, it is configured to execute a manual pitching operation for changing the longitudinal tilt angle of the machine body to the rear tilt side, and the driving operation. When either one of the two driving means that has reached the end position of the drive operable range stops the execution of one of the manual rolling operation and the manual pitching operation, the posture change command is issued. In the means, when the tilting operation command in the same direction as the operation direction before stopping any of the stopped manual rolling operation and the manual pitching operation is instructed continuously for a set time or more, the execution is continued. Is judged to have been instructed, and the end reaching operation is executed.

That is, based on the command information of the manually operated posture change command means, when the left tilt command is commanded, the lateral tilt angle of the machine body is changed to the left tilt side, and the right tilt command is commanded. If the front tilt command is issued based on the manual rolling operation that changes the left / right tilt angle of the machine body to the right tilt side, and the command information of the attitude change command means, the machine body tilts forward and backward. The angle is changed to the front tilt side, and when the rear tilt command is commanded, the front and rear tilt angle of the body is changed to the rear tilt side. When either one of the driving means of (1) reaches the end position of the drive operable range, the execution of one of the manual rolling operation and the manual pitching operation is stopped, and thereafter, it is stopped by the attitude change command means. hand When a tilting operation command in the same direction as the operation direction before the rolling operation or the manual pitching operation is stopped is continuously instructed for a set time or longer, it is determined that the continuation of the execution is instructed, and the termination is performed. Perform reach operation.

That is, when the manual rolling operation for changing the left / right tilt angle of the machine body to the left tilt side is stopped, when the left tilt command is issued, the stopped manual rolling operation to the left tilt side is stopped. If it is determined that the instruction to continue the execution was made, and the manual rolling operation that changes the horizontal tilt angle of the aircraft body to the right tilt side is stopped, when the right tilt command is commanded, the stopped right tilt If it is judged that the instruction to continue the manual rolling operation to the side was instructed, and the manual pitching operation that changes the front-back inclination angle of the machine body to the front inclination side is stopped, the front inclination instruction is instructed. If it is judged that the instruction to continue the manual pitching operation to the stopped forward tilting side was instructed and the manual pitching operation to change the longitudinal tilt angle of the machine body to the backward tilting side is stopped, Slope When decree is commanded, the is determined that the manual continuation of the execution of the pitching operation of the inclined side after stopping is commanded, respectively, the termination arrival operation is performed.

Therefore, the two driving means which are drivingly operated when the tilting operation command is issued by the manually operated attitude change commanding means to execute either the manual rolling operation or the manual pitching operation. When either of the two reaches the end position of the drive operable range and the execution of the manual rolling operation and the manual pitching operation is stopped, the same tilt operation as the tilt operation command instructed by the attitude change command means is performed. When the command is continuously issued for a set time or longer, both of the two driving means that are driving and operating can reach the end positions of the respective driving operable ranges. The operator's intention is clarified by command operation over time, and manual rolling operation and manual pitching operation are performed to the limit position of each operable range. The operation of operating can be performed accurately, has been, suitable means according to claim 1 or 2 is obtained.

According to a fourth aspect, in the third aspect, a horizontal inclination angle detecting means for detecting a horizontal inclination angle of the machine body and a front and rear inclination angle detecting means for detecting a front and rear inclination angle of the machine body are provided. The posture control means executes an automatic rolling operation for maintaining the left-right tilt angle of the machine body at a set left-right tilt angle based on the detection information of the left-right tilt angle detection means as the rolling operation, and the pitching operation. Is configured to execute an automatic pitching operation for maintaining the front-rear inclination angle of the machine body at a set front-rear inclination angle based on the detection information of the front-rear inclination angle detecting means, and the two driving units are operated. When either one of the driving means reaches the end position of the drive operable range, either of the automatic rolling operation and the automatic pitching operation is performed. After stopping the execution, in the posture change command means, when the tilt operation command in the same direction as the operation direction before the stop of the stopped automatic rolling operation or the automatic pitching operation is commanded, It is configured to execute the end reaching operation by determining that the continuation of the execution is instructed.

That is, the automatic rolling operation for maintaining the left and right inclination angle of the body main body at the set left and right inclination angle based on the detection information of the left and right inclination angle detection means for detecting the left and right inclination angle of the body main body, and the front and rear inclination of the body main body Two driving means that are drivingly operated during any one of the automatic pitching operations for maintaining the front-rear tilt angle of the machine body at the set left-right tilt angle based on the detection information of the front-rear tilt angle detection means for detecting the angle. When either one of the two reaches the end position of the drive operable range, execution of one of the automatic rolling operation and the automatic pitching operation is stopped, and then the automatic rolling operation stopped by the attitude change command means. And when an inclination operation command in the same direction as the operation direction before stopping any of the automatic pitching operation is continuously issued for a set time or more, the execution is continued. It is determined to have been commanded to perform an operation the termination arrival.

That is, when the automatic rolling operation, which is operating to change the horizontal tilt angle of the machine body to the left tilt side, is stopped, when the left tilt command is issued, the left tilt side is stopped. It is judged that the instruction to continue the automatic rolling operation to the aircraft was instructed, and the machine is operating to change the horizontal tilt angle of the machine body to the right tilt side.If the automatic rolling operation is stopped, the right tilt command is issued. When it is instructed, it is determined that the execution of the automatic rolling operation to the stopped right tilt side has been instructed, and it is operating to change the front-rear tilt angle of the machine body to the front tilt side. When the automatic pitching operation is stopped, when the forward tilt command is issued, it is determined that the execution of the automatic pitching operation to the stopped forward tilt side has been instructed, and the longitudinal tilt angle of the machine body is determined. The rear slope side When the automatic pitching operation that is operating to change is stopped, when the rear tilt command is commanded, it is determined that the execution of the automatic pitching operation to the side of the rear tilt that has been stopped is commanded to continue. Then, the end reaching operation is executed respectively.

Therefore, when either the automatic rolling operation or the automatic pitching operation is executed so as to maintain the left and right tilt angles and the front and rear tilt angles of the machine body at the set tilt angles while reducing the operation load on the operator. When any one of the two driving means which is drivingly operated reaches the end position of the drive operable range and the execution of the automatic rolling operation and the automatic pitching operation is stopped, the attitude change command means By instructing a tilting operation command in the same direction as the operation direction of the automatic rolling operation and the automatic pitching operation, the two driving means that are drivingly operated reach the end position of each drive operable range immediately. Therefore, the automatic rolling operation and the automatic pitching operation are limited within each operable range by eliminating the waiting time as much as possible. Position can be performed accurately operated to actuate up, have been, suitable means of claim 3 is obtained.

[0024]

BEST MODE FOR CARRYING OUT THE INVENTION A case in which an embodiment of the present invention is applied to a combine for cutting and harvesting as a work vehicle will be described below with reference to the drawings. As shown in FIG. 1, a pair of left and right crawler traveling devices 1L and 1R (corresponding to traveling devices), a threshing device 3 for threshing cut culms, a grain tank 4 for storing threshed grains, a boarding operation The traveling machine body V (corresponding to the machine body) provided with the section 2 and the like is provided with a cutting unit 10 that cuts planted rice culms such as rice and wheat and supplies them to the threshing device 3 in a vertically adjustable manner. The combine is configured.

