JP2002268747A - Attitude controller for service car - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform the rolling adjustment or pitching adjusting of a body itself by increasing the adjustment quantity while reducing the movement manipulated variables of the body itself to the ground part of a traveling device, and to easily execute the proper adjusting operation. SOLUTION: This device is provided with four driving means C2-C5 for separately adjusting the elevation of the left side front part, left side rear part, right side front part, and right side rear part of the body itself to the ground part of a traveling device. When a rolling or pitching adjustment command is issued, the two driving means C2-C5 acting on one edge part of the body itself in an angle of inclination changing direction among the four driving means C2-C5 are stopped, and the two driving means C2-C5 acting on the other edge are operated so that the inclination can be adjusted. When any of the two operating driving means C2-C5 reaches the stroke end, the driving operation of the two driving means C2-C5 is stopped, and an alarm is issued by a buzzer BZ.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an attitude change operation means for freely changing an inclination angle of a body with respect to a ground portion of a traveling device, and a manual attitude change command means for instructing an inclination change command of the body. And a control means for controlling the operation of the attitude change operation means based on command information of the attitude change instruction means.

[0002]

2. Description of the Related Art For example, in a combine harvester, when working in a wet field, the body of the machine is in a rearwardly inclined state, and even if the cutting unit is lowered to the lower limit of the cutting height adjustment range, an appropriate cutting height position may not be obtained. In some cases, the threshing apparatus is inclined, and threshing or poor sorting is likely to occur. In this case, if the pitching adjustment is performed so that the body of the machine body is inclined forward with respect to the ground contact portion of the traveling device, the cutting height position can be appropriately set, and threshing and sorting processing may be performed appropriately. Also, when discharging the grain stored in the tank, if there is an obstacle, the auger may not reach the discharge point. In this case, if the airframe main body is adjusted to be rolled left or right with respect to the grounding portion of the traveling device, the auger may reach the discharge location.
For this reason, in the above-described work vehicle, by operating the attitude change command means, the control means controls the operation of the attitude change operation means based on the command from the attitude change command means, and the grounding of the traveling device of the body body is performed. The inclination angle with respect to the part can be adjusted.

Conventionally, as a working vehicle of this type, the inclination angle of the body main body with respect to the traveling apparatus is adjusted by swinging the body frame of the body main body around one horizontal axis relative to the traveling apparatus. Had become.

[0004]

In the above-described conventional tilt adjusting technique, the amount of change in the tilt angle cannot be increased, and the driving means for adjusting the movement of the body with respect to the traveling apparatus has been increased in size. . Further, the stability of the aircraft was apt to decrease.

[0005] That is, to increase the change amount of the inclination angle of the body main body with respect to the contact portion of the traveling device, it is necessary to increase the vertical movement amount of the body frame.
It was necessary to employ a driving means having a large stroke as a driving means for performing the moving operation. Further, in order to increase the inclination angle, it is necessary to increase the vertical interval between the body frame and the traveling device, and the body weight center when the body body is in a horizontal posture is increased.

As a device capable of adjusting the tilt while improving this point, for example, as shown in Japanese Patent Application Laid-Open No. 3-61421, in a combine, each of a pair of right and left crawler traveling devices operates to extend and retract a hydraulic cylinder for rolling. In some cases, the upper and lower bodies move parallel to the body frame of the body. That is, a driving unit capable of changing and adjusting the height of the traveling device at the left end of the fuselage body relative to the grounding portion, and a driving unit capable of changing and adjusting the height of the traveling device at the right end of the fuselage body relative to the grounding unit. In some cases, a pair of drive means acting separately on the left end and the right end of the fuselage body can adjust the rolling of the fuselage body with respect to the traveling device.

[0007] As in the known rolling technique, as a driving means for adjusting the inclination angle of the body main body with respect to the traveling device, there are provided a plurality of driving means which act on one end and the other end of the body main body in the inclination angle changing direction. When a plurality of drive means are provided and the inclination of the body with respect to the traveling device is adjusted by operating the plurality of drive means, the size of the drive means, the range in which the inclination can be adjusted, the stability of the body, etc. Thus, the inclination can be adjusted while achieving an advantage.

That is, one end of the fuselage body is adjusted to move to the lower limit with respect to the traveling device, and the other end is adjusted to move to the upper limit with respect to the traveling device. The tilt adjustment can be performed so that the tilt angle of the body main body changes between the attitude state and the attitude state. This makes it possible to increase the amount of change in the inclination angle while reducing the maximum stroke in which the body main body moves with respect to the ground contact portion of the traveling device and lowering the body weight center when the body body is in the horizontal posture.

As described above, when the inclination is adjusted by a plurality of drive means capable of individually changing and adjusting the height of the traveling device at both ends in the inclination angle changing direction of the body of the vehicle body, the posture is adjusted. The control means operating a plurality of driving means based on a command from the change command means drives the driving means acting on one end of the fuselage body and the driving means acting on the other end at the same time. When the operation is performed, a large power is required so that all the driving means can be driven at once. Further, it is necessary to perform complicated signal processing in terms of setting a control target position of the driving means.

[0010] An object of the present invention is to make pitching and rolling adjustment possible, while not only making it possible to increase the adjustment range while improving the size of the driving means and the stability of the airframe, but also increasing the driving force. Another object of the present invention is to provide a work vehicle attitude control device that can be advantageously used in terms of control and control, and that can easily perform an appropriate adjustment operation.

