JP2001224228A - Control system for working vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the subject control system slight in possibility of such an unfavorableness that a working device lift operation is made contrary to the intention of a relevant operator despite enabling commanding both steering and working device lifting activities with a single control lever. SOLUTION: This control system has switches SW1 and SW2 intended for turning command and functioning to detect whether the position, along the lateral width direction of a vehicle body, of a control lever 16 free to make a reciprocating movement control operation along the lateral width direction and longitudinal direction of the vehicle body, respectively, lies within a steering neutral area, left turning command area or right turning command area, and a control level detective sensor 32 functioning to detect whether the position, along the longitudinal direction of the vehicle body, of the control lever 16 lies within a lift neutral area, descending command area or ascending command area, and this control system works in such a way that, when it is detected that the above position of the control lever 16 lies either within the left turning command area or right turning command area, the lift neutral area is expanded compared to the case in detection that the above position lies within the steering neutral area.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling apparatus in which a traveling direction can be changed by a steering operation means. Control means for controlling the operation of the elevating operation means, a manually operated turning elevating operation tool capable of reciprocating movement along the vehicle width direction, and the vehicle longitudinal direction, and a vehicle width direction of the turning elevating operation tool Position along the steering neutral area, a left turn command area located to the left of the steering neutral area, or a right turn command area located to the right of the steering neutral area. And a position along the vehicle longitudinal direction of the turning elevating operation tool, the lowering command area, which is located in front of the elevating neutral area, and the lowering command area, Any of the ascent command areas located on the rear side Lifting / lowering command state detecting means for detecting whether or not the vehicle is positioned; and the control means determines the position of the turning / elevating operating tool along the vehicle width direction based on the detection information of the steering command state detecting means. If the vehicle body is in the directional neutral region, the traveling vehicle body goes straight ahead, and if the position along the vehicle width direction is in the left turn command region, the vehicle body enters the left turning state, and the position along the vehicle body width direction turns right. If the vehicle is in the command range, manual steering control for controlling the operation of the steering operation means is executed so that the traveling vehicle body is in a right turning state, and detection information of the elevation command state detection means is provided. Based on the above, if the position along the vehicle longitudinal direction of the turning elevating operation tool is in the vertical vertical area, stop the lifting operation of the working device, and if the position along the vehicle longitudinal direction is in the downward command area, The work equipment descends A work vehicle operating device configured to execute manual lifting control for controlling the operation of the lifting / lowering operation means so that the working device is raised if the position along the vehicle body longitudinal direction is in the lift command area. About.

[0002]

2. Description of the Related Art An operating device having the above structure is provided in a working vehicle such as a combine, for example, and is capable of instructing the manual steering control and the manual lifting control using a single turning up / down operating tool. To improve the steering operability by allowing the operator to perform the operation of changing the traveling direction of the traveling vehicle body and the operation of lifting and lowering the working device without releasing the turning and lifting operation tool. It was done. In the operating device for a work vehicle having such a configuration, conventionally, the steering neutral region that commands the straight traveling state of the traveling vehicle body is a predetermined region having a predetermined width along the vehicle width direction of the turning elevating operation tool. It is set so that the state is always maintained, and the middle area for raising and lowering which instructs the stop of the raising and lowering operation of the working device has a predetermined width along the vehicle longitudinal direction of the turning and raising and lowering operation tool. Is set in a predetermined region having the following condition, and the state is always maintained.

[0003]

The operating device having the above configuration has an advantage of being excellent in steering operability because it is possible to instruct the manual steering control and the manual lifting control by using one turning up / down operating tool. , With the following disadvantages:
There was still room for improvement.

[0004] For example, taking the case of a combine as an example, in a case where a cutting section as an example of a working device is cutting a stem and culm while running a traveling vehicle body, the cutting section performs a cutting operation. Therefore, the mowing operation is performed while maintaining the mowing work at a low position close to the ground. Then, when the turning / elevating operation tool is moved in the lateral direction of the vehicle body to perform a turning operation to the right or left to correct the direction of the traveling vehicle body, the turning / elevating operation tool is moved not only in the lateral direction of the vehicle body but also in the longitudinal direction of the vehicle body. Since the turning operation is also possible, the turning elevating operation tool is also moved in the vehicle front-rear direction due to an operation error or the like, and the turning elevating operation tool moves along the vehicle front-rear direction against the intention of the operator. The operation position may be operated to the lowering command area or the raising command area. Then, the mowing part in the proper elevating position to perform the mowing work rises or descends against the intention of the operator, and the mowing height changes unexpectedly or the mowing part comes into contact with the ground. There is a possibility that inconveniences such as the tip portion being pushed into the ground may occur.

