JP2009072146A - Attitude controller of working vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To precisely carry out returning to a reference state after changing the tilt angle of a car body relatively to a traveling device in a state of little trouble in operation. <P>SOLUTION: A posture controller of a working vehicle is obtained as follows: A posture control means 200 for controlling the operation of attitude changing operation means 100 for freely performing operation to change the attitude of the car body relatively to a grounding part of the traveling device is constituted so as to operate the posture changing operation means 100 on the basis of an attitude changing command when the posture changing command is issued with attitude changing command means 400 and stop the operation when the issue of the command is completed. When a reference state command is issued with a reference state command means 64, the operation of the attitude changing operation means 100 is started so as to provide the reference state. The operation of the attitude changing operation means 100 is controlled in the form to continuously operate the attitude changing operation means 100 until the reference state is reached even after completing the issue of the attitude changing command. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention can change the posture of the vehicle body with respect to the grounding portion of the traveling device by changing the height of the traveling device with respect to the grounding portion at each of the left front portion, left rear portion, right front portion and right rear portion of the vehicle body. Switchable between a command state for commanding a posture change command for changing the posture of the vehicle body relative to the grounding portion of the traveling device and a non-command state for not commanding the posture change command. A manually operated posture change command means to be urged and a posture control means for controlling the operation of the posture change operation means are provided, and the posture control means receives the posture change command by the posture change command means. When the command is issued, the posture change operation means is operated to change the posture of the vehicle body with respect to the grounding portion of the traveling device based on the posture change command, and the command of the posture change command is completed. Serial on the work vehicle attitude control device is configured to perform a manual posture changing processing for stopping the operation of the attitude change operation means.

In the above-described work vehicle attitude control device, as a device applied to a combine which is an example of a work vehicle, there has been conventionally configured as follows.
That is, the posture changing operation means is configured to be able to change and adjust the height with respect to the grounding portion of the traveling device at each of the left front portion, the left rear portion, the right front portion and the right rear portion of the vehicle body. As change command means, a right tilt command switch for commanding right tilt processing, a left tilt command switch for commanding left tilt processing, a front tilt command switch for commanding front tilt processing, a rear tilt command switch for commanding rear tilt processing, A fuselage lowering switch for instructing a lowering process for simultaneously lowering the left front part, left rear part, right front part and right rear part of the vehicle body to the grounding part of the traveling device, and the left front part, left rear part and right front part of the vehicle body And a body raising switch for instructing an ascent process for simultaneously raising the rear part and the right rear part with respect to the grounding part of the traveling device. The has a configuration to perform a manual posture changing processing to perform the corresponding attitude change operation based.

  Each switch is urged to return to an off state and switched to an on state by manual operation. When the manual operation is released, the switch is turned off. That is, the posture control means performs the right tilt process only while the right tilt command switch is turned on, performs the left tilt process only while the left tilt command switch is turned on, and the front tilt command switch. The forward tilt process is executed only while the rear tilt command switch is turned on, the rear tilt process is executed only while the rear tilt command switch is turned on, and the lift process is executed only while the aircraft lift switch is turned on. The posture changing operation means is controlled so as to execute the lowering process only while the body lowering switch is turned on (see, for example, Patent Document 1).

JP 2002-204613 A

  The conventional configuration described above is, for example, when performing a cutting operation by running a vehicle body in a farm field, performing an operation of discharging the grain stored in the culm storage unit, or performing an inspection operation, etc. When changing the inclination angle of the vehicle body with respect to the grounding part of the traveling device, or when the field is a soft paddy field, etc. In order to prevent the cutting device from being buried in the mud and the cutting part from being buried in the soil, the entire body is raised so that the cutting operation can be performed. Based on this, the posture of the vehicle body can be changed as appropriate.

  And, for example, when the whole vehicle body is greatly raised with the airframe raising switch and the mowing work is carried out in the field, or the inspection work while the vehicle body is stopped with the vehicle body largely inclined with respect to the ground. In the case where the vehicle body is moved to another place or over the ridge to get out of the field after those operations are completed, the left front part and the left rear part of the vehicle body The reference state in which the height of the traveling device with respect to the grounding portion is the lowest in each of the right front part and the right rear part, in other words, if the traveling road surface is flat, the vehicle body is horizontal or substantially horizontal with respect to the traveling road surface. By switching to the posture of the vehicle body, the work vehicle is moved to another work while traveling.

