JP4829997B2 - Work vehicle attitude control device - Google Patents

Description

  The present invention is provided with posture changing operation means that can freely change the left and right inclination angles and front and rear inclination angles of the airframe body with respect to the grounding portion of the traveling device, and posture control means that controls the operation of the posture changing operation means. The present invention relates to a work vehicle attitude control device.

  Conventionally, the work vehicle attitude control device having the above-described configuration has a configuration shown in, for example, Japanese Patent Laid-Open No. 3-61421. In other words, in the harvesting and harvesting combine as a work vehicle, each of the pair of left and right crawler type traveling devices moves up and down in parallel with the main body of the body by the expansion and contraction operation of the rolling hydraulic cylinder, so that the grounding portion of the traveling device The right and left tilt angles of the fuselage body relative to the fuselage body can be freely changed, and the left and right traveling devices are integrated with the pitching hydraulic cylinder to extend and retract integrally with the fuselage body around the horizontal axis on the front side. There is one configured such that the vertical tilt angle of the main body relative to the grounding portion of the traveling device can be freely changed by swinging up and down. Therefore, in this attitude control device for a work vehicle, attitude changing operation means is constituted by the rolling and pitching hydraulic cylinders.

Specifically, in each of the traveling devices, a track frame that supports a plurality of ground wheels is pivotally connected to a support frame on the airframe side in a pair of front and rear bell cranks so as to be movable up and down in parallel. When the front and rear bell cranks are linked so as to swing integrally at the connecting portion, the track frame, that is, the traveling device is attached to the main body by swinging with the expansion and contraction of the rolling hydraulic cylinder. For example, the airframe with respect to the grounding part of the traveling device by moving the other one up and down with one of the left and right traveling devices fixed to the airframe body, etc. The configuration is such that the right and left tilt angles of the main body are changed.
In addition, each of the support frames on the airframe side with respect to the left and right traveling devices is supported so as to be swingable up and down around the horizontal axis on the front side with respect to the airframe side fixed portion, and using one hydraulic cylinder for pitching When the support frames are integrally swung up and down, the rear side of the machine body is swung up and down around the horizontal axis with respect to the grounding portion of the traveling device to change the front / rear tilt angle. ing.

  Then, the combine control device functioning as a posture control means for controlling the operation of the posture change operation means can perform automatic posture control for maintaining the inclination angle of the fuselage at a set inclination angle, or a manual posture based on posture change command information. Control was being executed.

  By the way, in the above automatic attitude control, the automatic rolling operation that maintains the left and right inclination angle of the airframe body based on the detection information of the left and right inclination sensor that detects the left and right inclination angle of the airframe body, and the front and rear inclination of the airframe body Based on the detection information of the front / rear tilt sensor that detects the angle, an automatic pitching operation is performed to maintain the front / rear tilt angle of the machine body at the set front / rear tilt angle.

  Also, in the manual attitude control, when a left tilt command and a right tilt command are commanded by a posture change command manual switch provided in the combine driving unit, the main body is tilted to the left tilt side and the right tilt side. When the front tilt command and the rear tilt command are instructed, the manual pitching operation for tilting the main body to the front tilt side and the rear tilt side is performed, and the up command and the down command are commanded. And the manual up-and-down operation which raises and lowers the airframe body is executed.

  In the above-described conventional configuration, when changing the left / right inclination angle of the airframe main body with respect to the grounding portion of the traveling device, the left and right traveling devices are configured to move up and down relative to the airframe main body. It is possible to sufficiently increase the amount of change in the left / right tilt angle while reducing the amount. For example, the state where the left traveling device is lowered most with respect to the aircraft body and the right traveling device is raised most with respect to the aircraft body, in other words, the state where the aircraft body is in the maximum left upward inclined posture, The right / left inclination angle is greatly changed between the state where the airframe is raised most with respect to the airframe body and the right side traveling device is lowered most with respect to the airframe body, in other words, the state where the airframe body is in the maximum upper right inclination posture. be able to.

  However, in the above-described conventional configuration, when changing the front / rear inclination angle of the airframe main body with respect to the grounding portion of the traveling device, the support frames supporting the left and right traveling devices are swung up and down around the horizontal axis on the front side. Therefore, there is a disadvantage that it is difficult to increase the amount of change in the front / rear inclination angle. That is, in order to increase the amount of change in the front-rear tilt angle, there is a disadvantage that the amount of vertical movement on the rear side of each support frame must be increased, and in order to increase the tilt angle in the rearward tilt direction, It is necessary to increase the vertical distance between the swing fulcrum of each support frame and the aircraft body. However, if the vertical distance is increased, the center of gravity of the aircraft is increased and the steering stability is lowered. As a result, it is difficult to increase the amount of change in the front-rear inclination angle.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a fuselage with respect to the grounding portion of the traveling device when the left and right tilt angles and the front and rear tilt angles of the aircraft body are changed with respect to the grounding portion of the traveling device. A work vehicle that can increase the amount of change in both the left and right inclination angles and the front and rear inclination angles while reducing the amount of movement of the main body, and can appropriately change the inclination angle of the main body. Is to provide a posture control device.