[0005] Not only during the above-mentioned harvesting work,
For example, in a case where the traveling vehicle is turning while moving backward in order to change its direction to the next work process, the pilot generally checks the vehicle with the reaping section raised significantly for safety confirmation. The steering operation will be performed while visually observing the rear.In such a case, similarly, when the turning operation device is moved in the vehicle width direction, the turning operation device is In some cases, the reaping unit may be moved in the front-rear direction of the vehicle, and the reaping unit may descend against the intention of the operator to push down the crop or touch the ground.

Incidentally, in a working vehicle such as a combine or the like, a configuration is employed in which the above-mentioned turning elevating operation tool is operated with one hand and the other hand is operated with a shift operation tool for changing and adjusting the running speed of the vehicle body. In general, when the driver operates the turning elevating operation tool while being distracted by the shift operation, the above-described operation error is likely to occur.

The present invention has been made in view of such a point, and an object of the present invention is to provide a method in which the manual steering control and the manual lifting control can be commanded by using a single turning lifting / lowering operating tool. It is another object of the present invention to provide an operating device for a work vehicle which is less likely to cause inconveniences such as an operation of lifting and lowering the work device against the intention of the operator due to the operation error as described above.

[0008]

According to a first aspect of the present invention, there is provided a working device in which a traveling vehicle body whose traveling direction can be changed by a steering operation means is vertically movable by a lifting operation means. Control means for controlling the operation of the steering operation means and the elevating operation means, a vehicle width direction, and
An artificially operated turning elevating operation tool that is freely reciprocatingly movable along each of the vehicle front-rear directions, and a position along the vehicle width direction of the turning elevating operation tool is in a steering neutral area, on the left side of the steering neutral area. A steering command state detecting means for detecting which of a left turn command area is located and a right turn command area located on the right side of the steering neutral area; An elevation command for detecting whether the position along the direction is located in the elevation neutral area, a descending instruction area located forward of the elevation neutral area, or an elevation instruction area located behind the elevation neutral area. State detecting means,
The control means, based on the detection information of the steering command state detection means, if the position of the turning elevating operation tool along the vehicle width direction is in the steering neutral region, the traveling vehicle body goes straight, and the vehicle width If the position along the direction is in the left turn command area, the traveling vehicle body is in a left turn state, and if the position along the vehicle width direction is in the right turn command area, the traveling vehicle body is in a right turn state. A position along the vehicle body longitudinal direction of the turning lifting / lowering operating tool, configured to execute manual steering control for controlling operation of the steering operating means, and based on detection information of the lifting / lowering command state detecting means. If is in the vertical area, the lifting / lowering operation of the working device is stopped, and if the position along the vehicle body longitudinal direction is in the lowering command range, the working device is lowered, and the position along the vehicle body longitudinal direction is raised. If in command range An operating device for a work vehicle configured to execute a manual lifting control for controlling an operation of the lifting / lowering operation means so as to raise the industrial apparatus, wherein the control means includes: When the command state detecting means detects that the position of the turning elevating operation tool along the vehicle width direction is in either the left turning command area or the right turning command area, the turning elevating operation tool is Is executed so as to execute the neutral region enlarging process for enlarging the elevation neutral region more than when it is detected that the position along the vehicle body width direction is in the steering neutral region.

When the steering command state detecting means detects that the position of the turning elevating operation tool along the vehicle width direction is in either the left turning command area or the right turning command area, that is, the traveling vehicle body When the turning operation is commanded, it is detected that the position of the turning elevating operation tool along the vehicle width direction is in the steering neutral range, that is, when the straight traveling of the traveling vehicle is commanded. This will increase the neutral area of ascent and descent. That is, when the straight traveling of the traveling vehicle body is commanded, the vertical area during elevating is narrow, and when the turning operation of the traveling vehicle is commanded, the vertical area during elevating is widened.