  However, in the above conventional configuration, when returning the vehicle body to the reference state, the operator must continue to manually operate the airframe lowering switch until the vehicle body reaches the reference state, and the vehicle body returns to the reference state. Until then, since the hand cannot be released from the airframe lowering switch, there is a disadvantage in that it is not possible to proceed to the next work, which is a troublesome operation. If the operation of the airframe lowering switch is stopped in the middle of the operation and the operation is shifted to the next operation, the vehicle body may not be lowered sufficiently, which may make the running state unstable and difficult to perform the maneuvering operation. is there.

  It is an object of the present invention to return the posture of the vehicle body to the grounding portion of the traveling device to the reference state after changing the posture of the vehicle body with respect to the traveling device according to a command from the manually operated posture change command means. The object is to provide an attitude control device for a work vehicle that can be accurately performed in a small state.

  The work vehicle attitude control device according to the present invention is configured such that the height of the traveling device with respect to the grounding portion is changed at each of the left front portion, the left rear portion, the right front portion, and the right rear portion of the vehicle body. Switching between a posture changing operation means that can freely change the posture of the vehicle body with respect to the vehicle, a command state that commands a posture change command that changes the posture of the vehicle body with respect to the grounding portion of the traveling device, and a non-command state that does not command the posture change command A manually operated attitude change command means that is freely urged to return to a non-command state and an attitude control means that controls the operation of the attitude change operation means are provided, and the attitude control means is provided with the attitude change command. When the attitude change command is commanded by the means, the attitude change operation means is operated to change the attitude of the vehicle body with respect to the grounding portion of the traveling device based on the attitude change command, and the attitude When a further command is completed, a manual posture changing process for stopping the operation of the posture changing operation means is executed, and the first characteristic configuration includes a left front portion and a left rear portion of the vehicle body. , A command state for instructing a reference state command for commanding a posture change to a reference state in which the height of the traveling device with respect to the ground contact portion is the lowest in each of the right front part and the right rear part, and a non-command state in which the reference state command is not commanded Manual operation type reference state command means that can be switched to and returned to a non-command state is provided, and when the reference state command is commanded by the reference state command means, the posture control means is commanded. Based on the reference state command, the posture changing operation means is started so as to be in the reference state, and the posture is changed until the reference state is obtained after the posture change command is finished. Further operating means in the form of operating continuously, in that it is configured to perform a reference state return processing for controlling the operation of the posture change operation means.

According to the first characteristic configuration, when the posture change command is commanded by the posture change command means, the posture of the vehicle body with respect to the grounding portion of the traveling device is changed, and when the posture change command is finished, the posture change is performed at that time. Although the operation of the operation means is stopped, for example, the vehicle body may be inclined with respect to the ground, or the vehicle body may be raised with respect to the grounding portion of the traveling device.
When returning from such a state to the reference state where the height of the traveling device with respect to the grounding portion is the lowest at the left front part, left rear part, right front part and right rear part of the vehicle body, the operator sets the reference state command means. A posture change command is issued by the posture change command means by manual operation.

  Then, the posture control means starts the operation of the posture change operation means so as to be in the reference state based on the reference state command, and after the command of the posture change command is finished, the posture control means is changed to the reference state. The reference state return process for controlling the operation of the posture changing operation means is executed in such a manner that the posture changing operation means is continuously operated until the time becomes. After starting the operation of the posture change operation means in this way, the operation of the posture change operation means is controlled in such a manner that the posture change operation means is continuously operated until the reference state is reached after the command of the posture change command is finished. Will do.

  That is, after the operator manually operates the reference state command means and the reference state command is once commanded, the operator releases the reference state command means and the reference state command means switches to the non-command state. Also, the posture changing operation means is continuously operated until the reference state is reached.

  As a result, the operator manually operates the reference state command means to once give the reference state command, and then releases the reference state command means, for example, starts another traveling of the work vehicle. Since it is possible to shift to work, there is no troublesome operation, and since the posture changing operation means continues to operate until the reference state is reached, it can be accurately returned to the reference state.

  Therefore, according to the first characteristic configuration, after the posture of the vehicle body with respect to the traveling device is changed by a command of the manually operated posture change command means, the posture of the vehicle body with respect to the grounding portion of the traveling device is returned to the reference state. Thus, it has become possible to provide an attitude control device for a work vehicle that can be accurately performed with less troublesome operation.