[0011]

According to the first aspect of the present invention, in the work vehicle attitude control device described at the beginning, the attitude change operation means is provided at each of both ends of the body of the body in the tilt angle change direction. A plurality of drive means capable of individually changing and adjusting the height of the traveling device with respect to the grounding portion; and an operation amount detection means for detecting a drive operation amount of each of the drive means. However, as the attitude change control, in a state in which the driving operation of one of the plurality of driving means that acts on one end of the body main body in the tilt angle changing direction is stopped, the tilt angle changing direction in the body main body is stopped. The attitude change operation of driving the drive means acting on the other end of the actuator in the direction of the inclination change command by the attitude change command means, and based on the detection information of the operation amount detection means, When it is determined that the driving means acting on the other end in the inclination angle changing direction has reached the end position of the drive operable range, the driving operation of the driving means acting on the other end in the inclination angle changing direction is performed. Is stopped, and a notification operation for notifying that the drive means acting on the other end in the inclination angle changing direction has reached the end position of the drive operable range is executed.

That is, the attitude change operation means is provided with a plurality of drive means capable of individually changing and adjusting the height of the traveling device with respect to the grounding portion at both ends of the body of the body in the tilt angle changing direction. Therefore, by appropriately operating the plurality of driving means by control means operating based on a command from the attitude change command means, one end of the body of the aircraft is moved and adjusted to the lower limit with respect to the traveling device. The tilt adjustment can be performed by changing the tilt angle of the body of the vehicle between the state of the tilted posture and the state of the tilted posture where the other end is moved and adjusted to the ascending limit with respect to the traveling device. This makes it possible to increase the amount of change in the inclination angle while reducing the maximum stroke in which the body main body moves with respect to the ground contact portion of the traveling device and lowering the body weight center when the body body is in the horizontal posture.

The control means executes a posture changing operation of driving the driving means acting on the other end while the driving means acting on the one end in the inclination angle changing direction of the body body is stopped. Therefore, when driving the driving means to change the inclination angle, a small driving force is given for the number and size of the driving means provided, and the control target position of the driving means is set. The driving means can be driven while performing relatively simple control for the signal processing for.

Further, when adjusting the inclination angle of the body by operating the attitude changing operation means, when the driving means is driven to change the inclination angle, the end position at which the driving operation can be performed is reached. , The control means executes the notification operation. Thus, if the change in the inclination angle progresses and the drive means reaches the end position, the operation of adjusting the inclination angle can be performed while easily recognizing this by notification.

Therefore, when the pitching adjustment of the airframe main body is enabled or the inclination adjustment of the airframe main body with respect to the traveling device is enabled as in the case where the rolling adjustment is enabled, for example, in wetland work by a combine,
Regardless of the phenomenon that the aircraft body is in the backward tilt state and the angle is different, the forward and backward inclination of the aircraft body is appropriate so that the aircraft body does not fall forward too much, and
The pitch can be adjusted to an appropriate forward / backward inclination position so that the cutting height position is appropriate, and the right and left inclination of the aircraft body when discharging kernels from the tank is adjusted so that the aircraft body does not lean more than necessary. However, the inclination angle of the fuselage body can be adjusted over a large adjustment range, such as being able to perform rolling adjustment to an appropriate left-right inclination posture so that the auger reaches the discharge point regardless of obstacles.

In consideration of this, not only can the aircraft body be lowered when the body body is in a horizontal position and the center of gravity can be lowered and the vehicle can run stably, but in addition to employing small driving means having a relatively small stroke, the driving force of the driving force can be reduced. It is possible to obtain compact and inexpensive by saving labor and simplifying control.

In addition, when the inclination angle is adjusted, if the drive means reaches the end position at which the drive operation can be performed, it is easily recognized by notification, and the inclination is given by excessively operating the attitude change command means. The adjustment operation can be accurately and easily performed so that an erroneous operation that is too late is performed.

According to a second aspect of the present invention, in the first aspect, the control means stops the driving operation of the driving means acting on the other end in the inclination angle changing direction in the attitude change control. When the same inclination change command as the inclination change instruction before the stop of the drive operation is instructed by the attitude change instruction means, the drive means acting on the other end in the inclination angle change direction is moved to the end position of the drive operable range. In this state, the driving means located at one end in the tilt angle changing direction is driven in the direction of the tilt change command by the attitude change command means.

That is, by driving the driving means acting on the other end while the driving means acting on one end in the direction of changing the inclination angle of the body main body is driven, the grounding of the traveling device of the body main body is performed. The inclination angle with respect to the part is changed in the direction of the inclination command. Even after the other end drive unit reaches the end position of the drive operable range and stops the drive operation of the drive unit, if there is the same inclination change command as before the stop operation, the drive unit on the other end side By driving the driving means on the one end side in a state where is held at the end position, the inclination angle of the body main body with respect to the ground portion of the traveling device is further changed in the direction of the inclination command. Thereby, the state of the inclined posture in which one end of the body of the body is moved and adjusted to the lower limit with respect to the traveling device, and the state of the inclined posture in which the other end is moved and adjusted to the upper limit with respect to the traveling device. So that the inclination angle of the fuselage body changes between
And a small driving force for the number and size of the driving means,
By controlling the signal processing to be relatively simple, the drive means can be driven to adjust the inclination angle.

Therefore, the inclination adjustment of the body main body with respect to the ground contact portion of the traveling device can be performed over a wide adjustment range. For this reason, not only can the driving means be reduced in size, but also the driving force and control can be simplified to achieve compactness and cost reduction.

According to a third aspect of the present invention, in the first or second aspect, the attitude changing operation means includes, as the plurality of driving means, a left front portion, a left rear portion, a right front portion, and a right side in the body of the body. The driving device is configured to have four driving means capable of individually changing and adjusting the height of the traveling device with respect to the grounding portion at each of the rear portions, and the control means is configured to control the four driving means in the attitude change control. Of the two driving means are simultaneously driven and operated simultaneously.
When any one of the two driving means reaches the end position of the drive operable range, the driving operation of the two driving means is stopped, and one of the two driving means which is simultaneously driven is driven. After performing a notification operation for notifying that the end position of the operable range has been reached, and after stopping the driving operation of the two driving units, the attitude change command unit sets the two driving units to be in contact with each other. When the same tilt change command as the tilt change command before the stop of the drive operation is issued, the drive unit that has reached the end position of the drive operable range among the two drive units that have been simultaneously driven. In the state held at the end position, an end reaching operation of driving the driving means that has not reached the end position of the drive operable range to reach the end position of the drive operable range is executed. That.