Therefore, in the case where only the elevating operation of the working device is instructed in a state where the steering operation is not instructed, since the elevating middle area is narrow, the amount of operation of the turning elevating operating tool along the vehicle longitudinal direction is at least the position. Is located in the descending command area or the ascending command area outside of the up / down neutral area, and the lifting / lowering operation of the working device is performed. In addition, when the turning operation of the traveling vehicle is commanded, the neutral region during the elevating operation is widened. Therefore, unless the operation amount of the turning elevating operation tool along the front-rear direction of the vehicle does not significantly change, the elevating operation of the working device is performed. Therefore, for example, when the turning operation is commanded, the turning device may be operated in the longitudinal direction of the vehicle body due to an operation error if the operation amount is not large. Since the working device does not move up and down, there is little possibility that the working device will move up and down unintentionally.

As a result, the manual steering control and the manual raising / lowering control can be commanded by using one turning / raising / lowering operating tool, but the operating device is operated against the intention of the operator due to an operation error. It has become possible to provide an operating device for a work vehicle that is less likely to cause inconveniences such as performing a lifting operation.

According to the second aspect of the present invention, the turning lifting / lowering operating tool is moved toward a reference position which is a center position of the steering neutral region and a center position of the lifting neutral region. A biasing means for biasing is provided.

The turning / elevating operation tool is moved and biased toward the reference position by the urging means. When the operator releases his / her hand from the turning / elevating operation tool, the turning / elevating operation tool automatically returns to the reference position. Then, the traveling vehicle body is switched to the straight traveling state, and the lifting operation means is switched to the lifting stopped state. Therefore, as compared with a configuration in which the turning elevating operation tool stops at the operated position, it is possible to avoid a disadvantage that the turning traveling state of the vehicle body and the elevating operation state of the working device continue against the driver's intention beforehand. Thus, safety in use is improved.

According to a third aspect of the present invention, there is provided a vehicle speed detecting means for detecting a vehicle speed of the traveling vehicle body, and the control means controls the vehicle speed detected by the vehicle speed detecting means in the manual elevating control. When the vehicle speed is equal to or higher than the set vehicle speed, the position of the turning elevating operation tool along the vehicle width direction may be located in either the left turning command area or the right turning command area by the steering command state detecting means. When the vehicle speed is detected, the neutral region expansion process is executed. When the vehicle speed detected by the vehicle speed detecting device is lower than a set vehicle speed, the neutral region expansion process is performed regardless of the detection result of the steering command state detecting device. It is configured not to execute the enlargement processing.

When the turning operation is commanded when the vehicle speed is equal to or higher than the set vehicle speed, if the working device moves up and down contrary to the intention of the operator, the working device comes into contact with the ground and is damaged. Therefore, the above described inconvenience can be avoided and the safety in use can be improved by executing the ascent / descent middle area expansion process. When the vehicle speed is lower than the set vehicle speed, for example, when the vehicle is stopped or traveling at a very low speed, the vehicle does not command the turning operation of the vehicle body, but temporarily follows the vehicle width direction of the turning up / down operating tool. Even if it is detected that the position is in the left turn command area or the right turn command area, it is considered that it is due to an operation error, and in such a case, the neutral area expansion processing is not performed, The working device can be moved up and down with a small operation amount of the turning elevating operation tool along the longitudinal direction of the vehicle body, and there is no disadvantage that the maneuverability is reduced.

[0016]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a working vehicle operating device according to the present invention. FIG. 1 shows a combine as an example of a work vehicle. The combine harvester 2 cuts planted grain culms and transports the harvested grain culms rearward to a front portion of a traveling vehicle body that includes a pair of left and right crawler traveling devices 1L and 1R and is configured to be able to travel. An example of the device) is provided so as to be able to move up and down freely, and is provided with a threshing device 3 for threshing the harvested culm, a Glen tank 4 for storing threshed grains, a boarding operation unit 5, and the like on the rear side of the traveling vehicle. Is done.

The cutting unit 2 raises the planted grain culm to an upright posture, with four weeding tools 6 for sorting and weeding the grain culm of the object to be cut out of the plurality of planted stem culms. It comprises a raising device 7, a clipper-type cutting device 8 for cutting the root side of the raised grain culm, a vertical transport device 9 for transporting the harvested cereal stem backwards while gradually changing its posture to a sideways-down posture. It is pivotally supported so as to be able to move up and down around the horizontal axis X1 with respect to the body. The mowing unit 2 is configured to be driven up and down by a telescopic operation of a lifting hydraulic cylinder CY as a lifting operation means.