The reaper 10 is provided with a weeding tool 6,
The raising device 5 that causes the planted culms sown by the weeding tool 6, the clipper-type cutting blade 7 that cuts the root side of the raised culms, and the stalks to gradually fall sideways. It is configured by a vertical transfer device 8 and the like that transfers it to the rear side while changing it, and is swingably moved up and down around a horizontal axis P1 by a hydraulic reaping cylinder CY in the front part of the traveling machine body V. An ultrasonic cutting height sensor 9 for detecting the height of the mowing unit 10 with respect to the ground is provided at the rear side of the weeding tool 6.
Although not described in detail, the cutting height sensor 9 detects the height of the mowing unit 10 with respect to the ground by measuring the time from transmitting the ultrasonic wave downward to receiving the ultrasonic wave. It is a non-contact type.

In this combine, posture changing operation means 100 is provided which is capable of changing the left and right inclination angles and the front and rear inclination angles of the traveling machine body V with respect to the ground contact portions of the left and right crawler traveling devices 1L and 1R. The configuration will be described below. First, the left and right crawler traveling devices 1L and 1R
The attachment structure of the above to the traveling vehicle body V will be described. Since the left and right crawler traveling devices 1L and 1R have the same configuration, the left crawler traveling device 1L will be described below, and the right crawler traveling device 1R will not be described.

As shown in FIG. 2, a drive sprocket 13 is rotatably supported on the front end side of a support frame 12 which is fixed to a main frame 11 which constitutes the traveling machine body V and has a plurality of drive frames. A track frame 16 that pivotally supports the individual idle wheel bodies 14 in the front-rear direction and that supports a tension wheel body 15 at the rear end is attached to the support frame 12 so as to be vertically movable. There is. Then, the drive sprocket 13 and the tension wheel body 15
A crawler belt B, which is an endless rotating body, is wound around each idle wheel body 14.

A front bell crank 17a, which is substantially L-shaped in a side view and is rotatable about a horizontal axis P2, is pivotally supported on the front side of the support frame 12, and on the rear side of the support frame 12. Approximately L in side view so that it can rotate around the horizontal axis P3
A rear bell crank 17b having a character shape is pivotally supported. The lower end of the front bell crank 17a is pivotally connected to the front side portion of the track frame 16, and the lower end of the rear bell crank 17b is connected to the track frame via an auxiliary link 17b1 for absorbing stroke. It is pivotally connected to the rear part of 16. On the other hand, the cylinder rods of the hydraulic cylinders C2 and C3 are interlockingly connected to the upper end portions of the front and rear bell cranks 17a and 17b, respectively. The cylinder body side of each of the hydraulic cylinders C2, C3 is pivotally connected to the lateral frame portion of the main frame 11, and each of the hydraulic cylinders C2, C3 is a double-acting hydraulic cylinder.

The hydraulic cylinder C2 (hereinafter, left front cylinder) corresponding to the front bell crank 17a is extended most, and the hydraulic cylinder C3 (hereinafter, left rear cylinder) corresponding to the rear bell crank 17b is shortened most. As shown in FIG. 2, the track frame 1
6 is received and supported by the support frame 12, and the track frame 16 comes closest to the main frame 11 and becomes substantially parallel. This state is called the lower limit reference posture.

When the left front cylinder C2 is shortened while maintaining the left rear cylinder C3 in the state of the lower limit reference posture, the front side of the traveling machine body V is moved as shown in FIG. The posture is changed (that is, the forward raising operation) in the direction in which it is separated from the ground contact portion. Further, from the state of the lower limit reference posture, the left front cylinder C
When the left rear cylinder C3 is extended while maintaining the state of No. 2 as it is, as shown in FIG. 4, the posture is changed (the rear rising operation) in the direction in which the rear side of the traveling machine body V is separated from the ground contact portion. It will be. When the left front cylinder C2 is shortened and the left rear cylinder C3 is extended from the lower limit reference posture, as shown in FIG.
The posture of the traveling vehicle body V is changed (raised) in a direction in which the traveling body V is separated from the ground contact portion while keeping the parallel posture.

In the right crawler traveling device 1R, similarly, the right front cylinder C4 located on the front side of the machine body,
The right rear cylinder C5 located on the rear side of the machine body is provided (see FIG. 6), and the same operation as that of the left crawler traveling device 1L is performed.

Therefore, the posture changing operation means 100 is
The heights of the traveling devices 1L and 1R with respect to the ground portion of the left front portion, the left rear portion, the right front portion, and the right rear portion of the machine body V are individually changed and adjusted as the four driving means. Cylinder C2 for changing the aircraft attitude
To C5.

The four hydraulic cylinders C2, C3, C
Left and right crawler traveling device 1 corresponding to each of C4 and C5
Based on the amount of rotation, the amount of operation of each of the hydraulic cylinders C2, C3, C4, C5 (that is, the amount of stroke that has been expanded and contracted) at a position corresponding to the rotation fulcrum of each of the bell cranks 17a, 17b in L, 1R. ), A potentiometer-type strobe as a plurality of manipulated variable detecting means.
The sensor 18, 19, 20, 21 is provided.
Further, the traveling body V has a gravity-type left / right inclination angle sensor 23 as a left / right inclination angle detecting means for detecting a left / right inclination angle of the traveling body V with respect to a horizontal reference plane, and a forward / backward inclination of the traveling body V with respect to the horizontal reference plane. A gravity type front-rear inclination angle sensor 24 is provided as front-rear inclination angle detecting means for detecting an angle.

As shown in FIG. 6, a control device 22 utilizing a microcomputer is provided, and the control device 22 is provided with
Each of the stroke sensors 18 to 21, the cutting height sensor 9,
The respective detection information of the left and right inclination angle sensor 23 and the front and rear inclination angle sensor 24 are input. Further, on the operation panel of the boarding operation unit 2, a posture change switch unit SU (see FIG. 7),
A front raising switch 40a and a rear raising switch 40b are provided, and their information is input to the control device 22.
When the front raising switch 40a is turned on, a front raising operation (rear tilting operation) of the machine is instructed, and the rear raising switch 40b is instructed.
When is turned on, a rearward raising operation (front tilting operation) is instructed.

The posture changing switch unit SU includes
A left / right tilt angle setting device 25 for setting a left / right tilt angle of the traveling vehicle V with respect to a horizontal reference plane, a horizontal automatic switch 26 for turning on / off horizontal control (automatic rolling operation described later), a horizontal lamp 26a for indicating a state of horizontal control, front / rear A front / rear automatic switch 27 for switching on / off control (automatic pitching operation described later), a front / rear lamp 27a for indicating a front / rear control ON state,
Raising reference switch 3 for switching the operation modes of the horizontal control and the front-rear control between an upper limit reference mode and a lower limit reference mode.
5, and a raising reference lamp 35a indicating that the upper limit reference mode is set, and further, the cross lever type operation tool 3 is provided.
6, a right raising switch 37a, a left raising switch 37b, a body raising switch 38a and a body lowering switch 38b are provided. The attitude control by manual operation described below is executed in the lower limit reference mode.

When the operating tool 36 is tilted to the left side, the right raising switch 37a is turned on to command a right raising operation (left tilting operation), and when the operating tool 36 is tilted to the right side, The raising switch 37b is turned on to instruct a left raising operation (right tilting operation). Further, when the operation tool 36 is tilted rearward, the machine body raising switch 38a is turned on to instruct the machine body lifting operation, and when the operation tool 36 is tilted forward, the machine body lowering switch 38b is turned on. Commanded to lower the machine.