That is, for example, when a rolling operation is performed by simultaneously driving and operating two driving means acting on the left front part and the left rear part, and two driving means acting on the left front part and the right front part. When the pitching operation is executed by simultaneously driving the two driving means, when one of the two driving means reaches the end position of the driving operation range, the driving operation of the two driving means is stopped and the notification operation is performed. When the same inclination command as before the stop operation is issued after the stop operation of the two drive units, the drive unit that has not reached the end position is held while the drive unit that has reached the end position is held at the end position. An end reaching operation for driving operation to reach the end position of the drive operable range is executed. Executing the terminal reaching operation in this manner makes it possible to reduce the amount of movement operation performed on the traveling body by the body of the aircraft, and has a small driving force for the number and size of the driving means, and signal processing is relatively simple. By driving the driving means, the inclination angle of the body main body with respect to the traveling device can be changed over a wide adjustment range.

Therefore, the work can be advantageously performed by adjusting the inclination angle of the body main body with respect to the traveling device over a large adjustment range. For that reason, a small-sized driving means having a small stroke is adopted, and the driving force can be saved and the control can be simplified, so that a compact and inexpensive device can be obtained.

According to a fourth aspect, in the third aspect, the attitude change command means includes, as the tilt change command, each of a left tilt command, a right tilt command, a front tilt command, and a rear tilt command of the body body. When the left tilt command and the right tilt command are commanded as the attitude change control, the control unit outputs a left front part and a left front part of the four drive units. Two driving means acting on the rear part, and one of the two driving means acting on the right front part and the right rear part, with one of the two driving means stopped, and the other two driving means When the front tilt command and the rear tilt command are commanded, two of the four driving means, which act on the left front part and the right front part, are driven. Drive means, left rear and right In a state in which one of the two driving units acting on the unit is stopped, the pitching operation of simultaneously driving and operating the other two driving units is performed. .

That is, when a left tilt command or a right tilt command is issued, the control means executes the rolling operation based on these commands, and the right and left tilt angles of the body with respect to the grounding portion of the traveling device are changed, so that the body of the body is changed. Rolling adjustment for the traveling device is possible. When a front tilt command or a rear tilt command is commanded, the control means executes the pitching operation based on the commands, the front-back tilt angle of the body body with respect to the grounding portion of the traveling device is changed, and the pitching adjustment of the body body with respect to the traveling device is performed. Can be.

Therefore, in the case of a combine, for example, the cutting height is adjusted by adjusting the pitching of the machine body to perform the cutting operation, and the auger is adjusted by the rolling adjustment of the machine body to discharge the grains. As described above, both the rolling adjustment and the pitching adjustment with respect to the traveling device of the aircraft body can be performed advantageously over a wide adjustment range.

[0027]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIG. 1, a riding type driving unit 2, which is configured to be supported by a pair of left and right crawler traveling devices 1L, 1R, is disposed below a driving seat. A cutting unit 1 in which a threshing device 3, a grain tank 4 and the like are mounted on a body frame 11 of a machine body V provided with a pulling device 5, a clipper-type cutting device 7, and the like.
0 of the mowing portion frame 10a is rotatably connected to a support portion 11a located at a front portion of the body frame 11 so as to be rotatable around a lateral axis P1 of the machine body.
A flexible link mechanism 10b having one end connected to a.
A hydraulic lift cylinder C <b> 1 is attached to the body frame 11, and the power is transmitted from the prime mover of the machine body V to the mowing unit 10, thereby forming a combine. This combine is used for harvesting rice, wheat, etc., and is configured in detail as follows.

That is, the mowing unit 10 is moved up and down with respect to the machine body V by swinging the mowing unit frame 10a up and down around the axis P1 by the lift cylinder C1. In other words, the lower end of the raising device 5 and the mowing device 7 are located near the ground so that the culm can be mowed, and the machine body V ascends to the ascending end or the vicinity thereof and travels without mowing. Raises and lowers to the non-working position. When the mowing unit 10 is moved to the working position and the machine body V is run, the mowing unit 10 uses the weeding tool 6 to divide the planted grain culm such as rice and wheat into a target to be cut and a non-cutting target, The planting culm to be cut is raised by the raising device 5 and processed at the same time, and its stock is cut off by the cutting device 7, and the stock culm from the cutting device 7 is pinched and conveyed to the stock side to carry the stock. The transporting device 8 includes a transporting portion 8 that engages and transports on the tip side, and is transported rearward of the machine body and supplied to the transporting start end of the threshing feed chain 3 a of the threshing device 3. The threshing device 3 supplies the tip side to the handling chamber while nipping and transporting the root side of the harvested grain culm from the transporting device 8 by the threshing feed chain 3a, and handles the threshing by a rotating handling cylinder. The waste straw is carried out of the handling room by the threshing feed chain 3a. Threshing grains from the threshing apparatus 3 are transported to and stored in the grain tank 4 by a conveyor.

As shown in FIG. 2, the left crawler traveling device 1L has a front end connected to a front end of a support frame 12 provided on a body frame 11 of the body V via a front bell crank 17a. A track frame 16 that is long in the front-rear direction of the body of the vehicle body and has a rear end connected to the rear end of the frame 12 via a rear bell crank 17b and an auxiliary link 17b1, and a front end of the support frame 12 so as to be rotatable. A supported crawler drive sprocket 13 which is freely driven, and an upper rolling wheel 14a which is freely rotatably supported at an intermediate portion of the support frame 12 in the front-rear direction.
A ground rolling wheel 14 rotatably supported at a plurality of locations in the longitudinal direction of the track frame 16, and a crawler tension wheel 15 rotatably supported at a rear end of the track frame 16. , The plurality of rings 13, 14,
The endless crawler belt B made of rubber is wound around all of 14a and 15a.