According to claim 1, the posture changing operation means changes and adjusts the height of the traveling device with respect to the grounding portion at each of the left front, left rear, right front, and right rear of the main body. The posture control means is configured to include four free drive means, and the posture control means stops driving of the drive means having a low height with respect to the grounding portion of the traveling device among the four drive means. The four driving means are arranged so as to maintain a state in which a plane is formed at each height position with respect to the grounding portion of the traveling device at the left front portion, the left rear portion, the right front portion, and the right rear portion in the body body. It is configured to perform a plane maintenance posture change operation for driving and operating a driving means having a high height relative to the grounding portion of the traveling device , and
As the plane maintaining posture changing operation, the grounding of the traveling device of the main body whose height with respect to the grounding portion of the traveling device is changed and adjusted by a driving means having a low height relative to the grounding portion of the traveling device that has been stopped driving. A reference plane including a height position with respect to the part is set, and a difference in each operation amount from the reference plane of the driving means having a high height with respect to the grounding part of the traveling device obtained per unit time is set within a set value. Furthermore, it is configured to drive and operate a driving means having a high height relative to the grounding portion of the traveling device.

That is, the plane maintaining posture changing operation for maintaining the state of forming a plane is executed in a state where driving of the driving means having a low height with respect to the grounding portion of the traveling device among the four driving means is stopped.

  In addition, when the posture changing operation is performed as described above, a rolling operation for driving and stopping each of the two driving means positioned in the left-right direction of the machine, and two driving means positioned in the longitudinal direction of the machine are driven. In addition to operating and stopping the pitching operation, the two driving means located in the diagonal direction of the aircraft are driven and stopped to change the attitude of the aircraft in an oblique direction, that is, rolling operation and pitching operation. It is possible to perform an oblique posture change operation performed at once.

Further, as described above, the four driving operations of the high height drive means for the ground portion of the height traveling device at a low state of the driving means is driven stop to ground portion of the traveling device of the driving means holding when changing operating the tilt angle of the machine body, because it is configured to maintain the state of forming a plane, for example, even when the load distribution applied to the machine body is non-uniform, the flat state without twisting machine body Te Therefore, there is no fear that an excessive force is applied to the body.

Have been working vehicle attitude control device capable of properly performing the operation of changing the inclination angle of the machine body is provided.

Side view showing the front of the combine Side view showing the lifting / lowering configuration of the traveling device Side view showing the lifting / lowering configuration of the traveling device Side view showing the lifting / lowering configuration of the traveling device Side view showing the lifting / lowering configuration of the traveling device Block diagram showing control configuration Front view of switch unit for posture change operation The figure which shows the setting value of the horizontal inclination angle Perspective view showing plane maintenance posture change operation Front view showing rolling operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation

  Hereinafter, a case where an embodiment of the present invention is applied to a harvest harvest combine as a work vehicle will be described with reference to the drawings.

  As shown in FIG. 1, a pair of left and right crawler travel devices 1L and 1R (corresponding to travel devices), a threshing device 3 for threshing the harvested cereal, a grain tank 4 for storing the threshed grain, and boarding operation For the traveling machine body V (corresponding to the machine body) provided with the part 2 and the like, a reaping part 10 for harvesting planted cereal such as rice and wheat and supplying it to the threshing device 3 is provided so as to be adjustable up and down, Combine is configured.

  The cutting unit 10 includes a weeding tool 6 provided at the tip, a pulling device 5 that causes a planted culm that has been weeded by the weeding tool 6, and a clipper type that cuts the stock side of the induced culm. The cutting blade 7, the vertical conveying device 8 that conveys the harvested cereal rice cake to the rear side while gradually changing to the sideways posture, etc., are hydraulically cut around the horizontal axis P <b> 1 at the front part of the traveling machine body V. The cylinder CY is provided so as to be swingable up and down.

  In addition, an ultrasonic cutting height sensor 9 that detects the height of the cutting unit 10 with respect to the ground is provided at the rear side portion of the weeding tool 6. Although not described in detail, the cutting height sensor 9 detects the height of the cutting unit 10 with respect to the ground by measuring the time from when the ultrasonic wave is transmitted downward to when it is received. It is configured in a non-contact manner.

  The combine is provided with posture changing operation means 100 that can freely change the left and right inclination angles and the front and rear inclination angles of the traveling machine body V with respect to the grounding portions of the left and right crawler traveling apparatuses 1L and 1R. Hereinafter, the configuration will be described.

  First, the attachment structure to the traveling machine body V of the left and right crawler traveling devices 1L and 1R 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 description of the right crawler traveling device 1R will be omitted.

  As shown in FIG. 2, a drive sprocket 13 is rotatably supported on the front end side of the support frame 12 fixed to the main frame 11 that constitutes the traveling vehicle body V in the front-rear-facing posture, and a plurality of idles are also provided. A track frame 16 that pivotally supports the rolling elements 14 arranged in the front-rear direction and supports a tension wheel 15 at the rear end is mounted to the support frame 12 so as to be movable up and down. A crawler belt B, which is an endless rotating body, is wound around the drive sprocket 13, the tension ring body 15, and each idler ring body 14.

  A front bell crank 17a configured to be substantially L-shaped in a side view so as to be rotatable around a horizontal axis P2 is pivotally supported on the front side of the support frame 12, and a horizontal axis is provided on the rear side of the support frame 12. A rear bell crank 17b configured to be substantially L-shaped in a side view so as to be rotatable around P3 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 the stroke. 16 is pivotally connected to the rear side portion.