Therefore, by the right raising switch 37a, the left raising switch 37b, the front raising switch 40a and the rear raising switch 40b, as the tilting operation command of the traveling machine body V, the left tilting command, the right tilting command, the front tilting command, and the rear tilting command. A manually-operated posture change command unit 300 that commands a tilt command is configured.

The left and right tilt angle setting device 25 is provided with a horizontal switch 25a, a left tilt switch 25b and a right tilt switch 25c. That is, the horizontal switch 2
When 5a is pressed, the tilt angle corresponding to the horizontal state is set as the left and right tilt angle, and when the left tilt switch 25b is pressed, the currently set left and right tilt angles are corrected to the left tilt direction by the set angle, and the right tilt switch is set. When 25c is pressed, the currently set left and right tilt angles are corrected in set tilt angles to the right tilt direction. The horizontal inclination angle set by the horizontal inclination angle setting device 25 is displayed on a display device (not shown) provided on the front side of the boarding operation unit 2 as shown in FIG.
7 of 7 levels (angle 0 of level 4 represents a horizontal state, plus angle represents the right tilt direction, and minus angle represents the left tilt direction) are displayed.
Regarding the front-rear tilt angle, a tilt angle of 0 (horizontal state) is preset.

Furthermore, on the operation panel of the boarding operation unit 2,
A volume type cutting height setting device 39 for setting the height of the cutting unit 10 with respect to the traveling vehicle V with respect to the ground, that is, the cutting height.
A raising switch SW1 for instructing the raising of the reaper and a lowering switch SW2 for instructing the lowering of the reaper are provided based on the operation of the reaper raising / lowering lever 28 for instructing the raising and lowering commands of the reaper 10. Information control device 2
2 is input.

On the other hand, from the control device 22, the solenoid valve 2 for hydraulic control for hydraulically controlling the reaping cylinder CY and the four hydraulic cylinders C2 to C5 for changing the body posture.
Drive signals for 9 to 33 are output, respectively.

The control device 22 controls the cutting cylinder CY so that the detection value of the cutting height sensor 9 is maintained at the set cutting height set by the cutting height setter 27 during the cutting operation. Execute the cutting height control to operate.

Attitude control means 200 for controlling the operation of the attitude change operation means 100 using the control device 22.
The attitude control means 200 includes two hydraulic cylinders (left front cylinder C2 and left rear cylinder C3) located on the left front part and the left rear part of the four hydraulic cylinders C2 to C5, and the right side. Located on the front and right rear 2
Hydraulic cylinders (front right cylinder C4 and rear right cylinder C
5) In the state where the driving of the two hydraulic cylinders C2 to C5 of either one is stopped, the other two hydraulic cylinders C2
Rolling operation for driving C5 to C5, and two hydraulic cylinders (left front cylinder C2 and right front cylinder C4) located on the left front part and the right front part of the four hydraulic cylinders C2 to C5, and the left side Two hydraulic cylinders C2 to C, which are either one of the two hydraulic cylinders located at the rear portion and the right rear portion (left rear cylinder C3 and right rear cylinder C5).
In a state in which the driving of No. 5 is stopped, the pitching operation for driving the other two hydraulic cylinders C2 to C5 can be executed.

Further, the posture control means 200 is configured so that, in each of the rolling operation and the pitching operation, the height of each of the two hydraulic cylinders C2 to C5 which are stopped from driving is increased with respect to the ground portion of the traveling devices 1L and 1R. By setting the reference plane KH including the position and driving the other two hydraulic cylinders C2 to C5 so that each operation amount (extending and contracting stroke amount) from the reference plane KH becomes the same, It is configured to execute a plane maintaining posture changing operation for maintaining a state in which a plane is formed at each height position of the four hydraulic cylinders C2 to C5 with respect to the grounding portions of the traveling devices 1L and 1R.

Regarding the setting of the reference plane KH, a rolling operation for driving the right front cylinder C4 and the right rear cylinder C5 located on the right side of the machine while the left front cylinder C2 and the left rear cylinder C3 located on the left side of the machine are stopped. The operation will be described as an example. As shown in FIG. 9, a plane indicated by diagonal lines is formed by the height positions of the four hydraulic cylinders C2 to C5, and the height positions of the left front portion and the left rear portion in the plane are designated by A1 and B1, respectively. Shows. Also,
Lower limit of the height change operation range (corresponding to the drive operable range of each hydraulic cylinder C2 to C5) at the left front part, the left rear part, the right front part, and the right rear part by the above four hydraulic cylinders C2 to C5 The positions are indicated by A0, B0, C0, D0, respectively, and the upper limit positions are indicated by A2, B2, C2, D2, respectively. Then, in this case, a straight line A1-C1 is drawn from the height position A1 of the left front portion toward the right front portion in parallel with a straight line connecting the lower limit position A0 of the left front portion and the lower limit position C0 of the right front portion, and , A straight line B1-D1 is drawn from the height position B1 of the left rear part toward the rear part of the right side in parallel with a straight line connecting the lower limit position A0 of the left front part and the lower limit position C0 of the right front part.
Plane A1-B1-C including 1-C1 and straight line B1-D1
The reference plane KH is set by 1-D1.

When the above-mentioned plane maintaining posture changing operation is executed, the posture controlling means 200 is a unit of the two hydraulic cylinders C2 to C5 to be driven based on the detection information of the stroke sensors 18 to 21. The change of each operation amount per time is obtained, and the two hydraulic cylinders C2 to C
5, the operation amount in the hydraulic cylinders C2 to C5 on the large change speed side in which the change in the operation amount per unit time is large is the hydraulic cylinder C2 in the small change speed side in which the change in the operation amount per unit time is small. As the operation amount in C5 becomes larger than the operation amount in the set value by a set value or more, the operation amount in the hydraulic cylinders C2 to C5 on the high change speed side becomes smaller than the operation amount in the hydraulic cylinders C2 to C5 on the low change speed side by the set value. Until the change speed becomes large, the hydraulic cylinder C2
As the drive operation of C5 is stopped and the operation amount in the hydraulic cylinders C2 to C5 on the high change speed side becomes smaller than the operation amount in the hydraulic cylinders C2 to C5 on the low change speed side by a set value or more, By starting the driving operation of the hydraulic cylinders C2 to C5 on the side of the large change speed,
The two hydraulic cylinders C2 to C5 that are driven and operated are configured to have the same operation amount from the reference plane KH.

That is, two hydraulic cylinders C that are driven and operated.
When there is a difference in the changing speed of the operation amount (cylinder expansion / contraction amount) by 2 to C5, by continuously driving the cylinder with the slower speed and turning on / off the driving of the cylinder with the faster speed, The difference between the operation amounts of the two hydraulic cylinders C2 to C5 which are driven and operated is set within a set value, and the operation amounts from the reference plane KH are controlled to be the same. In this case, first, the expansion / contraction amount W, which is the operation amount of the cylinder from the reference plane KH, is calculated by calculating the difference between the current cylinder position and the reference position corresponding to the reference plane KH as shown in the following equation. It is defined as the drive operable range of C2 to C5, that is, the ratio (percentage) when divided by the total stroke ST from the upper limit position to the lower limit position, and the set value is set to 3% of the total stroke ST. There is. That is, the difference in the amount W of expansion and contraction between the two hydraulic cylinders C2 to C5 that are driven and operated is at most within 3% of the total stroke ST of the hydraulic cylinders C2 to C5 that can be driven and operated. When the cylinder expansion / contraction amount W is positive, it means that the current cylinder position is located above the reference plane KH, and when it is negative, the current cylinder position is above the reference plane KH. It is located on the lower side.