A stock sensor for determining whether or not the cutting unit 2 is in a cutting operation state by detecting whether or not a cut grain is present at the transfer entrance of the vertical transfer device 9. S
0 is provided. Also, at a position on the rear side of the right end weeding tool 6 located on the rightmost side in the vehicle body width direction among the plurality of weeding tools,
An ultrasonic sensor S1 is provided as non-contact type ground height detecting means for detecting the ground height. The ultrasonic sensor S1 is mounted on a cutting frame 12 provided for supporting the right end weeding tool 6, the raising device 7, and the like, and an ultrasonic transmitter 10 for transmitting ultrasonic waves downward. And an ultrasonic receiver 11 for receiving ultrasonic waves reflected on the ground. The ultrasonic transmitter 10 transmits the ultrasonic waves, and then transmits the reflected waves reflected on the ground to the ultrasonic receiver. It is configured in a non-contact manner so as to detect the height to the ground by measuring the elapsed time until the signal is received by 11.

In addition, the reception of the ultrasonic wave is determined to be "reception" on condition that the reception intensity is higher than a set intensity (threshold). The set intensity is set to a large value close to the maximum value until a predetermined time immediately after transmission elapses, for the purpose of avoiding erroneous detection due to the fact that 11 receives a direct wave from the transmitter 10. And is configured to gradually decrease with the passage of time thereafter. Therefore, the ultrasonic sensor S1 is configured not to be determined to be "received" when the ultrasonic reflection target is very far or extremely close.

Next, the power transmission system of the combine will be described. As shown in FIG. 2, while the driving force of the engine E is transmitted to the threshing device 3, the driving force is transmitted to a hydrostatic continuously variable transmission HST via a belt transmission.
The output after the shift of ST is transmitted via the transmission case MC.
The information is transmitted to the left and right crawler traveling devices 1R and 1L. The output after the shift is also transmitted to the reaper 2. The transmission HST is provided with a shift lever 17 provided in the boarding operation section 5.
Is mechanically interlocked and linked so that the gears are steplessly shifted in the forward direction and the reverse direction by operating in the front-rear direction. In other words, when the shift lever 17 is operated forward from the neutral position, the vehicle is in a forward running state, and the running speed increases as the forward operation amount increases. When the shift lever 17 is operated rearward from the neutral position, the vehicle is in a reverse traveling state, and the traveling speed increases as the operation amount toward the rear side increases.

In the transmission case MC, a left and right steering clutch C is provided which is capable of intermittently and independently braking power transmission to the left and right crawler traveling devices 1R, 1L.
L1 and CL2 are provided, and each steering clutch CL
1 and CL2 are steering hydraulic cylinders SC1 and SC2, respectively.
Is operated. Then, based on the operation of the operation lever 16 provided in the boarding operation section 5 in the vehicle body width direction, the control device 14 described later controls the electromagnetically operated hydraulic control valve Vs for the steering hydraulic cylinders SC1 and SC2.
Is controlled so that any one of the steering clutches can be disengaged to make the aircraft turn. That is, when the right turning switch SW1 is turned on by swinging the operation lever 16 rightward from the neutral position, the right steering clutch SC1 is disengaged, and the vehicle body turns left. When the operation lever 16 is swung leftward from the neutral position to turn on the left turning switch SW2,
The left steering clutch SC2 is disengaged, and the vehicle turns left. Therefore, the right turning switch SW1 and the left turning switch SW2 correspond to the steering command state detecting means, and the steering hydraulic cylinders SC1, SC2 correspond to the steering operation means. When maneuvering the traveling vehicle body, the maneuvering operation is performed while simultaneously performing the speed adjustment and the turning operation by operating the operation lever 16 and the shift lever 17 separately with the left and right hands.