A swinging part of the front bell crank 17a, which is rotatably extended integrally with the support frame 12 to the side opposite to the side where the track frame 16 is located, from the rotation support shaft part rotatably connected to the support frame 12. Free arm and support frame 1
The hydraulic and double-acting front cylinder C2 is attached to the cylinder bracket supported by the second bracket 2 and the rear frame 17b is connected to the support frame 12 by a rotatable shaft portion rotatably connected to the support frame 12. A hydraulic double-acting rear cylinder C3 is attached to a swingable arm portion that extends integrally and rotatably to the opposite side to the position and a cylinder bracket supported by the support frame 12. is there. That is, the front cylinder C2
Rotates the front bell crank 17a about the shaft center P2 with respect to the support frame 12, moves the front end of the track frame 16 up and down with respect to the body frame 11, and the rear cylinder C3 moves the rear bell crank 17b around the shaft center P2. The track frame 1 is rotated by rotating the support frame 12 around P3.
The rear end 6 is configured to be moved up and down with respect to the body frame 12.

The right crawler traveling device 1R has the same configuration as the left crawler traveling device 1L. In both the left crawler traveling device 1L and the right crawler traveling device 1R, the front cylinders C2 and C4 are connected to each other. By driving the rear cylinders C3 and C5, the track frame 12 is moved up and down with respect to the body frame 11 by the driving force of the front cylinders C2 and C4 and the rear cylinders C3 and C5.

As shown in FIG. 2, when the left and right front cylinders C2 and C4 are extended most and the left and right rear cylinders C3 and C5 are shortened most, the left and right traveling devices 1
The L and 1R track frames 16 are closest to the body frame 11 and are almost parallel. The attitude of the body main body V at this time is the lower-limit reference attitude.

As shown in FIG. 3, when the left and right front cylinders C2 and C4 are shortened while maintaining the left and right rear cylinders C3 and C5 as they are from the state of the lower limit reference posture, the left and right traveling devices are moved. The front ends of the 1L and 1R track frames 16 are lowered with respect to the body frame 11 from the rear ends. That is, the attitude of the body main body V is changed (a front ascent operation) in a direction in which the front side is separated from the grounding portions of the crawler traveling devices 1L and 1R. FIG.
As shown in the figure, when the left and right rear cylinders C3 and C5 are extended while maintaining the left and right front cylinders C2 and C4 as they are from the state of the lower limit reference posture, the tracks of the left and right traveling devices 1L and 1R are moved. The rear end of the frame 16 is lowered with respect to the body frame 11 from the front end. Crawler traveling device 1L, 1
The posture is changed (post-rise operation) in a direction away from the ground contact portion of R. As shown in FIG. 5, when the left and right front cylinders C2 and C4 are shortened and the left and right rear cylinders C3 and C5 are extended from the state of the lower limit reference posture, the left and right traveling devices 1L and 1R are moved. The track frame 16 is lowered substantially parallel to the body frame 11. The attitude of the body body V is changed (ascending operation) in a direction in which the body main body V is separated from the grounding portions of the traveling devices 1L and 1R while being kept in a parallel attitude.

The vertical distance between the track frame 16 and the body frame 11 in the left crawler traveling device 1L is
In the right crawler traveling device 1R, the hydraulic cylinders C2 to C5
Is operated, the attitude of the body body V is changed in the right-up direction with respect to the grounding portions of the traveling devices 1L and 1R (left tilt operation).

The vertical distance between the track frame 16 and the body frame 11 in the right crawler traveling device 1R is
In the left crawler traveling device 1L, the hydraulic cylinders C2 to C5
Is operated, the attitude of the body body V is changed in the left-up direction with respect to the grounding portions of the traveling devices 1L and 1R (right tilt operation).

Accordingly, the left front cylinder C2 (hereinafter, simply referred to as left front cylinder C2), the left rear cylinder C3 (hereinafter, simply referred to as left rear cylinder C3), and the right front cylinder C4 (hereinafter, simply referred to as left cylinder C3). Hereinafter, the right front cylinder C4) and the right rear cylinder C5 (hereinafter, simply referred to as the right rear cylinder C5) form a left-right inclination angle of the body main body V with respect to the grounding portions of the traveling devices 1L and 1R. Change operation means 100 for changing the front and rear inclination angle
Is composed. The left front cylinder C2 serves as a drive unit that acts to lift and lower the left front portion of the body body V, and changes and adjusts the height of the left front traveling devices 1L and 1R of the body body V with respect to the ground. I do.
The left rear cylinder C3 serves as a drive unit that acts to lift and lower the left rear portion of the body body V, and changes and adjusts the height of the left rear traveling devices 1L and 1R of the body body V with respect to the ground. The right front cylinder C4 serves as a drive unit that acts to move up and down the right front portion of the body body V, and changes and adjusts the height of the traveling devices 1L and 1R at the right front portion of the body body V with respect to the ground portion. . The right rear cylinder C5 serves as a driving means that acts to lift and lower the right rear portion of the body body, and changes and adjusts the height of the traveling devices 1L and 1R at the right rear portion of the body body with respect to the ground portion.

The hydraulic cylinders C2, C3, C4 are provided at positions corresponding to the rotation shafts of the bell cranks 17a, 17b in the left and right crawler traveling devices 1L, 1R based on the amount of rotation of the rotation shafts. , C5 (strokes of the hydraulic cylinders C2 to C5 when the hydraulic cylinders C2 to C5 extend and contract) are provided with potentiometer type stroke sensors 18, 19, 20, 21 as operation amount detecting means. Further, the body main body V includes a gravity type left / right inclination sensor 23 as left / right inclination detection means for detecting a left / right inclination angle with respect to the horizontal reference plane of the body main body V, and a forward / backward inclination of the body main body V with respect to the horizontal reference plane. A gravity-type front-rear inclination sensor 24 is provided as front-rear inclination detecting means for detecting an angle.