  On the other hand, the cylinder rods of the hydraulic cylinders C2 and C3 are connected to the upper end portions of the front and rear bell cranks 17a and 17b, respectively. The cylinder main body side of each of the hydraulic cylinders C2 and C3 is pivotally connected to the horizontal frame portion of the main frame 11, and each of the hydraulic cylinders C2 and C3 is constituted by a double-acting hydraulic cylinder.

  When the hydraulic cylinder C2 (hereinafter referred to as the left front cylinder) corresponding to the front bell crank 17a is most extended, the hydraulic cylinder C3 (hereinafter referred to as the left rear cylinder) corresponding to the rear bell crank 17b is most shortened. As shown in FIG. 2, the track frame 16 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 as it is in the lower limit reference posture, as shown in FIG. On the other hand, the posture is changed (that is, the front ascending operation) in the direction of separating.

  Further, when the left rear cylinder C3 is extended while maintaining the left front cylinder C2 as it is from the lower limit reference posture, as shown in FIG. Therefore, the posture is changed in the direction of separating (backward raising operation).

  Further, 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 is changed (raising operation) in the direction of separation.

  As shown in FIG. 6, the crawler travel device 1R on the right side is similarly provided with a right front cylinder C4 located on the front side of the machine body and a right rear cylinder C5 located on the rear side of the machine body. The same operation as that of the crawler traveling device 1L is performed.

  Accordingly, the posture changing operation means 100 can freely change and adjust the height of the traveling devices 1L and 1R with respect to the grounding portion at the left front portion, left rear portion, right front portion, and right rear portion of the main body V, respectively. The four air cylinder posture changing cylinders C2 to C5 are provided as four driving means.

  Corresponding to each of the four hydraulic cylinders C2, C3, C4, C5, the rotation amount is set at a position corresponding to the rotation fulcrum of each of the bell cranks 17a, 17b in the left and right crawler travel devices 1L, 1R. A plurality of potentiometer-type stroke sensors 18, 19, 20, and 21 serving as a plurality of operation amount detecting means for detecting the operation amounts (that is, the stroke amounts that have been expanded and contracted) based on the hydraulic cylinders C2, C3, C4, and C5 are provided. Is provided.

  Further, the traveling machine body V includes a gravity-type left / right inclination angle sensor 23 as a right / left inclination angle detecting means for detecting a left / right inclination angle of the traveling machine body V with respect to the horizontal reference plane, and a forward / backward inclination with respect to the horizontal reference plane of the traveling machine body V. A gravity-type front / rear inclination angle sensor 24 is provided as a front / rear inclination angle detecting means for detecting an angle.

  As shown in FIG. 6, a microcomputer-based control device 22 is provided. The control device 22 includes the stroke sensors 18 to 21, the cutting height sensor 9, the left / right inclination angle sensor 23, and the front / rear inclination angle sensor 24. Each detection information is input. The operation panel of the boarding operation unit 2 is provided with a posture change switch unit SU (see FIG. 7), a front raising switch 40a and a rear raising switch 40b, and their information is input to the control device 22.

  When the front raising switch 40a is turned on, an aircraft front raising operation (rear tilting operation) is commanded, and when the rear raising switch 40b is turned on, an aircraft rear raising operation (front tilt operation) is commanded. That is, the front raising switch 40a and the rear raising switch 40b constitute a manually operated front / rear inclination command means for instructing a front inclination command and a rear inclination command of the traveling machine body V.

  The posture change switch unit SU includes a left / right inclination angle setting unit 25 for setting a right / left inclination angle with respect to a horizontal reference plane of the traveling machine body V, a horizontal automatic switch 26 for turning on / off horizontal control (automatic rolling operation described later), a horizontal control switch A horizontal lamp 26a indicating the on state, a front / rear automatic switch 27 for turning on / off the front / rear control (automatic pitching operation described later), a front / rear lamp 27a indicating the on / off state of the front / rear control, and the operation modes of the horizontal control and the front / rear control as the upper reference mode. A raising reference switch 35 for switching to the lower limit reference mode, a raising reference lamp 35a indicating that it is the upper limit reference mode, and a right raising switch 37a and a left raising switch that are operated by a cross lever type operation tool 36 are provided. 37b, an aircraft raising switch 38a and an aircraft lowering switch 38b are provided. Note that posture control by manual operation described later is executed in the lower limit reference mode.

  When the operation tool 36 is tilted to the left, the right lifting switch 37a is turned on to command a right lifting operation (left tilt operation). When the operating tool 36 is tilted to the right, the left lifting switch 37b Is turned on and a left-up operation (right tilt operation) is commanded. That is, the above-described right-up switch 37a and left-up switch 37b constitute a manually operated left / right tilt command means for commanding a left tilt command and a right tilt command of the traveling machine body V. Also, when the operating tool 36 is tilted backward, the airframe raising switch 38a is turned on to command the airframe raising operation, and when the operating tool 36 is tilted forward, the airframe lowering switch 38b is turned on. Command to lower the aircraft. That is, the above-mentioned body raising switch 38a and body lowering switch 38b constitute a manually operated up / down raising / lowering command means for instructing an elevation command and a lowering command of the traveling machine body V.