[0047]

[Equation 1] Cylinder expansion / contraction amount W = [(cylinder position−reference position) / ST] × 100

As the control mode of the attitude control means 200, there are a case of automatic control and a case of manual control executed based on a manual operation command. In the case of automatic control, the posture control means 200 performs, as the rolling operation, an automatic rolling operation for maintaining the horizontal tilt angle of the traveling machine body V at the set horizontal tilt angle based on the detection information of the horizontal tilt angle sensor 23. As the pitching operation, an automatic pitching operation for maintaining the front-rear tilt angle of the traveling machine body V at the set front-rear tilt angle is executed as the pitching operation. still,
The execution of the automatic rolling operation is instructed when the horizontal automatic switch 26 is on, and the execution of the automatic pitching operation is instructed when the front and rear automatic switch 27 is on. When the execution of the automatic rolling operation and the execution of the automatic pitching operation are simultaneously instructed, the automatic rolling operation is prioritized and then executed.

In the case of manual control, the attitude control means 2
00, when the left tilt command (right-up command) is commanded as the rolling operation based on the command information of the posture modification command means 300, the lateral tilt angle of the traveling machine body V is changed to the left tilt side. In addition, when a rightward tilt command (leftward lift command) is issued, a manual rolling operation is performed to change the left / right tilt angle of the traveling machine body V to the right tilt side,
As the pitching operation, the posture change command means 30
Based on the command information of 0, when the front inclination command (airframe rearward raising instruction) is instructed, the forward / backward inclination angle of the traveling vehicle body V is changed to the frontward inclination side, and the rearward inclination instruction (airframe forward raising instruction) is issued. When instructed, the manual pitching operation for changing the front-back inclination angle of the traveling machine body V to the rear-inclination side is executed.

The posture control means 200 drives and operates the four hydraulic cylinders C2 to C5 at the same time when a raising command is issued by the machine body raising switch 38a. When the height of the traveling machine body V with respect to the grounding portion of the vehicle body is increased and a lowering command is issued by the machine body lowering switch 38b, the four hydraulic cylinders C2 to C5 are simultaneously operated to drive the traveling machine. The parallel up-and-down operation of lowering the height of the traveling vehicle body V with respect to the 1L and 1R ground contact portions is executed. The manual rolling operation, the manual pitching operation, and the parallel up / down operation are executed prior to the automatic rolling operation and the automatic pitching operation.

Next, the rolling operation and the pitching operation in the lower limit reference mode will be described. That is, in the rolling operation, when the left front cylinder C2 is shortened and the left rear cylinder C3 is extended in the left crawler traveling device 1L from the state of the lower limit reference posture (FIG. 2), As shown in 10 (a), the traveling vehicle body V changes to the upper left inclined posture (right inclined posture) with respect to the ground contact portion. When the right front cylinder C4 is shortened and the right rear cylinder C5 is extended in the right crawler traveling device 1R from the state of the lower limit reference posture, as shown in FIG. The vehicle body V changes to the upper right tilted posture (left tilted posture) with respect to the ground contact portion. In this way, the rolling operation of tilting the traveling machine body V in the left-right direction with respect to the ground contact portions of the traveling devices 1L and 1R can be executed.

On the other hand, in the case of the pitching operation, the left front cylinder C2 and the right front cylinder C3 and the right rear cylinder C5 are maintained as they are from the state of the lower limit reference posture (FIG. 2), respectively. When the cylinders C4 are simultaneously shortened, the front side of the traveling machine body V moves up with respect to the ground contact portions of the left and right crawler traveling devices 1L and 1R, and the posture changes to the rearwardly inclined posture. When the left rear cylinder C3 and the right rear cylinder C5 are simultaneously extended while maintaining the left front cylinder C2 and the right front cylinder C4 in the same state from the lower limit reference posture, The rear part of the crawler traveling device 1L, 1R rises with respect to each of the ground contact portions of the left and right crawler traveling devices 1L, and the posture changes to the forward leaning posture. In this way, the pitching operation of tilting the traveling machine body V in the front-rear direction with respect to the ground contact portions of the traveling devices 1L and 1R can be executed.

The description of the rolling operation and the pitching operation in the upper limit reference mode will be omitted.
In the left and right crawler traveling devices 1L and 1R, the operating directions of the cylinders C2 to C5 are set to the rolling direction in the lower-limit reference mode from the posture state (see FIG. 5) in which the traveling vehicle body V is in the parallel state with respect to the ground contact portion while keeping the parallel state. It is carried out by actuating in the opposite direction to the actuating and pitching actuation directions.

The attitude control means 200, during execution of either the rolling operation or the pitching operation,
Based on the detection information of the stroke sensors 18 to 21, the two hydraulic cylinders C2 to C that are driving and operating.
When it is detected that any one of 5 has reached the end position of the drive operable range, the execution of either the rolling operation or the pitching operation being executed is stopped, and then the operation is stopped. When it is instructed to continue the execution of either the rolling operation or the pitching operation, the drive is performed with the hydraulic cylinders C2 to C5 that have reached the end position of the drive operable range being held at the end position. It is configured to execute an end reaching operation that causes the other hydraulic cylinders C2 to C5 that have not reached the end position of the operable range to reach the end position.
The end position of the drive operable range is, specifically,
It corresponds to the upper limit position and the lower limit position of the full stroke ST of each hydraulic cylinder C2 to C5.

Then, depending on whether the posture control means 200 is executing the posture changing control by the manual control or the posture changing control by the automatic control,
The above end reaching operation is executed as follows. In the case of manual control, the attitude control means 200 causes the manual rolling by the fact that one of the two hydraulic cylinders C2 to C5 which is drivingly operated has reached the end position of the driveable range. After the execution of either the operation or the manual pitching operation is stopped, the attitude change command means 300 has the same direction as the stopped operation direction of the stopped manual rolling operation or the manual pitching operation. When the tilting operation command of is continuously commanded for a set time (for example, 1.5 seconds) or more, it is determined that the continuation of the execution is commanded, and the end reaching operation is executed. There is.

In the case of automatic control, the attitude control means 2
00 is the two hydraulic cylinders C2 that are drivingly operated.
When either one of C5 to C5 reaches the end position of the drive operable range, the execution of either of the automatic rolling operation and the automatic pitching operation is stopped, and then the attitude change command means 300, When the tilting operation command in the same direction as the operating direction before the stop of any one of the stopped automatic rolling operation and the automatic pitching operation is commanded, it is determined that the continuation of the execution is commanded, and It is configured to perform an end-of-end operation.

The end reaching operation will be specifically described with reference to FIGS. 11 and 12. In the case of manual control, for example, as shown in FIG. 11A, when the traveling machine body V is in the left tilted state, a rearward raising command is issued by the rearward raising switch 40b to bring the body posture to the rearward raising state. When performing the manual pitching operation to be changed, as shown in FIG.
As shown in Fig. 5, the right rear cylinder C5 of the left rear cylinder C3 and the right rear cylinder C5 that is driven and driven reaches the upper limit position first, and the manual pitching operation is stopped, as the rear part of the machine body rises. To do. Therefore, when the rearward raising command is continuously issued by the rearward raising switch 40b for the set time (for example, 1.5 seconds) or more, the manual pitching operation is restarted, and as shown in FIG. Both the cylinder C3 and the right rear cylinder C5 are operated so as to reach the upper limit position, and the body posture can be changed to the end position in the rearward raising direction.