As shown in FIG. 6, detection information of each of the stroke sensors 18 to 21, the right and left tilt angle sensor 23, and the front and rear tilt angle sensor 24 is input to a control device 22 using a microcomputer provided in the body main body V. Have been. or,
The operation panel of the operation unit 2 is provided with a posture change switch unit SU shown in FIG. 7, a forward raising switch 40a and a rearward raising switch 40b.
Has been entered.

The posture change switch unit SU includes:
A left / right tilt angle setting device 25 for setting a right / left tilt angle with respect to a horizontal reference plane of the body main body V, a horizontal automatic switch 26 for turning on / off horizontal control (automatic rolling operation to be described later), a horizontal lamp 26a indicating an on / off state of the horizontal control, A front / rear automatic switch 27 for turning on / off control (automatic pitching operation to be described later), a front / rear lamp 27a indicating an on / off state of the front / rear control,
Raising reference switch 3 for switching the operation mode of the horizontal control and the front / rear control to an upper reference mode and a lower reference mode.
5, and a raising reference lamp 35a indicating that the operation mode is the upper limit reference mode.
6, a right-up switch 37a, a left-up switch 37b, a body-up switch 38a, and a body-down switch 38b are provided. Note that the posture control by a manual operation described later is executed in the lower limit reference mode.

When the operation tool 36 is tilted to the left, the right-up switch 37a is turned on to command a right-up operation (left tilt operation). When the operation tool 36 is tilted to the right,
The left-up switch 37b is turned on to issue a left-up operation (right tilt operation). When the operating tool 36 is tilted backward, the fuselage raising switch 38a is turned on to issue a command to raise the fuselage. When the operating tool 36 is tilted forward, the fuselage lowering switch 38b is turned on. Command to lower the aircraft.

The front raising switch 40a and the rear raising switch 40b are provided on the grip of the operating tool 36.
Then, when the forward raising switch 40a is turned on, a forward raising operation (rear tilting operation) of the aircraft is commanded, and the rear raising switch 40b is turned on.
Is turned on, a rear-up operation (front tilt operation) is commanded.

Therefore, if the right-up switch 37a, the left-up switch 37b, the front-up switch 40a, and the rear-up switch 40b are turned on, the operation is continued as long as the left-tilt operation command is issued. A command, a right tilt command, a front tilt command, and a rear tilt command constitute a manually operable attitude change command unit 300.

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, the 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 by the set angle to the left tilt direction. When the right tilt switch 25c is pressed, the currently set left / right tilt angle is corrected by the set angle in the right tilt direction.

On the other hand, the control device 22 outputs drive signals to the electromagnetic control valves 29 to 32 for controlling the four body attitude changing hydraulic cylinders C2 to C5, respectively. The control signal for the drive unit of the electronic buzzer BZ provided in is provided.

A control means 200 for controlling the operation of the attitude changing operation means 100 is constructed by utilizing the control device 22, and the control means 200 is provided for the main body of the four hydraulic cylinders C2 to C5. Two hydraulic cylinders (left front cylinder C2 and left rear cylinder C3) acting separately on the left front part and left rear part of V, and two hydraulic cylinders (right front cylinder) acting separately on the right front part and right rear part Cylinder C4
And the right rear cylinder C5) in a state where the driving of one of the two hydraulic cylinders C2 to C5 is stopped, and the other two hydraulic cylinders C2 to C5 are driven to perform a rolling operation. Of the hydraulic cylinders C2 to C5,
Acting separately on the left front part and the right front part of the body V
Hydraulic cylinders (left front cylinder C2 and right front cylinder C
4) and two hydraulic cylinders (left rear cylinder C3 and right rear cylinder C5) acting separately on the left rear part and the right rear part.
With one of the two hydraulic cylinders C2 to C5 stopped driving, the other two hydraulic cylinders C2 to C5
5 is configured to be able to execute a pitching operation for driving and operating the actuator 5.

As a control form in which the control means 200 executes the rolling operation and the pitching operation, 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 control means 200 sets the left-right tilt angle of the body main body V by the left-right tilt angle setting device 25 based on the detection information of the right-left tilt angle sensor 23 as the rolling operation. Perform the automatic rolling operation to maintain the set left and right inclination angle,
As the pitching operation, the front-rear inclination angle sensor 24
The automatic pitching operation for maintaining the body main body V in a horizontal posture in the front-rear direction of the body based on the detection information is performed. The execution of the automatic rolling operation is instructed when the horizontal automatic switch 26 is on, and the execution of the automatic pitching operation is instructed when the front / rear automatic switch 27 is on. When the execution of the automatic rolling operation and the execution of the automatic pitching operation are simultaneously instructed, the automatic pitching operation is executed after giving priority to the automatic rolling operation.

In the case of manual control, the control means 200
However, when a left tilt command (right-up command) is issued as the rolling operation based on the command information of the attitude change command means 300, the left / right tilt angle of the body body V is changed to the left tilt side and , Right tilt command (Left up command)
Is executed, a manual rolling operation for changing the left-right inclination angle of the body main body V to the right-incline side is executed, and as the pitching operation, a forward inclination command (based on command information of the attitude change command means 300). When the rear body tilting command is issued, the front / rear tilt angle of the body main body V is changed to the front tilt side, and when the rear tilt command (body front raising command) is commanded, the front / rear tilt angle of the body main body V is changed. It is configured to execute a manual pitching operation for changing to the backward inclined side.

The control means 200 operates the four hydraulic cylinders C2 to C5 at the same time when the ascending command is issued by the body lifting switch 38a, thereby controlling the body of the traveling devices 1L and 1R with respect to the ground portion. When the height of the main body V is raised and a lowering command is issued by the body lowering switch 38b, the four hydraulic cylinders C2
To C5 are simultaneously operated to perform a parallel up-down operation of lowering the height of the body main body V with respect to the ground portions of the traveling devices 1L and 1R. The manual rolling operation, the manual pitching operation, and the parallel up / down operation are performed prior to the automatic rolling operation and the automatic pitching operation.