  The left / right tilt angle setting device 25 includes a horizontal switch 25a, a left tilt switch 25b, and a right tilt switch 25c. That is, when the horizontal switch 25a is pressed, a tilt angle corresponding to the horizontal state is set as the left / right tilt angle, and when the left tilt switch 25b is pressed, the currently set left / right tilt angle is corrected to the left tilt direction by the set angle. When the right tilt switch 25c is pressed, the currently set left / right tilt angle is corrected to the right tilt direction by the set angle. And about the right-and-left inclination angle set by the right-and-left inclination angle setting device 25, as shown in FIG. 8, 7 of 1-7 shown in the display apparatus (not shown) provided in the front side of the boarding operation part 2. It is displayed whether it is a stage (stage 4 with an angle of 0 represents a horizontal state, a positive angle represents a right tilt direction, and a negative angle represents a left tilt direction). In addition, about the front-back inclination angle, the inclination angle 0 (horizontal state) is preset.

  Further, the operation panel of the boarding operation unit 2 includes a volume-type cutting height setting device 39 for setting the height of the cutting unit 10 with respect to the ground relative to the traveling vehicle body V, that is, a cutting height, and a lifting command and a lowering command for the cutting unit 10. Is provided with a raising switch SW1 for instructing raising of the cutting part, a lowering switch SW2 for instructing lowering of the cutting part, etc., and these information are also input to the control device 22. It has a configuration.

  On the other hand, the control device 22 outputs driving signals for the hydraulic valves 29 to 33 for hydraulic control for hydraulic control of the cutting cylinder CY and the four hydraulic cylinders C2 to C5 for changing the body posture. Yes.

  The control device 22 operates the cutting cylinder CY so that the value detected by the cutting height sensor 9 is maintained at the set cutting height set by the cutting height setting unit 27 during the cutting operation. Perform height control.

  A posture control means 200 for controlling the operation of the posture change operation means 100 is configured by using the control device 22, and the posture control means 200 includes two of the four hydraulic cylinders C2 to C5. A reference plane KH including the respective height positions of the two hydraulic cylinders C2 to C5 with the hydraulic cylinders C2 to C5 stopped from driving and the grounding portions of the traveling devices 1L and 1R is stopped. By setting and driving the other two hydraulic cylinders C2 to C5 so that the respective operation amounts (stretching stroke amounts) from the reference plane KH are the same, the four hydraulic cylinders C2 A plane maintaining posture changing operation for maintaining a state in which a plane is formed at each height position with respect to the grounding portions of the traveling devices 1L and 1R of C5 to C5 is executed.

  Regarding the setting of the reference plane KH, in the case of a rolling operation in which the front left cylinder C2 and the rear left cylinder C3 located on the left side of the body are stopped and the front right cylinder C4 and the rear right cylinder C5 located on the right side of the body are driven. Will be described as an example.

  As shown in FIG. 9, a plane indicated by oblique lines is formed by the height positions of the four hydraulic cylinders C2 to C5, and the height positions of the left front part and the left rear part in the plane are respectively indicated by A1 and B1. Show. Also, the height change operation range (corresponding to the drive operation possible range of each hydraulic cylinder C2 to C5) at the left front, left rear, right front and right rear by the four hydraulic cylinders C2 to C5. The lower limit positions are indicated by A0, B0, C0, and D0, respectively, and the upper limit positions are indicated by A2, B2, C2, and D2, respectively.

  In this case, a straight line A1-C1 is drawn from the height position A1 of the left front part toward the right front part in parallel to the straight line connecting the lower limit position A0 of the left front part and the lower limit position C0 of the right front part. A straight line B1-D1 is drawn from the height position B1 of the left rear part toward the right rear part in parallel to the straight line connecting the lower limit position A0 of the left front part and the lower limit position C0 of the right front part. A reference plane KH is set by a plane A1-B1-C1-D1 including B1-D1.

  When executing the plane maintaining posture changing operation, the posture control means 200 is based on detection information of the stroke sensors 18 to 21 per unit time of the two hydraulic cylinders C2 to C5 that are driven. A change in each operation amount is obtained, and among the two hydraulic cylinders C2 to C5, the operation amount in the hydraulic cylinders C2 to C5 on the large change speed side where the change in the operation amount per unit time is large is the unit time. As the operating amount of the hydraulic cylinders C2 to C5 on the higher change speed side becomes larger than the operating amount in the hydraulic cylinders C2 to C5 on the lower change speed side, the change in the operation amount in the hydraulic cylinders C2 to C5 on the higher change speed side changes. The drive operation of the hydraulic cylinders C2 to C5 on the large change speed side is stopped until the set value is smaller than the operation amount in the hydraulic cylinders C2 to C5 on the low speed side, and As the operation amount in the hydraulic cylinders C2 to C5 on the large change speed side becomes smaller than the operation value in the hydraulic cylinders C2 to C5 on the small change speed side, the hydraulic cylinder on the large change speed side By starting the driving operation of C2 to C5, the operation amounts from the reference plane KH of the two hydraulic cylinders C2 to C5 to be driven are made the same.

That is, when there is a difference in the change speed of the operation amount between the two hydraulic cylinders C2 to C5 to be driven, the cylinder with the higher speed is driven while continuously driving the cylinder with the lower speed. By turning on / off, the difference in the operation amount between the two hydraulic cylinders C2 to C5 to be driven is kept within a set value, and the operation amounts from the reference plane KH are controlled to be the same. .