In the case of automatic control, for example, as shown in FIG.
As shown in (a), in the automatic rolling operation, when the right front cylinder C4 and the right rear cylinder C5 are driven to the higher side than the left front cylinder C2 and the left rear cylinder C3, for example, the body posture suddenly moves backward. Because of the inclined state, the left rear cylinder C3 is in the automatic pitching operation.
When the right rear cylinder C5 is driven upward,
As shown in (b), of the left rear cylinder C3 and the right rear cylinder C5 that are driven and driven as the rear part of the machine body rises,
The right rear cylinder C5 reaches the upper limit position first, and the automatic pitching operation is stopped. Therefore, rear raising switch 4
When the rearward raising command is issued at 0b, the automatic pitching operation is immediately restarted, and as shown in FIG.
With the right rear cylinder C5 held at the upper limit position, the left rear cylinder C3 is driven so as to reach the upper limit position, so that both the left rear cylinder C3 and the right rear cylinder C5 arrive and the body posture is raised in the rearward raising direction. The end position of can be changed.

Next, the attitude control operation by the control device 22 will be described with reference to the flow charts of FIGS. First, it is determined whether or not a manual operation command (horizontal tilt, forward / backward tilt, vertical lift) is issued, and if a manual operation command is issued, a manual attitude control process is executed. When the manual operation command is not issued, the states of the horizontal automatic switch 26 and the front-back automatic switch 27 are checked, and when only the horizontal automatic switch 26 is on, only the automatic rolling operation is executed, and both are turned on. If it is, the automatic rolling operation is prioritized and executed first, and then the automatic pitching operation is executed.

In the manual attitude control process (FIG. 14), if the leftward raising switch 37b is instructed to raise the leftward as a leftward / rightward leaning instruction, the rightward leaning process is executed and the rightward raising switch 3
If a right-up instruction is issued at 7a, a left tilt process is executed. As the forward / backward tilt command, if the rearward raising switch 40b instructs rearward raising, the frontward inclination process is executed, and if the frontward raising switch 40a instructs frontward increase, the rearward inclination process is executed. As an up / down command, if the machine body raising switch 38a instructs the machine body raising, the machine body raising process is executed, and if the machine body lowering switch 38b instructs the machine body lowering process, the machine body lowering process is executed.

In the right tilting process (FIG. 15), is one of the front right cylinder C4 and the rear right cylinder C5 operated to the lower limit position based on the detection information of the front and rear stroke sensors 20 and 21 on the right side of the machine body? If neither of the cylinders C4, C5 has been operated to the lower limit position, it is determined whether or not both of the cylinders C4, C5 reach the lower limit position while performing the stroke adjustment process described later while The cylinder C4 is extended and the right rear cylinder C5 is shortened. When either the right front cylinder C4 or the right rear cylinder C5 is operated to the lower limit position, the left front cylinder C2 or the left rear cylinder C3 is moved to the upper left position while performing the stroke adjustment processing described later, until the left front cylinder C2 or the left rear cylinder C3 reaches the upper limit position. The cylinder C2 is shortened and the left rear cylinder C3 is extended.

Next, when the leftward raising is instructed continuously for the set time (1.5 seconds) or more while the cylinders C2 to C5 are stopped, the front right cylinder C4 and the rear right cylinder C are
Among the five cylinders, the cylinder that has reached the lower limit position of the stroke is held at the lower limit position while driving the cylinder that has not reached the lower limit position to the lower limit position (for example, if the front right cylinder C4 has reached the lower limit position). (For example, the right rear cylinder C5 is shortened) and the left front cylinder C2
Of the left rear cylinder C3 and the left rear cylinder C3, the cylinder that has reached the upper limit position of the stroke is held at the upper limit position, while the cylinder that has not reached the upper limit position is driven to the upper limit position (for example, the left front cylinder C2 is set to the upper limit position). If it has reached, the left rear cylinder C3 is extended.)

In the leftward tilting process (FIG. 16), whether any one of the left front cylinder C2 and the left rear cylinder C3 is operated to the lower limit position based on the detection information of the front and rear stroke sensors 18 and 19 on the left side of the machine body. If neither of the cylinders C2, C3 has been operated to the lower limit position, it is determined whether or not both of the cylinders C2, C3 reach the lower limit position while performing the stroke adjustment processing described later while The cylinder C2 is extended and the left rear cylinder C3 is shortened. If either the left front cylinder C2 or the left rear cylinder C3 is operated to the lower limit position, the right front cylinder C4 and the right rear cylinder C5 are moved to the upper right position while the stroke adjustment process described below is executed until the right front cylinder C4 or the right rear cylinder C5 reaches the upper limit position. The cylinder C4 is shortened and the right rear cylinder C5 is extended.

Next, when the rightward raising is continuously instructed for a set time (1.5 seconds) or more while the cylinders C2 to C5 are stopped, the left front cylinder C2 and the left rear cylinder C are commanded.
Among the three cylinders, the cylinder that has reached the lower limit position of the stroke is held at the lower limit position, while the cylinder that has not reached the lower limit position is driven to the lower limit position (for example, if the front left cylinder C2 has reached the lower limit position). (For example, the left rear cylinder C3 is shortened) and the right front cylinder C4
While holding the cylinder that has reached the upper limit position of the stroke and the right rear cylinder C5 at the upper limit position, drive the cylinder that has not reached the upper limit position to the upper limit position (for example, the front right cylinder C4 is set to the upper limit position). If it has reached, the right rear cylinder C5 is extended.

In the front inclination process (FIG. 17), it is determined whether or not one of the left front cylinder C2 and the right front cylinder C4 is operated to the lower limit position based on the detection information of the left and right stroke sensors 18 and 20 on the front side of the machine body. If neither of the cylinders C2 and C4 has been operated to the lower limit position, the left front cylinder is executed while performing stroke adjustment processing described later until either of the cylinders C2 and C4 reaches the lower limit position. C2 and the front right cylinder C4 are extended. If either the left front cylinder C2 or the right front cylinder C4 is operated to the lower limit position, the left rear cylinder C
The left rear cylinder C3 and the right rear cylinder C5 are extended while the stroke adjustment processing described below is executed until either the third rear cylinder C5 or the right rear cylinder C5 reaches the upper limit position.

Next, when the rearward raising is instructed continuously for a set time (1.5 seconds) or more while the above-mentioned cylinders C2 to C5 are stopped, either the left front cylinder C2 or the right front cylinder C4 is selected. While holding the cylinder that has reached the lower limit position of the stroke at the lower limit position, drive the cylinder that has not reached the lower limit position to the lower limit position (for example,
If the front left cylinder C2 has reached the lower limit position, the front right cylinder C4 is extended, and the cylinder that has reached the upper stroke limit position of the left rear cylinder C3 and the right rear cylinder C5 is held at that upper limit position. The cylinder that has not reached the upper limit position is driven to the upper limit position (for example, if the left rear cylinder C3 has reached the upper limit position, the right rear cylinder C5 is extended).