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

On the other hand, in the case of the pitching operation, the left rear cylinder C3 and the right rear cylinder C5 are maintained as they are from the state of the lower limit reference posture (FIG. 2).
When the front left cylinder C2 and the front right cylinder C4 are simultaneously shortened, the front side of the machine body V rises with respect to the respective grounding portions of the left and right crawler traveling devices 1L and 1R, and changes its posture to the rearwardly inclined posture. . Further, from the state of the lower limit reference posture, the left front cylinder C2 and the right front cylinder C4
When the left rear cylinder C3 and the right rear cylinder C5 are simultaneously extended while maintaining the same, the rear side of the body body V rises with respect to the respective grounding portions of the left and right crawler traveling devices 1L and 1R. The posture changes to the forward leaning posture. In this manner, the vehicle body V is connected to the traveling device 1.
The pitching operation of inclining in the front-rear direction with respect to the L, 1R contact portions can be performed.

Although the description of the rolling operation and the pitching operation in the upper limit reference mode is omitted,
In the left and right crawler traveling devices 1L and 1R, the operating direction of each of the cylinders C2 to C5 is changed from the posture state in which the body body V is farthest away from the grounding portion while keeping the parallel state to the ground contact portion (see FIG. 5). The operation is performed by operating in the direction opposite to the operation direction in the operation and the pitching operation.

During the execution of either the rolling operation or the pitching operation, the attitude control means 200
Based on the detection information of the stroke sensors 18 to 21, the two hydraulic cylinders C2 to C
In response to the detection that one of the five has reached the end position of the drive operable range, the execution of any of the rolling operation and the pitching operation being executed is stopped, and then the operation is stopped. When the execution of any one of the rolling operation and the pitching operation is instructed, the drive is performed in a state where the hydraulic cylinders C2 to C5 reaching the end positions of the drive operable range are held at the end positions. It is configured to execute a terminal reaching operation for causing the other hydraulic cylinders C2 to C5 that have not reached the terminal position of the operable range to reach the terminal position. The end positions of the drive operable ranges of the hydraulic cylinders C2 to C5 specifically correspond to the upper limit position and the lower limit position of the entire stroke of each hydraulic cylinder C2 to C5.

Then, depending on whether the control means 200 is executing the attitude change control by manual control or the automatic change control, the above-mentioned terminal arrival operation is performed as follows. Is executed. In the case of manual control, the attitude control means 200 determines that one of the two hydraulic cylinders C2 to C5 that is being driven has reached the end position of its drive operable range, and the manual rolling is performed. After stopping the execution of any one of the operation and the manual pitching operation, the posture change instruction means 300 causes the same direction as the operation direction before the stop of the stopped manual rolling operation or manual pitching operation. When the tilt operation command is continuously issued for a set time (for example, 1.5 seconds) or longer, it is determined that the continuation of the execution is instructed, and the terminal reaching operation is executed. I have.

In the case of automatic control, the attitude control means 2
00 are the two hydraulic cylinders C2
After any one of C5 to C5 reaches the end position of the drive operable range, the execution of any of the automatic rolling operation and the automatic pitching operation is stopped. When the tilting operation command in the same direction as the operation direction before stopping any of the stopped automatic rolling operation and the automatic pitching operation is instructed, it is determined that the continuation of the execution has been instructed, and It is configured to execute an end reaching operation.

More specifically, in the case of manual control, for example, as shown in FIG. 9 (a), when the traveling machine V is in the leftward tilting state, the rear-up switch 40b is used. When executing a manual pitching operation in which a rearward raising command is issued to change the aircraft attitude to the rearwardly raised state, as shown in FIG. Of the rear cylinder C3 and the right rear cylinder C5, the right rear cylinder C5 reaches the upper limit position first, and the manual pitching operation stops. Therefore, the set time (for example, 1.5
When the rear-up command is issued continuously for more than 2 seconds), the manual pitching operation is restarted, and as shown in FIG.
The left rear cylinder C3 and the right rear cylinder C5 are both operated so as to reach the upper limit position, and the body posture can be changed to the end position in the rear-up direction. Note that a, a0 in FIG.
Indicates the height of the body main body V at the left front end. b, b1,
b2 indicates the height at the left rear end of the body V. c, c
0 indicates the height of the body main body V at the right front end. d, d2
Indicates the height at the right rear end of the body V.

When the rolling operation and the pitching operation are performed by manual control, the control means 200 controls the two hydraulic cylinders C2 that are being driven based on the detection information of the stroke sensors 18 to 21. ~ C
5 is detected to have reached the end position of the drive operable range, the two hydraulic cylinders C2 to C5 that have been driven as described above are associated with this detection.
In addition to stopping the drive operation, the electronic buzzer BZ is operated to notify that one of the two hydraulic cylinders C2 to C5 that have been driven has reached the end position of the drive operable range. It is configured to execute the notification operation.

Next, the attitude control operation and the notification operation by the control device 22 will be described with reference to the flowcharts of FIGS. As shown in FIG. 10, first, it is determined whether or not a manual operation command (horizontal inclination, front and rear inclination, vertical up and down) has been issued, and if a manual operation instruction has been issued, a manual attitude control process is executed. If the manual operation command has not been issued, the horizontal automatic switch 26 and the front / rear automatic switch 27
When only the horizontal automatic switch 26 is turned on, only the automatic rolling operation is executed, and when both are turned on, the automatic rolling operation is executed first with priority, and then the automatic rolling operation is executed. Execute the pitching operation.