In this case, first, the ratio W of the expansion / contraction amount with respect to the total stroke, which is the ratio of the operation amount in the cylinder from the reference plane KH to the total stroke , corresponds to the current cylinder position and the reference plane KH as shown in the following equation. The difference from the reference position is defined by a drive operation possible range of each of the hydraulic cylinders C2 to C5, that is, a ratio (percentage) when divided by the total stroke ST from the upper limit position to the lower limit position. It is set to 3% of the total stroke ST. That is, the difference in the ratio W of the expansion / contraction amount with respect to the entire stroke between the two hydraulic cylinders C2 to C5 to be driven is kept within 3% of the total stroke ST at which each hydraulic cylinder C2 to C5 can be driven. . When the ratio W of the expansion / contraction amount with respect to the entire stroke is positive, it indicates that the current cylinder position is located above the reference plane KH, and when it is negative, the current cylinder position is the reference position. It shows that it is located below the plane KH.

[Equation 1]
Ratio of expansion / contraction amount with respect to total stroke W = [(cylinder position−reference position) / ST] × 100
Then, the posture control means 200 performs two hydraulic cylinders (the left front cylinder C2 and the left rear cylinder) located at the left front portion and the left rear portion of the four hydraulic cylinders C2 to C5 as the plane maintaining posture changing operation. With the cylinder C3) and the two hydraulic cylinders C2 to C5 of any one of the two hydraulic cylinders (the right front cylinder C4 and the right rear cylinder C5) located at the right front part and the right rear part being driven and stopped, Rolling operation for driving the other two hydraulic cylinders C2 to C5, and two hydraulic cylinders (left front cylinder C2) located at the left front and right front of the four hydraulic cylinders C2 to C5 And the right front cylinder C4), and two hydraulic cylinders of either one of the two left hydraulic cylinders (the left rear cylinder C3 and the right rear cylinder C5) located at the left rear part and the right rear part. In a state where the dust C2-C5 is driven stop, which is configured to perform a pitching operation of driving operation of the other two hydraulic cylinders C2-C5.

  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 in which the left and right inclination angles of the traveling machine body V are maintained at the set left and right inclination angles based on the detection information of the left and right inclination angle sensors 23. And, as the pitching operation, an automatic pitching operation is performed to maintain the front-rear inclination angle of the traveling machine body V at the set front-rear inclination angle based on the detection information of the front-rear inclination angle sensor 24, and When execution of the automatic rolling operation and the automatic pitching operation is instructed at the same time, the automatic pitching operation is executed after giving priority to the automatic rolling operation. The execution of the automatic rolling operation is commanded when the horizontal automatic switch 26 is on, and the execution of the automatic pitching operation is commanded when the front / rear automatic switch 27 is on.

  In the case of manual control, the posture control means 200 tilts the left and right tilt angles of the traveling vehicle body V to the left when the left tilt command (right lift command) is commanded by the right lift switch 37a as the rolling operation. And a manual rolling operation for changing the right and left tilt angle of the traveling machine body V to the right tilt side when a right tilt command (left lift command) is commanded by the left lift switch 37b, and As the pitching operation, when a forward inclination command (aircraft rearward raising command) is commanded by the rear raising switch 40b, the front and rear inclination angle of the traveling vehicle body V is changed to the front inclination side, and the front raising switch 40a is used. It is configured to execute a manual pitching operation for changing the front / rear inclination angle of the traveling vehicle body V to the rear inclination side when a rear inclination command (aircraft front raising command) is issued. When a raising command is commanded by the raising switch 38a, the four hydraulic cylinders C2 to C5 are simultaneously driven to raise the height of the traveling machine body V with respect to the grounding portions of the traveling devices 1L and 1R. When the lowering command is instructed by the aircraft lowering switch 38b, the four hydraulic cylinders C2 to C5 are simultaneously driven to increase the height of the traveling aircraft V with respect to the grounding portion of the traveling devices 1L and 1R. It is comprised so that the parallel up / down operation | movement to which it descend | falls may be performed. The manual rolling operation, manual pitching operation, and parallel up / down operation are executed in preference 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 case of the rolling operation, when the left front cylinder C2 is shortened and the left rear cylinder C3 is extended in the left crawler travel device 1L from the state of the lower limit reference posture (FIG. 2), As shown in FIG. 10 (A), the traveling machine body V changes to a left-uphill inclined posture (right inclined posture) with respect to the ground contact portion. Further, when the right front cylinder C4 is shortened and the right rear cylinder C5 is extended in the right crawler traveling apparatus 1R from the state of the lower limit reference posture, as shown in FIG. The airframe V changes to the upper right tilt posture (left tilt posture) with respect to the ground contact portion. In this way, it is possible to execute a rolling operation in which the traveling machine body V is inclined in the left-right direction with respect to the grounding portions of the traveling devices 1L and 1R.

  On the other hand, in the case of the pitching operation, the left front cylinder C2 and the right front cylinder C4 are maintained while maintaining the left rear cylinder C3 and the right rear cylinder C5 from the lower limit reference posture (FIG. 2). At the same time, when the shortening operation is performed, the front side of the traveling machine body V rises with respect to the respective grounding portions of the left and right crawler traveling devices 1L and 1R, and the posture changes to a backward inclined posture. Further, 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 as they are from the state of the lower limit reference posture, The rear side rises with respect to the respective ground contact portions of the left and right crawler travel devices 1L, 1R and changes its posture to a forward tilt posture. In this way, the pitching operation of tilting the traveling machine body V in the front-rear direction with respect to the grounding portions of the traveling devices 1L and 1R can be executed.