In the rear tilt processing (FIG. 18), either the left rear cylinder C3 or the right rear cylinder C5 is operated to the lower limit position based on the detection information of the left and right stroke sensors 19 and 21 on the rear side of the machine body. If neither of the cylinders C3, C5 has been operated to the lower limit position, the stroke adjustment process described below is executed until either of the cylinders C3, C5 reaches the lower limit position. , The left rear cylinder C3 and the right rear cylinder C5 are shortened. If either the left rear cylinder C3 or the right rear cylinder C5 is operated to the lower limit position, the left front cylinder C
Until either the right front cylinder C4 or the right front cylinder C4 reaches the upper limit position, the left front cylinder C2 and the right front cylinder C4 are shortened while executing a stroke adjustment process described later.

Next, if the forward raising is continuously instructed for a set time (1.5 seconds) or more while the cylinders C2 to C5 are stopped, the left rear cylinder C3 and the right rear cylinder C5 are instructed. While holding the cylinder that has reached the lower limit position of the stroke at the lower limit position, drive the cylinder that has not reached the lower limit position to the lower limit position (for example, if the left rear cylinder C3 has reached the lower limit position). (For example, the right rear cylinder C5 is shortened), and the cylinder that has reached the upper limit position of the stroke of the left front cylinder C2 and the right front cylinder C4 is held at the upper limit position while the cylinder that has not reached the upper limit position is selected. It is driven to the upper limit position (for example, if the left front cylinder C2 has reached the upper limit position, the right front cylinder C4 is shortened).

In the airframe raising process (FIG. 19), it is judged whether or not the left front cylinder C2 is operated to the upper limit position based on the detection information of the stroke sensor 18 located on the left front part of the airframe, and it is operated to the upper limit position. If not, the left front cylinder C2 is shortened until it reaches the upper limit position. Based on the detection information of the stroke sensor 19 located at the left rear part of the machine body, it is determined whether or not the left rear cylinder C3 is operated to the upper limit position, and if it is not operated to the upper limit position,
The left rear cylinder C3 is extended until it reaches the upper limit position. It is determined whether or not the front right cylinder C4 is operated to the upper limit position based on the detection information of the stroke sensor 20 located at the right front part of the machine body. If not, the right front cylinder C4 is operated to the upper limit position until the upper limit position is reached. Shorten C4. Stroke sensor 21 located at the rear right of the machine
It is determined whether the right rear cylinder C5 is operated to the upper limit position on the basis of the detection information of 1. If it is not operated to the upper limit position, the right rear cylinder C5 is extended until it reaches the upper limit position.

In the machine lowering process (FIG. 20), it is judged whether or not the left front cylinder C2 is operated to the lower limit position based on the detection information of the stroke sensor 18 located at the left front part of the machine, and it is operated to the lower limit position. If not, the left front cylinder C2 is extended until it reaches the lower limit position. Based on the detection information of the stroke sensor 19 located at the left rear part of the machine body, it is determined whether or not the left rear cylinder C3 is operated to the lower limit position, and if it is not operated to the lower limit position,
The left rear cylinder C3 is shortened until reaching the lower limit position. It is determined whether or not the front right cylinder C4 is operated to the lower limit position based on the detection information of the stroke sensor 20 located at the right front portion of the machine body. If not, the right front cylinder C4 is operated to the lower limit position until the lower limit position is reached. C4 is extended. Stroke sensor 21 located at the rear right of the machine
It is determined whether the right rear cylinder C5 is operated to the lower limit position based on the detection information of 1., and if it is not operated to the lower limit position, the right rear cylinder C5 is shortened until reaching the lower limit position.

Automatic rolling operation (FIGS. 21 and 22)
Then, first, it is judged which of the upper limit reference mode and the lower limit reference mode is switched by the raising reference switch 35, and if it is the upper limit reference mode, the "automatic rolling operation based on the upper limit reference" is executed and the lower limit reference mode is set. If there is, the following processing (“automatic rolling operation based on lower limit reference”) is executed. In the "automatic rolling operation based on the lower limit reference", the detected value of the left / right inclination angle sensor 23 is compared with the set left / right inclination angle set by the left / right inclination angle setter 25, and the angular deviation is not within the dead zone, and the vehicle travels. If the vehicle body V is tilted to the left, either the right front cylinder C4 or the right rear cylinder C5 is operated to the lower limit position based on the detection information of the stroke sensors 20 and 21 located on the right and left sides of the vehicle body. Judging whether or not there are both cylinders C4, C
5 is not operated to the lower limit position, the front right cylinder C4 is extended and the right rear cylinder C4 is extended while performing stroke adjustment processing described later until either of the cylinders C4 and C5 reaches the lower limit position. C5
To shorten. When either the right front cylinder C4 or the right rear cylinder C5 is operated to the lower limit position, the stroke adjustment process described below is executed until either the left front cylinder C2 or the left rear cylinder C3 reaches the upper limit position.
The front left cylinder C2 is shortened and the rear left cylinder C3 is extended.

When the left raising command is issued by the left raising switch 37a while the cylinders C2 to C5 are stopped, the strokes of the right front cylinder C4 and the right rear cylinder C5 are immediately changed. While holding the cylinder that has reached the lower limit position at the lower limit position, the cylinder that has not reached the lower limit position is driven to the lower limit position and the upper limit position of the stroke of the left front cylinder C2 and the left rear cylinder C3 is reached. While holding the cylinder at the upper limit position, the cylinder not reaching the upper limit position is driven to the upper limit position.

On the other hand, if the traveling machine body V is tilted to the right, the stroke sensors 1 located on the front and rear of the left side of the machine body
Based on the detection information of 8 and 19, it is judged whether either the left front cylinder C2 or the left rear cylinder C3 is operated to the lower limit position, and both cylinders C2 and C3 must be operated to the lower limit position. For example, both cylinders C2
Until one of C3 reaches the lower limit position, the left front cylinder C2 is extended and the left rear cylinder C3 is shortened while executing the stroke adjustment processing described later. If either the left front cylinder C2 or the left rear cylinder C3 is operated to the lower limit position, the right front cylinder is executed while performing the stroke adjustment processing described later until either the right front cylinder C4 or the right rear cylinder C5 reaches the upper limit position. C
4 is shortened and the right rear cylinder C5 is extended.

When the right raising command is issued by the right raising switch 37b while the cylinders C2 to C5 are not driven, the stroke of the left front cylinder C2 and the left rear cylinder C3 is immediately changed. While holding the cylinder that has reached the lower limit position at that lower limit position, drive the cylinder that has not reached the lower limit position to the lower limit position, and have reached the upper limit position of the stroke of front right cylinder C4 and rear right cylinder C5. While holding the cylinder at the upper limit position, the cylinder not reaching the upper limit position is driven to the upper limit position.

In this way, the horizontal inclination angle of the traveling vehicle V falls within the dead zone of the set horizontal inclination angle set by the horizontal inclination angle setting device 25 while making the height of the traveling vehicle V as low as possible. The automatic rolling operation can be performed as described above, and during the automatic rolling operation, any of the hydraulic cylinders C2 to C5 automatically reaches the end position (upper limit position or lower limit position) of each drive operable range. When the rolling operation is stopped, the execution of the automatic rolling operation is continued, and each hydraulic cylinder C2 to C
It is possible to easily carry out the operation of operating 5 to the end position in the operating direction of the automatic rolling operation.