As shown in FIG. 11, in the manual attitude control process, if a left-up command is issued by the left-up switch 37b as a left-right command, a right-inclination process is executed, and a right-up switch 37a is used. If the command to raise is given, a left tilt process is executed. As the forward / backward tilt command, if the rearward raising switch 40b instructs the rearward raising, the front tilting process is executed. If the frontward raising switch 40a instructs the frontward raising, the rearward tilting process is executed. As a vertical up / down command, if the body raising switch 38a is instructed to raise the body, the body lifting process is executed. If the body lowering switch 38b is commanded to lower the body, the body lowering process is executed.

As shown in FIG. 12, in the right tilting process, 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 and 21 on the right side of the machine. It is determined whether or not both cylinders C4 and C5 are not operated to the lower limit positions, the right front cylinder C4 is extended and the right rear cylinder C5 is shortened. When it is determined that one of the right front cylinder C4 and the right rear cylinder C5 has been operated to the lower limit position based on the detection information of the stroke sensors 20, 21, the driving operation of the right front cylinder C4 and the right rear cylinder C5 is stopped. At the same time, the electronic buzzer BZ for notifying that the cylinders C4 and C5 have reached the end position is operated. When a command to raise the left is issued after stopping the driving operation of the right front cylinder C4 and the right rear cylinder C5, in this case, the left front cylinder C2 and the left front cylinder C2 are determined based on the detection information of the front and rear stroke sensors 18 and 19 on the left side of the fuselage. It is determined whether one of the left rear cylinders C3 has been operated to the upper limit position, and both cylinders C2, C3
Are not operated to the upper limit position, the left front cylinder C2 is shortened and the left rear cylinder C3 is extended until one of the left front cylinder C2 and the left rear cylinder C3 reaches the upper limit position.

Next, while the cylinders C2 to C5 are stopped, if the left-up operation is instructed continuously for a set time (1.5 seconds) or more, the right front cylinder C4 and the right rear cylinder C4
The cylinder which has not reached the lower limit position is driven to the lower limit position while the cylinder which has reached the lower limit position of the stroke among the cylinders 5 is driven to the lower limit position (for example, if the right front cylinder C4 has reached the lower limit position). For example, the right rear cylinder C5 is shortened). At the same time, the cylinder that has not reached the upper limit position is driven to the upper limit position while the cylinder that has reached the upper limit position of the stroke of the front left cylinder C2 and the rear left cylinder C3 is maintained at the upper limit position (for example, If the cylinder C2 has reached the upper limit position, the left rear cylinder C3 is extended.

As shown in FIG. 13, in the left tilting process, 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. It is determined whether or not both cylinders C2 and C3 are not operated to the lower limit positions, the left front cylinder C2 is extended and the left rear cylinder C3 is shortened. When it is determined that one of the left front cylinder C2 and the left rear cylinder C3 has been operated to the lower limit position based on the detection information of each of the stroke sensors 18 and 19, the driving operation of the left front cylinder C2 and the left rear cylinder C3 is stopped. , Cylinder C
2, the electronic buzzer BZ for notifying that the C3 has reached the end position is operated. If a command to raise the right is issued after stopping the driving operation of the left front cylinder C2 and the left rear cylinder C3, in this case, the right front cylinder C is determined based on the detection information of the front and rear stroke sensors 20 and 21 on the right side of the fuselage.
4 and the right rear cylinder C5 are determined to have been operated to the upper limit position. If neither of the cylinders C4 and C5 has been operated to the upper limit position, the right front cylinder C4 and the right rear cylinder C5 are not operated. Until either of them reaches the upper limit position, the front right cylinder C4 is shortened and the rear right cylinder C5 is extended.

Next, while the cylinders C2 to C5 are stopped, if the right-up operation is instructed continuously for a set time (1.5 seconds) or more, the left front cylinder C2 and the left rear cylinder C2 are commanded.
The cylinder which has not reached the lower limit position is driven to the lower limit position while holding the cylinder which has reached the lower limit position of the stroke among the cylinders 3 (for example, if the front left cylinder C2 has reached the lower limit position). For example, the left rear cylinder C3 is shortened). At the same time, the cylinder that has not reached the upper limit position is driven to the upper limit position while the cylinder that has reached the upper limit position of the stroke of the right front cylinder C4 and the right rear cylinder C5 is maintained at the upper limit position (for example, If the cylinder C4 has reached the upper limit position, the right rear cylinder C5 is extended.

As shown in FIG. 14, in the front tilting process, one of the left front cylinder C2 and the right front cylinder C4 is operated to the lower limit position based on the detection information of the left and right stroke sensors 18 and 20 on the front side of the fuselage. It is determined whether or not both cylinders C2 and C4 have been operated to the lower limit positions.
4 is extended. The left front cylinder C2 and the right front cylinder C based on the detection information of the respective stroke sensors 18 and 20.
4 is operated to the lower limit position, the drive operation of the left front cylinder C2 and the right front cylinder C4 is stopped, and the electronic buzzer BZ for notifying that the cylinders C2 and C4 have reached the end positions is activated. Activate. If the rearward movement is commanded after stopping the driving operation of the left front cylinder C2 and the right front cylinder C4, in this case, the left rear cylinder C3 is determined based on the detection information of the left and right stroke sensors 19 and 21 on the rear side of the fuselage. And right rear cylinder C
It is determined whether or not any one of the cylinders C5 and C5 is operated to the upper limit position. If neither of the cylinders C3 and C5 is operated to the upper limit position, one of the left rear cylinder C3 and the right rear cylinder C5 is operated to the upper limit position. Until the position is reached, the left rear cylinder C3 and the right rear cylinder C5 are extended.