  Although description of the rolling operation and the pitching operation in the upper limit reference mode is omitted, the traveling state body V is the most separated posture in the left and right crawler traveling devices 1L and 1R while being in a parallel posture with respect to the grounding portion (FIG. 5). From the reference), the operation directions of the cylinders C2 to C5 are operated in the direction opposite to the operation direction in the rolling operation and the pitching operation in the lower limit reference mode.

  Next, the attitude control operation by the control device 22 will be described based on the flowcharts of FIGS.

  First, it is determined whether or not a manual operation command (right / left tilt, front / back tilt, up / down ascending / descending) is issued, and when a manual operation command is issued, a manual attitude control process is executed.

  When the manual operation command is not issued, the state of the horizontal automatic switch 26 and the front / rear automatic switch 27 is checked. 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 preferentially executed first, and then the automatic pitching operation is executed.

  In the manual attitude control process (FIG. 12), if a left-up switch 37b is commanded as a left-right tilt command, a right-tilt process is executed and a right-up switch 37a is commanded to raise a right. For example, the left tilt process is executed.

  As the front / rear tilt command, if the rear raising is commanded by the rear raising switch 40b, the front tilting process is executed. If the front raising switch 40a is given the front raising process, the rear tilting process is executed.

  As the up / down raising / lowering command, if the aircraft raising switch 38a is instructed to raise the aircraft, the aircraft raising process is executed. If the aircraft lowering switch 38b is instructed to lower the aircraft, the aircraft lowering process is executed.

  In the right inclination process (FIG. 13), it is determined whether one of the right front cylinder C4 and the right rear cylinder C5 is operated to the lower limit position based on the detection information of the front and rear stroke sensors 20, 21 on the right side of the body. If neither of the cylinders C4 and C5 is operated to the lower limit position, the right front cylinder C4 is extended while performing stroke adjustment processing described later until either of the cylinders C4 and C5 reaches the lower limit position. The right rear cylinder C5 is shortened and operated. If either the right front cylinder C4 or the right rear cylinder C5 is operated to the lower limit position, the left front cylinder is executed while performing stroke adjustment processing described later until either the left front cylinder C2 or the left rear cylinder C3 reaches the upper limit position. C2 is shortened and the left rear cylinder C3 is extended.

  In the left tilt process (FIG. 14), it is determined whether 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 body. If neither of the cylinders C2 and C3 is operated to the lower limit position, the left front cylinder C2 is extended while performing stroke adjustment processing described later until either of the cylinders C2 and C3 reaches the lower limit position. Operate and shorten the left rear cylinder C3. 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 stroke adjustment processing described later until either the right front cylinder C4 or the right rear cylinder C5 reaches the upper limit position. C4 is shortened and the right rear cylinder C5 is extended.

  In the forward tilt process (FIG. 15), it is determined whether one of the left front cylinder C2 or 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 body. If neither of the cylinders C2 and C4 is operated to the lower limit position, the left front cylinder C2 and the right front cylinder are executed while performing stroke adjustment processing described later until either of the cylinders C2 and C4 reaches the lower limit position. C4 is 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 is executed while performing stroke adjustment processing described later until either the left rear cylinder C3 or the right rear cylinder C5 reaches the upper limit position. The cylinder C3 and the right rear cylinder C5 are extended.

  In the rear tilt process (FIG. 16), whether or not one of the left rear cylinder C3 and 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 aircraft. If both cylinders C3 and C5 are not operated to the lower limit position, the left rear cylinder is executed while performing stroke adjustment processing described later until either of the cylinders C3 and C5 reaches the lower limit position. 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, a stroke adjustment process as described later is executed until either 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.

  In the airframe rising process (FIG. 17), it is determined 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 in the left front part of the airframe. The left front cylinder C2 is shortened until the upper limit position is reached.

  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. The rear cylinder C3 is extended.

  Based on the detection information of the stroke sensor 20 located in the right front part of the machine body, it is determined whether or not the right front cylinder C4 is operated to the upper limit position. Shorten C4.

  Based on the detection information of the stroke sensor 21 located at the right rear part of the machine body, it is determined whether or not the right rear cylinder C5 is operated to the upper limit position. The rear cylinder C5 is extended.

  In the aircraft lowering process (FIG. 18), it is determined 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 portion of the aircraft, and if it is not operated to the lower limit position. 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. The rear cylinder C3 is shortened.

  Based on the detection information of the stroke sensor 20 located in the front right part of the machine body, it is determined whether or not the right front cylinder C4 is operated to the lower limit position. C4 is extended.

  Based on the detection information of the stroke sensor 21 located at the right rear part of the machine body, it is determined whether or not the right rear cylinder C5 is operated to the lower limit position. The rear cylinder C5 is shortened.

  In the automatic rolling operation (FIG. 19), first, it is determined whether the upper reference mode or the lower limit reference mode is switched by the raising reference switch 35. If it is the upper reference mode, “automatic rolling operation based on the upper reference” is performed. If the lower limit reference mode is executed, the following processing (“automatic rolling operation based on the lower limit reference”) is executed.