The operating lever 16 is also used as a lever for raising and lowering the mowing unit 2 as will be described later.
It is supported so as to be capable of reciprocating movement along the vehicle body width direction and the vehicle body front-rear direction, and is configured to be biased to return to a reference position which is almost in a vertical posture. The support structure of the operation lever 16 will be described. As shown in FIG. 4, a lever support member 23 is rotatably supported on a support shaft 22 erected laterally on left and right support brackets 21 around its axis X2. The operation lever 16 is rotatably supported by the lever fulcrum member 23 around a longitudinal axis X3 along the vehicle longitudinal direction. The switch S for turning right is provided on the lateral side of the operation lever 16 while being supported by the lever fulcrum member 23.
A switch unit 24 having a W1 and a left turn switch SW2 is provided.
As shown in FIG. 4B, the steering operation arm 24a is rotatable around the horizontal axis X4 and is urged to rotate clockwise.
Is provided. The steering operation arm 24a is integrally provided with the steering pin 2 extending laterally from the operation lever 16.
5 is received and supported in a single contact state, and the operation lever 1
6 is configured to rotate while following in the forward and reverse directions in accordance with the rotation operation in the vehicle width direction. Although not described in detail, the switch unit 24 includes the steering operation arm 2.
When the switch 4a is turned upward by a set amount from the horizontal reference posture shown in FIG. 4B, the right turning switch SW1 is turned on.
2 is turned on.

An operation amount detection sensor S2 of a potentiometer type for detecting, as analog information, an operation position of the operation lever 16 in the longitudinal direction of the vehicle body in a state fixed to the vehicle body side, at a lateral side of the operation lever 16. Provided.
The operation amount detection sensor S2 is connected to the switch unit 2
Similarly to 4, an elevating operation arm 26a that is rotatable about the horizontal axis X5 and is urged to rotate clockwise is provided. The lifting operation arm 26a is connected to the lever fulcrum member 2
It is received and supported in a one-sided state by an elevating pin 27 integrally extending laterally from 3 and rotates while following the forward / backward direction with the operation of the operation lever 16 in the vehicle front-rear direction. ing. Therefore, the operation amount detection sensor S2
Is configured to output a detection value (voltage value) corresponding to an operation position of the operation lever 16 before and after the vehicle body.

A pair of regulating members 29, 29 which are rotatably supported around the front-rear axis X3 and are urged toward each other by tension springs 28 at their free ends, are provided. A pin 30 integrally formed on the extending portion 16a integrally extending downward from the pair is provided in a state of being pinched and engaged between the pair of regulating members 29, 29, and is provided between the pair of regulating members 29, 29. Are provided with fixing pins 31 for receiving and supporting them in a fixed position. In other words, the pair of regulating members 29 are urged to return to the positions where they are received and supported by the fixing pins 31. As a result, the pin 30 is sandwiched and engaged between the regulating members 29, 29,
The operation lever 16 is configured to be urged by returning to the reference position shown in the drawing. Each of the restricting members 29, 29 is configured to also serve as a member for supporting an end of each of the inner wire and the outer wire of the brake operation wire 32, and is operated in either the left or right direction from the reference position. Even when the steering clutches CL1 and CL2 are disengaged, the hydraulic brake B for traveling braking provided in the traveling power transmission system in the transmission case MC is braked. The lifting pin 27 engages with a coil spring 34 wound around the support shaft 22 and prevented from rotating by a fixed pin 33 extending from the support bracket 21,
The operation lever 16 is configured to be returned to the reference position shown in the drawing and urged regardless of whether the operation lever 16 is operated in the forward or backward direction. Therefore, the operation lever 16 corresponds to a manually operated turning elevating operation tool, and the extension spring 28 and the coil spring 34 correspond to urging means.

As shown in FIG. 5, the operation lever 16 is operated from the reference position in the vehicle width direction, that is, leftward or rightward, and the right turn switch SW1 or the left turn switch SW2 is turned on. The movement range up to corresponds to the steering neutral region L1, the position where the right turn switch SW1 is on corresponds to the right turn command region L2, and the position where the left turn switch SW2 is on is the left turn. It corresponds to the rotation command area L3. The reference position corresponds to the center position of the steering neutral region L1.

The elevating hydraulic cylinder CY is constituted by a single-acting cylinder, provided with an electromagnetically operated control valve Vu for switching the supply state of hydraulic oil to the elevating hydraulic cylinder CY, and comprising a microcomputer. The switching is controlled by the control device 14 as an example of the control means. The boarding operation unit 5 includes, in addition to the operation lever 16, the shift lever 17, the right turning switch SW1, the left turning switch SW2, and the operation amount detection sensor S2,
A ground height control on / off switch SW3 that can be switched between an on state in which the raising and lowering control of the reaping unit 2 to be described later is performed and an off state in which the control is not performed;
Each of the potentiometer-type cutting height setting devices 15 for setting the setting heights of the switches SW1 to SW
3. The detection information of the operation amount detection sensor S2 and the information of each of the cutting height setting devices 15 are input to the control device 14. The traveling drive system to the crawler traveling devices 1L and 1R is provided with a revolution speed sensor S3 for detecting the revolution speed of the traveling output shaft. The control device 14 calculates the current traveling vehicle speed based on the revolution speed information. It is configured to seek. Therefore, the rotation speed sensor S3 constitutes a vehicle speed detecting means of the vehicle body.