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

As shown in FIG. 15, in the rear tilting process, one of the left rear cylinder C3 and the right rear cylinder C5 is set 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 body. It is determined whether or not both of the cylinders C3 and C5 have been operated to the lower limit positions, and if the both cylinders C3 and C5 have not been operated to the lower limit position, the left rear cylinder C3 and the right rear cylinder C
5 is shortened. The left rear cylinder C3 and the right rear cylinder C based on the detection information of the stroke sensors 19 and 21.
5 is determined to have been operated to the lower limit position, when the drive operation of the left rear cylinder C3 and the right rear cylinder C5 is stopped, the electronic control unit notifies that the cylinders C3 and C5 have reached the end positions. Activate the buzzer BZ. When the forward raising is commanded after the driving operation of the left rear cylinder C3 and the right rear cylinder C5 is stopped, in this case, the left front cylinder C2 is detected based on the detection information of the left and right stroke sensors 18 and 20 on the front side of the fuselage. And right front cylinder C
4 is operated at the upper limit position, and if neither of the cylinders C2 and C4 is operated at the upper limit position, one of the left front cylinder C2 and the right front cylinder C4 is operated at the upper limit position. , The front left cylinder C2 and the front right cylinder C4 are shortened.

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

[Another Embodiment] Next, another embodiment will be described. In the above embodiment, the traveling device is constituted by the pair of left and right crawler traveling devices 1L and 1R. However, the invention 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 driving means C2 to C5 constituting the attitude changing operation means 100 are constituted by hydraulic cylinders. However, the present invention is not limited to this. Other driving means may be used.

In the above embodiment, the combine vehicle is exemplified as the work vehicle. However, the work vehicle is not limited to the combine, but may be another agricultural work vehicle such as a seedling transplanter or a tractor.
It may be a construction work vehicle or a work vehicle for civil engineering.

[Brief description of the drawings]

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

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

FIG. 3 is a side view showing a lifting operation configuration of the traveling device.

FIG. 4 is a side view showing an elevating operation configuration of the traveling device.

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

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

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

FIG. 8 is a front view showing a rolling operation state.

FIG. 9 is a perspective view illustrating an end reaching operation.

FIG. 10 is a flowchart showing a control operation.

FIG. 11 is a flowchart showing a control operation.

FIG. 12 is a flowchart showing a control operation.

FIG. 13 is a flowchart showing a control operation.

FIG. 14 is a flowchart showing a control operation.

FIG. 15 is a flowchart showing a control operation.

[Explanation of symbols]

 1L, 1R Traveling device 18-21 Operation amount detection means 23 Left-right inclination angle detection means 24 Front-rear inclination angle detection means 100 Attitude change operation means 200 Attitude control means 300 Attitude change command means C2-C5 Drive means V Body main body

Claims (4)

[Claims] 1. An attitude change operation means for freely changing an inclination angle of a body with respect to a ground portion of a traveling device; a manual attitude change command means for instructing an inclination change command of the body, and the attitude change command. Control means for performing a posture change control for controlling the operation of the posture change operation means based on command information of the means, wherein the posture change operation means comprises: A plurality of drive means are provided, each of which is capable of individually changing and adjusting the height of the traveling device with respect to the grounding portion at each end of the body of the body in the inclination angle changing direction, and the amount of drive operation of each drive means Is provided, and the control means controls the one of the plurality of drive means acting on one end of the body main body in the tilt angle changing direction as the attitude change control. In a state in which the driving operation of the means is stopped, a posture changing operation of driving the driving means acting on the other end of the body body in the inclination changing direction in the direction of the inclination changing command by the posture changing command means is executed. When it is determined based on the detection information of the operation amount detection means that the drive means acting on the other end in the tilt angle change direction has reached the end position of the drive operable range, the tilt is determined. The drive operation of the drive unit acting on the other end in the angle change direction is stopped, and the notification that the drive unit acting on the other end in the inclination angle change direction has reached the end position of the drive operable range is notified. A work vehicle attitude control device configured to perform an operation. 2. The method according to claim 1, wherein, in the attitude change control, after the driving operation of the driving means acting on the other end in the inclination angle changing direction is stopped, the control means is the same as a tilt change command before the driving operation is stopped. When a tilt change command is issued by the attitude change command means, the drive unit acting on the other end in the tilt angle change direction is held at the end position of the drive operable range, and the tilt angle is changed. 2. The work vehicle attitude control device according to claim 1, wherein the drive means acting on one end of the change direction is driven in the direction of the inclination change command by the attitude change command means. 3. The apparatus according to claim 1, wherein the attitude changing operation means includes a plurality of driving means, each of a left front part, a left rear part, a right front part, and a right rear part of the traveling body with respect to a ground contact part of the traveling body. It is configured to include four drive units each of which can be individually changed and adjusted in height, wherein the control unit simultaneously drives and operates two of the four drive units in the posture change control. Then, when one of the two drive units that are simultaneously driven to operate reaches the end position of the drive operable range, the second
The driving operation of the two driving units is stopped, and the notifying operation of notifying that one of the two driving units that are simultaneously driven and operated reaches the end position of the driving operable range is executed; and After stopping the driving operation of the two driving units, if the same inclination changing instruction as the inclination changing instruction before the driving operation of the two driving units is stopped is issued by the posture changing instruction unit, In the state in which, among the two driving means that have been driven, the driving means that has reached the end position of the drive operable range is held at the end position,
3. The work vehicle according to claim 1, wherein the work vehicle is configured to perform an end reaching operation of driving a drive unit that has not reached the end position of the drive operable range to reach the end position of the drive operable range. Attitude control device. 4. The apparatus according to claim 1, wherein the attitude change command means includes: a left tilt command, a right tilt command,
The control means is configured to instruct each of a front tilt command and a rear tilt command. When the left tilt command and the right tilt command are commanded as the attitude change control,
Of the two driving means, two driving means acting on the left front part and the left rear part, and two driving means acting on the right front part and the right rear part.
In a state in which one of the two driving units is stopped, a rolling operation for simultaneously driving and operating the other two driving units is performed, and the front tilt command and the rear tilt command are executed. When instructed, any one of the two driving means acting on the left front part and the right front part and the two driving means acting on the left rear part and the right rear part among the four driving means 4. The work vehicle attitude control device according to claim 3, wherein the driving device is configured to perform a pitching operation of simultaneously driving and operating the other two driving devices while the two driving devices are stopped.