  In the “automatic rolling operation based on the lower limit reference”, the detected value of the left / right tilt angle sensor 23 is compared with the set left / right tilt angle set by the left / right tilt angle setting device 25, and the angle deviation is not within the dead zone. If the vehicle body V is tilted to the left, one of the right front cylinder C4 and the right rear cylinder C5 is operated to the lower limit position based on the detection information of the stroke sensors 20 and 21 positioned on the front and rear of the right side of the vehicle body. If both cylinders C4 and C5 are not operated to the lower limit position, a stroke adjustment process described later is executed until either one of the cylinders C4 and C5 reaches the lower limit position. The right front cylinder C4 is extended and the right rear cylinder C5 is shortened. If either the right front cylinder C4 or the right rear cylinder C5 is operated to the lower limit position, the left front cylinder is executed while performing stroke adjustment processing described later until either the left front cylinder C2 or the left rear cylinder C3 reaches the upper limit position. C2 is shortened and the left rear cylinder C3 is extended.

  If the traveling machine body V is inclined in the right direction, 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 stroke sensors 18 and 19 located on the front and rear of the left side of the machine body. If both cylinders C2 and C3 are not operated to the lower limit position, a stroke adjustment process described later is executed until either one of the cylinders C2 and C3 reaches the lower limit position. The left front 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 is executed while performing stroke adjustment processing described later until either the right front cylinder C4 or the right rear cylinder C5 reaches the upper limit position. C4 is shortened and the right rear cylinder C5 is extended.

  In this way, while making the height of the traveling machine body V as low as possible, the left and right inclination angles of the traveling machine body V are automatically adjusted so as to be within the dead zone of the set left and right inclination angles set by the left and right inclination angle setting device 25. The rolling operation is executed.

  Although the processing of “automatic rolling operation based on the upper limit criterion” is not described in detail, basically, in the processing of “automatic rolling operation based on the lower limit criterion” described above, each cylinder is operated to be positioned at the lower limit position. Instead of operating, operate to be located at the upper limit position. In this way, while making the height of the traveling machine body V as high as possible, the left and right tilt angle sensors of the traveling machine body V are within the dead zone of the set left and right tilt angles set by the left and right tilt angle setting device 25. Perform automatic rolling action.

  In the automatic pitching operation (FIG. 20), first, it is determined whether the upper reference mode or the lower limit reference mode is switched by the raising reference switch 35. If the upper reference mode is selected, the "automatic pitching operation based on the upper reference" is performed. If the lower limit reference mode is executed, the following processing (“automatic pitching operation based on the lower limit reference”) is executed.

  In the “automatic pitching operation based on the lower limit reference”, the detected value of the front / rear inclination angle sensor 24 is compared with the front / rear inclination angle in the horizontal state, the angle deviation is not in the dead zone, and the traveling vehicle body V is in the forward direction from the horizontal state If it is inclined, it is determined whether one of the left rear cylinder C3 and 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, 21 located at the rear of the body. If both the cylinders C3 and C5 are not operated to the lower limit position, the left rear cylinder C3 and the left rear cylinder C3 are executed while performing stroke adjustment processing described later until either of the cylinders C3 and C5 reaches the lower limit position. The right rear cylinder C5 is 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 is executed while performing stroke adjustment processing described later until either the left front cylinder C2 or the right front cylinder C4 reaches the upper limit position. C2 and the right front cylinder C4 are shortened.

  If the traveling vehicle body V is inclined backward from the horizontal state, either the left front cylinder C2 or the right front cylinder C4 is set to the lower limit position based on the detection information of the left and right stroke sensors 18 and 20 located at the front of the vehicle body. If both cylinders C2 and C4 are not operated to the lower limit position, stroke adjustment processing described later is performed until either of the cylinders C2 and C4 reaches the lower limit position. While performing, the left front cylinder C2 and the right front cylinder C4 are extended. If either the left front cylinder C2 or the right front cylinder C4 is operated to the lower limit position, a stroke adjustment process as described later is executed until either the left rear cylinder C3 or the right rear cylinder C5 reaches the upper limit position. The left rear cylinder C3 and the right rear cylinder C5 are extended.

  In this way, the automatic pitching operation is executed so that 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 while making the height of the traveling machine body V as low as possible. .

  Although the processing of “automatic pitching operation based on the upper limit criterion” is not described in detail, basically, in the processing of “automatic pitching operation based on the lower limit criterion” described above, each cylinder is operated to be positioned at the lower limit position. Instead of operating, operate to be located at the upper limit position. In this way, the automatic pitching operation is executed so that the longitudinal inclination angle of the traveling aircraft body V is within the dead zone of the longitudinal inclination angle corresponding to the horizontal state while making the height of the traveling aircraft body V as high as possible. .

  Next, the stroke adjustment process performed when the two cylinders are driven as described above will be described.

As shown in FIG. 21, the two cylinders to be driven are C (A) and C (B), and if one of both cylinders is not stopped, it is based on the detection information of each stroke sensor 18-21. The ratios W1 and W2 of the expansion / contraction amount with respect to the entire stroke for each cylinder and the expansion / contraction amount per unit time by each cylinder, that is, the changing speeds V1 and V2 of the expansion / contraction amount of each cylinder are obtained by the equation shown in the above equation (1). Ask. When one of the cylinders is stopped, only the ratios W1 and W2 of the amount of expansion / contraction with respect to the total stroke for each cylinder are obtained .