When the ground height control on / off switch SW3 is turned on, the control device 14 sets the ground height of the reaper 2 to the ground height based on the detection information of the ultrasonic sensor S1. The ground height control for controlling the hydraulic cylinder CY is executed so that the target ground height set by the setting unit 15 is achieved.
If the W3 is turned off, the ground height control is stopped. Then, if there is a command based on the swinging operation of the operation lever 16 in the vehicle longitudinal direction, the manual lifting operation based on the command of the operation lever 16 is executed in preference to the ground height control. Further, when a descending command is issued in a state where the ground height control on / off switch SW3 is set to ON, the process shifts to ground height control based on the detection information of the ultrasonic sensor S1.

If the position of the operation lever 16 along the vehicle width direction is in the steering neutral region L1,
That is, if both the right turning switch SW1 and the left turning switch SW2 are in the off state, the traveling vehicle body is in a straight traveling state, and if the position along the vehicle body width direction is in the right turning command area L2, That is, if the right turn switch SW1 is on, the traveling vehicle body is in a right turn state, and if the position along the vehicle width direction is in the left turn command area L3, that is, the left turn switch SW2 Is on,
Manual steering control is performed to control the electromagnetically operated control valve Vs for the steering hydraulic cylinders SC1 and SC2 so that the traveling vehicle body is turned left.
If the position of the operating lever 16 along the vehicle longitudinal direction is in the vertical middle area L4, the raising / lowering operation of the reaper is stopped, and the position along the vehicle longitudinal direction is located on the forward side of the vertical middle area L4. The control valve Vu is arranged so that the reaper 2 is lowered if the reaper 2 is located in the range L5, and is raised if the position along the vehicle body longitudinal direction is in the ascending command region L6 located behind the neutral region L4. Is configured to execute manual lifting control for controlling the operation of the lifting hydraulic cylinder CY.

In the manual lifting control, when the vehicle speed detected based on the detection information of the rotation speed sensor S3 is equal to or higher than the set vehicle speed, the control device 14 switches the right turning switch SW1 or the left turning switch SW2. When either one of them is on, the neutral area expansion process for expanding the elevation neutral area L4 is executed more than when both the right turning switch SW1 and the left turning switch SW2 are off. It is configured to be. When the vehicle speed is lower than the set vehicle speed, the neutral region enlarging process is not executed regardless of the detection result of the right turning switch SW1 or the left turning switch SW2.

The manual lifting control of the controller 14 will be described. The control device 14 operates the operation position of the operation lever 16 along the vehicle front-rear direction outside the elevation vertical region L4 having a set width around the reference position and moving to the front downward command region L5, as shown in FIG. When the detection value of the operation amount detection sensor S2 falls below the determination level dn for lowering, the operation of the hydraulic cylinder CY for raising and lowering is controlled so as to lower the reaper 2, and the operation of the operating lever 16 along the vehicle longitudinal direction is performed. When the position deviates from the middle vertical area L4 and moves to the rear command area L6 on the rear side, and the detection value of the operation amount detection sensor S2 exceeds the determination level up for raising, the hydraulic cylinder for raising and lowering the mowing unit 2 is raised. Controls the operation of CY. Therefore, the operation amount detection sensor S2 corresponds to the elevation command state detection means.

As shown in FIG. 6, when both the right turning switch SW1 and the left turning switch SW2 are off, the level width between the descending judgment level dn and the ascending judgment level up is obtained. That is, although the vertical dead zone width is small, the right turning switch SW1 and the left turning switch S
When any one of W2 is turned on, the lowering determination level dn is changed to a lower value, and the ascending determination level up is changed to a higher level to expand the vertical dead zone width. As a result, the elevation neutral region L4 for the operation position of the operation lever 16 along the vehicle longitudinal direction is enlarged, and this processing corresponds to the neutral area expansion processing.