The process of the "automatic rolling operation based on the upper limit" will not be described in detail, but basically each cylinder is operated to the lower limit position in the process of the "automatic rolling operation based on the lower limit" described above. Instead, operate so that it is located at the upper limit position. In this way, the left and right inclination angle sensor of the traveling body V is set within the dead zone of the set left and right inclination angle set by the left and right inclination angle setting device 25 while making the height of the traveling body V as high as possible. The automatic rolling operation is executed.

Automatic pitching operation (FIGS. 23 and 24)
Then, first, it is determined which of the upper limit reference mode and the lower limit reference mode is switched by the raising reference switch 35, and if it is the upper limit reference mode, the "automatic pitching operation based on the upper limit reference" is executed and the lower limit reference mode is set. If there is, the following process (“automatic pitching operation based on lower limit reference”) is executed. In the "automatic pitching operation based on the lower limit reference", the detected value of the front and rear inclination angle sensor 24 is compared with the front and rear inclination angle in the horizontal state, and the angular deviation is not within the dead zone, and the traveling body V is in the forward direction from the horizontal state. If tilted to the left and right, the left and right stroke sensors 19 located at the rear of the machine,
Based on the detection information of 21, it is determined whether either the left rear cylinder C3 or the right rear cylinder C5 is operated to the lower limit position, and if both cylinders C3 and C5 are not operated to the lower limit position. , Both cylinders C3, C5
Until either of them reaches the lower limit position, the left rear cylinder C3 and the right rear cylinder C5 are shortened while executing the stroke adjustment processing described later. If either the left rear cylinder C3 or the right rear cylinder C5 is operated to the lower limit position,
Until the left front cylinder C2 or the right front cylinder C4 reaches the upper limit position, the left front cylinder C2 and the right front cylinder C4 are shortened while executing the stroke adjustment processing described later.

When the forward raising command is issued by the forward raising switch 40a while the cylinders C2 to C5 are not driven, the strokes of the left rear cylinder C3 and the right rear cylinder C5 are immediately output. Of the left front cylinder C2 and the right front cylinder C4 is reached while the cylinder that has not reached the lower limit position is driven to the lower limit position while holding the cylinder that has reached the lower limit position of While holding the cylinder at the upper limit position, the cylinder not reaching the upper limit position is driven to the upper limit position.

On the other hand, if the traveling vehicle body V is tilted rearward from the horizontal state, the left front cylinder C2 and the right front cylinder C4 of the left front cylinder C2 and the right front cylinder C4 are detected based on the detection information of the left and right stroke sensors 18 and 20 located at the front of the vehicle. It is determined whether or not either of the cylinders C2 and C4 is operated to the lower limit position, and if neither of the cylinders C2 and C4 is operated to the lower limit position, it will be described below until either of the cylinders C2 and C4 reaches the lower limit position. The left front cylinder C2 and the right front cylinder C4 are extended while the stroke adjustment processing is executed. If either the left front cylinder C2 or the right front cylinder C4 is operated to the lower limit position, the left rear cylinder C3 and the right rear cylinder C5
Until either of them reaches the upper limit position, the left rear cylinder C3 and the right rear cylinder C5 are extended while performing the stroke adjustment processing described later.

When the rearward raising command is issued by the rearward raising switch 40b while the cylinders C2 to C5 are not driven, the lower stroke limit of the left front cylinder C2 and the right front cylinder C4 is immediately set. While holding the cylinder that has reached the position at its lower limit position, the cylinder that has not reached the lower limit position is driven to the lower limit position, and the upper limit position of the stroke of the left rear cylinder C3 and the right rear cylinder C5 has been reached. While holding the cylinder at the upper limit position, the cylinder not reaching the upper limit position is driven to the upper limit position.

In this way, the automatic pitching operation is executed so that the height of the traveling vehicle body V is made as low as possible and the longitudinal angle of the traveling vehicle body V is within the dead zone of the longitudinal inclination angle corresponding to the horizontal state. To do. The process of "automatic pitching operation based on upper limit reference" is not described in detail, but basically, in the process of "automatic pitching operation based on lower limit reference" described above, instead of operating each cylinder to the lower limit position, Operate so that it is located at the upper limit position. In this manner, the automatic pitching operation is executed so that the height of the traveling machine body V is made as high as possible and the longitudinal inclination angle of the traveling machine body V falls within the dead zone of the longitudinal inclination angle corresponding to the horizontal state. .

Next, the stroke adjusting process performed when the two cylinders are driven and operated as described above will be described. As shown in FIG. 25, the two cylinders to be driven and driven are C (A) and C (B), and if one of both cylinders is not in operation stop, each stroke sensor 1
Based on the detection information of 8 to 21, the expansion / contraction amounts W1 and W2 of each cylinder and the expansion / contraction amount per unit time of each cylinder, that is, the change speed V1 of the expansion / contraction amount of each cylinder, are calculated by the formula shown in the above-mentioned equation 1. , V2 is obtained. When one of the two cylinders is not in operation, only the expansion / contraction amounts W1 and W2 for each cylinder are obtained.

When it is detected that the changing speed V1 of one cylinder C (A) is higher than the changing speed V2 of the other cylinder C (B), the cylinder C (B) on the lower speed side is detected. ) Is continuously operated, the operation of the cylinder C (A) on the high speed side is turned on / off. That is, the expansion / contraction amount W1 of the cylinder C (A) on the high speed side and the cylinder C on the low speed side
Compared with the expansion / contraction amount W2 of (B), the expansion / contraction amount W1 of the cylinder C (A) on the high speed side is larger than the expansion / contraction amount W2 of the cylinder C (B) on the low speed side. If the stroke is larger than 3%, the operation of the cylinder C (A) on the high speed side is stopped, and if the difference is smaller than 3%, the operation of the cylinder C (A) on the high speed side is stopped. Do not stop. On the other hand, if the expansion / contraction amount W1 of the high speed side cylinder C (A) is smaller than the expansion / contraction amount W2 of the low speed side cylinder C (B), and the difference is greater than 3% of the total stroke, The operation of the stopped cylinder C (A) on the high speed side is started.

On the contrary, when it is detected that the changing speed V1 of the expansion / contraction amount W1 of the cylinder C (A) is smaller than the changing speed V2 of the expansion / contraction amount W2 of the cylinder C (B), The same processing is performed by setting the cylinder on the low speed side to be the cylinder C (A), and continuously operating the cylinder on the low speed side, C (A), and turning on / off the cylinder on the high speed side, C (B). I do.

[Other Embodiments] Next, other embodiments will be listed. In the above-described embodiment, in each of the rolling operation and the pitching operation, the two driving means C which are stopped are driven.
2 to C5 The reference plane KH including the respective height positions with respect to the grounding portions of the traveling devices 1L and 1R is set, and the other two driving means C2 to C5 have the same operation amount from the reference plane KH. The driving operation is performed so that the plane maintaining posture changing operation for maintaining the state of forming the plane at each height position of the traveling devices 1L and 1R of the four driving means C2 to C5 is executed. In this case, the change speed is obtained from the operation amount per unit time by the two drive means C2 to C5 to be driven, and the drive means on the high change speed side is continuously driven while continuously driving the drive means on the low change speed side. The operation amount (ratio of expansion / contraction amount to all strokes) is a set value (3 in the above ratio) than the operation amount in the driving means on the small change speed side.
The driving amount of the driving means on the large changing speed side is stopped, and the operation amount of the driving means of the large changing speed side is equal to or more than the set value above the operating amount of the driving means of the small changing speed side. When it becomes small, by starting the driving of the driving means on the side of the large change speed, the reference plane KH by the two driving means C2 to C5 for driving operation
Although the drive control is performed so that the respective operation amounts from 1 to 3 are the same, the present invention is not limited to such a configuration, and the change speeds of the two drive means are detected while detecting the change speeds of the respective operation amounts. The speed may be controlled so that the driving amount is adjusted so that the speeds become as high as possible.