When it is detected that the changing speed V1 of one cylinder C (A) is larger than the changing speed V2 of the other cylinder C (B), the cylinder C (B) on the smaller speed side is continuously connected. While operating, the operation of the cylinder C (A) on the high speed side is turned on / off. That is, the ratio W1 of the expansion / contraction amount with respect to the entire stroke of the cylinder C (A) on the large speed side is compared with the ratio W2 of the expansion / contraction amount with respect to the entire stroke of the cylinder C (B) on the small speed side. The ratio W1 of the expansion / contraction amount with respect to the entire stroke of the cylinder C (A) is larger than the ratio W2 of the expansion / contraction amount with respect to the entire stroke of the cylinder C (B) on the lower speed side, and the difference is larger than 3% of the total stroke. If so, 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 not stopped. On the other hand, the ratio W1 of the expansion / contraction amount with respect to the entire stroke of the cylinder C (A) on the high speed side is smaller than the ratio W2 of the expansion / contraction amount with respect to the entire stroke of the cylinder C (B) on the low speed side. If it is larger than 3% of the above, the operation of the stopped cylinder C (A) on the higher speed side is started.

Conversely, it was detected that the change speed V1 of the expansion / contraction amount ratio W1 with respect to the entire stroke of the cylinder C (A) is smaller than the change speed V2 of the expansion / contraction amount ratio W2 with respect to the entire stroke of the cylinder C (B). In the above processing, the cylinder on the lower speed side is set to the cylinder C (A), and the cylinder C (A) on the higher speed side is turned on and off while the cylinder C (A) on the lower speed side is continuously operated. In this way, the same processing is performed.

[Another embodiment]
Next, another embodiment will be listed.

  In the above embodiment, when the automatic rolling operation and the automatic pitching operation are instructed at the same time, the automatic rolling operation is preferentially executed and then the automatic pitching operation is executed. Instead of such a configuration, the automatic rolling operation may be executed after the automatic pitching operation is executed with priority.

  In the above embodiment, of the four driving means C2 to C5, the two driving means for driving and the two driving means for stopping the driving are the two driving means C2 and C3 located on the left side and the right side. It is set by the two driving means C4 and C5 that are positioned to perform the rolling operation, and the two driving means C2 and C4 that are located on the front side and the two driving means C3 and C5 that are located on the rear side However, the present invention is not limited to such a configuration. For example, two drive means for driving operation are provided as a drive means C2 located on the left front side and a drive means C5 located on the right rear side. The two driving means for stopping the driving are the driving means C3 located on the left rear side and the driving means C4 located on the right front side, and the left front inclined posture in which the left front part of the body V is lowered and the right rear part is raised, Conversely, raise the left front of the fuselage body V, Parts may be performed oblique attitude change actuation changing the position to the left rear inclined position to lower.

In the above embodiment, 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 change speed large side drive is performed while continuously driving the low change speed drive means. When the ratio of the operation amount in the means with respect to the total stroke (the ratio W of the expansion / contraction amount with respect to the total stroke) is larger than the operation amount in the driving means on the small change speed side by the set value (3% in the above ratio), When the drive of the driving means on the large change speed side is stopped and the operation amount in the driving means on the large change speed side is smaller than the above set value than the operation amount in the driving means on the small change speed side, the change speed The driving control is performed so that the operation amounts from the reference plane KH by the two driving means C2 to C5 become the same by starting the driving of the large driving means. For example, the speed control is performed to adjust the driving amount so that each changing speed becomes the same speed as much as possible while detecting the changing speed of the operation amount of each of the two driving means. Also good.

  In the above-described embodiment, the traveling device is configured by the pair of left and right crawler traveling devices 1L and 1R. However, the traveling device is not limited to this. For example, a single traveling device may be used. It may be a device.

  In the above embodiment, the four drive means C2 to C5 constituting the posture changing operation means 100 are constituted by hydraulic cylinders. However, the present invention is not limited to this, and other driving means such as an electric motor and a screw feed mechanism are provided. You may comprise by a drive means.

  In the above-described embodiment, the combine is exemplified as the work vehicle. It may be.

1L, 1R traveling device 100 attitude change operation means 200 attitude control means C2 to C5 drive means V machine body KH reference plane

Claims (1)

Attitude change operation means capable of changing the left and right inclination angles and the front and rear inclination angles of the aircraft body relative to the grounding portion of the traveling device;
An attitude control device for a work vehicle provided with attitude control means for controlling the operation of the attitude change operation means,
Four driving means that can change and adjust the height with respect to the grounding portion of the traveling device at each of the left front part, left rear part, right front part, and right rear part in the body body. Configured with
The attitude control means stops driving the driving means having a low height relative to the grounding part of the traveling device among the four driving means, and the left front part, the left rear part, and the right front part in the main body. And the height with respect to the grounding part of the traveling device among the four driving means is high so as to maintain a state in which a plane is formed at each height position with respect to the grounding part of the traveling device on the right rear part. It is configured to execute a plane maintenance posture changing operation for driving the driving means , and
As the plane maintaining posture changing operation, the grounding of the traveling device of the main body whose height with respect to the grounding portion of the traveling device is changed and adjusted by a driving means having a low height relative to the grounding portion of the traveling device that has been stopped driving. A reference plane including a height position with respect to the part is set, and a difference in each operation amount from the reference plane of the driving means having a high height with respect to the grounding part of the traveling device obtained per unit time is set within a set value. A work vehicle attitude control device configured to drive and operate a driving means having a high height relative to the grounding portion of the traveling device.

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