When the lowering is instructed based on the operation of the operation lever to the lowering command range while the ground height control on / off switch SW3 is set to ON, the control device operates the ultrasonic sensor S1. Execute ground height control based on the detection information. The ground height control is performed such that the ultrasonic sensor S1 detects the ground height of the mowing unit 2 and the detected ground height becomes the target ground height set by the cutting height setting device 15. The operation of the lifting hydraulic cylinder CY is controlled so that the mowing unit 2 is raised and lowered. By performing this ground height control during the mowing work, the mowing height of the planted stem culm by the mowing unit 2 is maintained at the set value, and a good mowing work can be continued.

When a mowing operation is performed while such a vehicle body is running, the operating lever 16 is operated in the vehicle body width direction to correct the position of the running vehicle body with respect to the stem, for example, and the turning operation is performed. If the operating lever is not operated greatly in the longitudinal direction of the vehicle body beyond the expanded vertical neutral region in the case of turning or turning the vehicle body backward on a headland, etc. Since the raising / lowering operation of the reaping unit 2 by the CY is not performed, for example, as shown by a reference numeral Q in FIG. Since it is considered that the operation amount in the forward and backward directions is not so large, it is possible to avoid inconveniences such as the raising and lowering of the reaper 2 against the intention of the operator, and the safety is improved. Also, when the vehicle is running, but not performing a turning operation, or when the vehicle speed is lower than the set vehicle speed, or when traveling at a very low speed, the vertical area during elevating is narrow. It is possible to execute the raising and lowering operation of the reaping unit 2 with a small amount of operation without a large operation, and there is no disadvantage that the working efficiency is reduced.

[Other Embodiments] Hereinafter, other embodiments will be listed.

(1) In the above embodiment, the up / down command state detecting means is constituted by a potentiometer type operation amount detection sensor, and based on the level discrimination of the detected value, whether the position is in the down command range or the up command range. As a configuration for determining whether or not to perform the determination, it is configured to execute the neutral region enlarging process by changing the lowering determination level dn and the rising determination level up, which are the reference for level determination, but the present invention is not limited to such a configuration. The following configuration may be adopted.

For example, a first descent command switch, which is turned on when the position of the operation lever along the vehicle longitudinal direction deviates from the narrow elevating neutral region in the above embodiment and is operated forward, A second descent command switch that is turned on when the position along the vehicle body front-rear direction is operated forward and out of the wide vertical middle region in the above-described embodiment, and the position of the operation lever along the vehicle body front-rear direction is narrow in the above-described embodiment. A first ascending command switch that is turned on when it is operated rearward outside the elevating neutral area, and a first ascending command switch that is turned on when its position along the vehicle front-rear direction is operated rearward outside the wide elevating neutral area in the above embodiment. And the control device is configured to control the second lower switch when one of the right turning switch and the left turning switch is on. Run the lifting operation of the reaper based on the command switch and the detection information of the second rising command switch,
When both the right turning switch and the left turning switch are off, the first descending command switch and the first
As a configuration for performing the raising / lowering operation of the reaping unit based on the detection information of the raising command switch, a configuration may be employed in which the neutral region enlarging process can be performed.

The lifting command state detecting means may be configured as follows instead of the above configuration. A lowering command switch that is turned on when detecting that the position along the vehicle front-rear direction of the operation lever has been operated forward; and a rising command switch that is turned on when detecting that the position along the vehicle front-rear direction has been operated rearward. Each switch is configured to be able to change and adjust its detection target position using an actuator or the like, and the position is changed according to the detection information of the right turn switch or the left turn switch. By doing so, the configuration may be such that the neutral region enlarging process can be executed.

(2) In the above embodiment, the steering command state detecting means is provided with the right turning switch and the left turning switch. However, the present invention is not limited to such a switch type detecting structure, but a potentiometer. An operation amount sensor of the type is provided, and the operation position of the operation lever in the vehicle width direction is detected by analog information, and the operation level of the operation lever is determined by the level discrimination. It may be configured to determine which position in the rotation command area.

(3) In the above-described embodiment, the vehicle is provided with the vehicle speed detecting means, and executes the neutral region enlarging process when the vehicle speed is equal to or higher than the set vehicle speed, and executes the neutral region enlarging process when the vehicle speed is lower than the set vehicle speed. Although the configuration is such that the shift is not performed, the invention is not limited to such a configuration, and a sensor for detecting whether or not the shift lever is at a neutral position (travel stop position) is provided. The configuration may be such that the range expansion process is not performed, or the configuration may be such that the neutral range expansion process is always performed regardless of the vehicle speed information.