In the above embodiment, the traveling device is composed of a pair of left and right crawler traveling devices 1L and 1R, but the invention is not limited to this, and for example, a single traveling device may be used.
Further, a traveling device of a wheel type may be used instead of the crawler type.

Further, in the above embodiment, the four driving means C2 to C5 constituting the posture changing operation means 100 are hydraulic cylinders, but the present invention is not limited to this, and an electric motor and a screw feed mechanism are used. It may be configured by other driving means.

In the above embodiment, the combine vehicle is exemplified as the working vehicle, but the present invention is not limited to the combine harvester, and other agricultural working vehicles such as a seedling transplanter and a tractor may be used.
It may be a work vehicle for construction or a work vehicle for civil engineering.

[Brief description of drawings]

FIG. 1 is a side view showing a front portion of a combine.

FIG. 2 is a side view showing a lifting operation configuration of the traveling device.

FIG. 3 is a side view showing a configuration for raising and lowering the traveling device.

FIG. 4 is a side view showing a configuration for raising and lowering the traveling device.

FIG. 5 is a side view showing a lifting operation configuration of the traveling device.

FIG. 6 is a block diagram showing a control configuration.

FIG. 7 is a front view of a switch unit for posture changing operation.

FIG. 8 is a diagram showing set values of left and right tilt angles.

FIG. 9 is a perspective view showing a plane maintaining posture changing operation.

FIG. 10 is a front view showing a rolling operation state.

FIG. 11 is a perspective view illustrating an operation to reach the end.

FIG. 12 is a perspective view illustrating an operation to reach the end.

FIG. 13 is a flowchart showing a control operation.

FIG. 14 is a flowchart showing a control operation.

FIG. 15 is a flowchart showing a control operation.

FIG. 16 is a flowchart showing a control operation.

FIG. 17 is a flowchart showing a control operation.

FIG. 18 is a flowchart showing a control operation.

FIG. 19 is a flowchart showing a control operation.

FIG. 20 is a flowchart showing a control operation.

FIG. 21 is a flowchart showing a control operation.

FIG. 22 is a flowchart showing a control operation.

FIG. 23 is a flowchart showing a control operation.

FIG. 24 is a flowchart showing a control operation.

FIG. 25 is a flowchart showing a control operation.

[Explanation of symbols]

1L, 1R traveling device 18-21 Operation amount detecting means 23 Left and right tilt angle detection means 24 Front-rear tilt angle detection means 100 posture change operation means 200 Attitude control means 300 posture change command means C2-C5 drive means V body itself

─────────────────────────────────────────────────── ─── Continuation of front page (56) Reference JP-A-9-74871 (JP, A) JP-A-9-39855 (JP, A) JP-A-3-297317 (JP, A) JP-A-3- 61421 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) B62D 55/116 A01D 67/00

Claims (4)

(57) [Claims] 1. A posture changing operation means capable of changing a left-right tilt angle and a front-back tilt angle of a body with respect to a ground portion of a traveling device, and a posture control means controlling an operation of the posture changing operation means. A posture control device for a working vehicle, wherein the posture changing operation means adjusts the height of the traveling device with respect to the ground portion at each of the left front portion, the left rear portion, the right front portion, and the right rear portion of the machine body. Each of the four driving means is provided with a plurality of operation amount detecting means for detecting the operation amount of each driving means. Among the four drive means, the attitude control means is one of two drive means located on a left front part and a left rear part, and two drive means located on a right front part and a right rear part. Two of A rolling operation for driving and operating the other two driving means in a state in which the driving means is stopped, and two driving means located on the left front part and the right front part of the four driving means. And, in a state where two driving means of either one of the two driving means located at the left rear portion and the right rear portion are stopped, the pitching operation for driving the other two driving means can be executed. Either one of the two driving means which is configured to be driven is driven based on the detection information of the operation amount detecting means during execution of either the rolling operation or the pitching operation. When it is detected that the end position of the operable range is reached, either the rolling operation or the pitching operation that is being executed is stopped, and then the stopped rolling operation is stopped. And if the execution of any one of the pitching operations is instructed, the drive means that has reached the end position of the drive operable range is held at the end position of the drive means and is moved to the end position of the drive operable range. An attitude control device for a work vehicle, which is configured to perform an end-arriving operation that causes the other drive unit that has not arrived to reach its end position. 2. The attitude control means sets a reference plane including each height position with respect to a ground portion of the traveling device of each of the two driving means stopped in the rolling operation and the pitching operation. By setting and driving the other two driving means so that the respective operation amounts from the reference plane are the same, the height positions of the four driving means with respect to the ground portion of the traveling device are set. The attitude control device for a work vehicle according to claim 1, wherein the attitude control device is configured to execute a plane maintaining attitude changing operation for maintaining a state of forming a plane. 3. A manually-operated attitude change command means for commanding a left tilt command, a right tilt command, a front tilt command, and a rear tilt command as tilt operation commands for the machine body is provided. As the rolling operation, based on the command information of the posture change command means, when the left tilt command is commanded, the left and right tilt angles of the machine body are changed to the left tilt side, and the right tilt command is When instructed, a manual rolling operation is performed to change the left / right inclination angle of the machine body to the right inclination side, and the front inclination instruction is given as the pitching operation based on the instruction information of the attitude change instruction means. When the rear tilt command is issued, the front-back tilt angle of the machine body is changed to the front tilt side, and when the back tilt command is issued, the front-back tilt angle of the machine body is changed to the rear tilt side. The manual rolling operation and the manual rolling operation are performed when either one of the two driving means which is configured to perform a dynamic pitching operation reaches an end position of its drive operable range. After stopping the execution of any of the pitching operations, the attitude change command means causes the tilting operation command to be in the same direction as the operating direction of the stopped manual rolling operation or the manual pitching operation. 3. The posture of the work vehicle according to claim 1 or 2, which is configured to determine that the continuation of execution has been instructed and to execute the end reaching operation when is continuously instructed for a set time or more. Control device. 4. A left / right inclination angle detecting means for detecting a left / right inclination angle of the machine body and a front / rear inclination angle detecting means for detecting a front / rear inclination angle of the body body are provided, and the attitude control means includes the rolling device. As an operation, an automatic rolling operation is performed to maintain the left / right tilt angle of the machine body at a set left / right tilt angle based on the detection information of the left / right tilt angle detection means, and the pitching operation is detected by the front / back tilt angle detection means. Based on the information, it is configured to execute an automatic pitching operation that maintains the longitudinal inclination angle of the machine body at a set longitudinal inclination angle, and one of the two driving means that is driving and driving the same. After the execution of one of the automatic rolling operation and the automatic pitching operation is stopped by reaching the end position of the operable range, the posture change is performed. In the command means, when the tilting operation command in the same direction as the operating direction before the stop of the stopped automatic rolling operation or the automatic pitching operation is instructed, the execution continuation is instructed. The attitude control device for a work vehicle according to claim 3, wherein the attitude control device is configured to determine and execute the end reaching operation.