(4) In the above embodiment, the ground height detecting means (ultrasonic sensor) for detecting the ground height of the reaping unit is provided so that the ground height of the reaping unit is maintained at the set ground height. In this configuration, the elevation control for operating the elevation operation means (hydraulic cylinder) is performed based on the detection information of the ground height detection means. However, without performing such elevation control, for example, the manual operation of the operation lever is performed. The present invention is also applicable to a configuration in which the cutting height is changed and adjusted only by manual lifting control.

(5) In the above embodiment, a combine was illustrated as a working vehicle. However, the present invention is not limited to the combine.
The present invention can be applied to a work vehicle having a working device that can be raised and lowered by a lifting operation means on a traveling vehicle body. It can also be applied to various work vehicles such as seedling transplanters.

[Brief description of the drawings]

FIG. 1 is a side view of the front of the combine.

FIG. 2 is a diagram showing a transmission configuration;

FIG. 3 is a control block diagram.

FIG. 4 is a diagram showing a support configuration of an operation lever.

FIG. 5 is a plan view showing an operation area of the operation lever.

FIG. 6 is an operation timing chart.

[Explanation of symbols]

 2 Working device 14 Control means 16 Turning elevating operation tool CY Elevating operation means SC1, SC2 Steering operation means S2 Elevating command state detecting means S3 Vehicle speed detecting means SW1, SW2 Steering command state detecting means

Claims (3)

[Claims] An operating device is provided for a traveling vehicle body capable of changing the traveling direction by a steering operation means so as to be able to move up and down by an elevation operation means, and operation of the steering operation means and the elevation operation means. A manually-operated turning / elevating operation tool capable of reciprocatingly moving along the vehicle width direction and the vehicle front-rear direction, respectively, and the position of the turning / elevating operation tool along the vehicle width direction is controlled. A steering command for detecting which of a steering neutral area, a left turn command area located on the left side of the steering neutral area, and a right turn command area located on the right side of the steering neutral area. A state detecting means, wherein the position of the turning elevating operation tool along the longitudinal direction of the vehicle body is an elevating middle area, a descent command area located forward of the elevating neutral area, and an ascent located rearward of the elevating neutral area. Detect where in the command range Lifting / lowering command state detecting means, the control means based on the detection information of the steering command state detecting means, wherein the position of the turning / raising / lowering operating tool along the vehicle width direction is in the neutral steering area. If the traveling vehicle body is in a straight-ahead state, and the position along the vehicle width direction is in the left turn command area, the traveling vehicle body is in a left turn state, and if the position along the vehicle body width direction is in the right turn command area. Configured to execute manual steering control for controlling operation of the steering operation means so that the traveling vehicle body is in a right turning state, and based on detection information of the elevation command state detection means, If the position of the turning elevating operation tool along the longitudinal direction of the vehicle body is in the elevating neutral area, the elevating operation of the working device is stopped, and if the position along the longitudinal direction of the vehicle body is in the descending command area, the operating device is lowered. , The vehicle longitudinal direction Operating device of a working vehicle configured to execute manual lifting control for controlling the operation of the lifting operation means, so that the working device rises if a position along the lifting command range is in the lifting command range, In the manual lifting control, the position of the turning elevating operation tool along the vehicle width direction in the steering command state detecting means is located in either the left turning command area or the right turning command area. Is detected, the neutral region expanding process for expanding the neutral region for raising and lowering is more than when it is detected that the position of the turning elevating operation tool along the vehicle width direction is located in the neutral steering region. Operating device of a work vehicle configured to perform the operation. 2. An urging means is provided for urging the turning elevating operation tool toward a reference position which is a central position of the neutral steering area and a central position of the neutral neutral area. The operating device for a working vehicle according to claim 1. 3. A vehicle speed detecting means for detecting a vehicle speed of a traveling vehicle body, wherein the control means is configured to: when the vehicle speed detected by the vehicle speed detecting means is equal to or higher than a set vehicle speed in the manual elevating control. When the steering command state detecting means detects that the position of the turning elevating operation tool along the vehicle width direction is in either the left turning command area or the right turning command area, the neutral area is expanded. Executing a process, when the vehicle speed detected by the vehicle speed detecting unit is lower than a set vehicle speed, regardless of the detection result of the steering command state detecting unit, the neutral region enlarging process is not executed. The operating device for a working vehicle according to claim 1.