In addition to the first feature configuration, the second feature configuration of the present invention is a tilt angle detecting means for detecting a tilt angle with respect to the horizontal reference plane of the vehicle body, and a target tilt angle setting for setting a target tilt angle with respect to the horizontal reference plane of the vehicle body. Means, and
The posture control means is
The operation of the posture changing operation means is controlled so that the inclination angle with respect to the horizontal reference plane of the vehicle body detected by the inclination angle detection means is maintained at the target inclination angle preset by the target inclination angle setting means. The automatic entry mode for executing automatic posture change control, and the reference based on the manual posture change operation processing based on the command of the posture change command means and the command of the reference state command means without executing the automatic posture change control It is configured to be switchable to an automatic cut mode for executing state return processing, and
When the reference state command is instructed by the reference state instruction means in the automatic entering mode, the inclination angle with respect to a horizontal reference plane is zero or substantially zero as the target inclination angle without executing the reference state return processing. Configured to set a target tilt angle for horizontal
The reference state command means is also used as the target tilt angle setting means.

  According to the second characteristic configuration, when the posture control means is switched to the automatic cut mode, based on the manual posture change operation process based on the command of the posture change command means and the command of the reference state command means as described above. The reference state return process is executed.

  When the attitude control means is switched to the automatic entry mode, the inclination angle with respect to the horizontal reference plane of the vehicle body is automatically maintained at the target inclination angle by executing the automatic attitude change control. Further, in this automatic entry mode, when the reference state command is instructed by the reference state instruction means, the inclination angle with respect to the horizontal reference plane is zero or zero as the target inclination angle without executing the reference state return processing. The horizontal target inclination angle that is substantially zero is set. As described above, in the automatic cutting mode, the reference state command means also serves as the target inclination angle setting means.

  Therefore, according to the second feature configuration, by changing between the automatic entry mode and the automatic turn-off mode according to the difference in the work situation, the operation of changing the inclination angle of the vehicle body with respect to the grounding portion of the traveling device in a state suitable for the work situation. While being able to do this, the reference state command means and the target inclination angle setting means are combined, so that the configuration of the work vehicle can be simplified by sharing the members. I was able to provide.

  According to a third feature configuration of the present invention, in addition to the first feature configuration or the second feature configuration, the posture change commanding unit and the reference state commanding unit are grips of an operation lever for steering provided in a driving unit of a vehicle body. This is in that it can be operated with fingers.

  According to the third characteristic configuration, the posture change commanding unit and the reference state commanding unit are provided in a gripping part of a control lever for steering provided in a driving part of a vehicle body so that a finger can be operated. The person can command the posture change command and the reference state command by finger operation without releasing his hand from the operation lever while performing a steering operation of the vehicle body.

  Therefore, according to the third feature configuration, it is possible to provide an attitude control device for a work vehicle capable of instructing the attitude change command and the reference status command with less troublesome operation.

  According to a fourth feature configuration of the present invention, in addition to any of the first feature configuration to the third feature configuration, as the posture change command means, a left front portion, a left rear portion, a right front portion, and a right rear portion of the vehicle body, respectively. And an ascending command unit for commanding the ascending process to simultaneously raise the grounding unit of the traveling device, and a left front portion, a left rear portion, a right front portion, and a right rear portion of the vehicle body with respect to the grounding portion of the traveling device. And a descending command unit that commands a descending process to descend simultaneously, and when the attitude control means commands the ascending process by the ascending command unit, the ascending process is performed only while the ascending process is commanded. When the descent process is commanded by the descent command unit, the descent process is executed only while the descent process is commanded.

  That is, according to the fourth feature configuration, when the ascending process is commanded by the ascending command unit, the ascending process is executed only while the ascending process is commanded, and the descending command unit performs the descending process. When instructed, the descending process is executed only while the descending process is instructed. Therefore, depending on the driver's intention, the left and right rear parts, the right rear part and the right rear part of the vehicle body The height of the vehicle body can be changed to a desired height by simultaneously raising or lowering the height relative to the ground contact portion.

  Therefore, according to the fourth feature configuration, for example, a work vehicle that is easy to use, such as performing a lifting process so that the cutting unit is not buried in the soil and raising the entire vehicle body so that the cutting operation can be performed. The attitude control device can be provided.

Hereinafter, a case where an embodiment of the present invention is applied to a combine as an example of a work vehicle will be described with reference to the drawings.
As shown in FIG. 1, the combine includes a pair of left and right crawler type traveling devices 1 </ b> L and 1 </ b> R, a threshing device 3 that threshs the harvested cereal, a grain tank 4 that stores the threshed grain, and a boarding operation unit 2. The harvesting part 10 which harvests planted cereals such as rice and wheat and supplies it to the threshing device 3 with respect to the vehicle body V provided with the above and the like is configured to be movable up and down.

  The cutting unit 10 includes a weeding tool 6 provided at the tip, a pulling device 5 that causes a planted culm that has been weeded by the weeding tool 6, and a clipper type that cuts the stock side of the induced culm. The cutting blade 7 and the vertical conveying device 8 that conveys the harvested cereal rice cake to the rear side while gradually changing the posture to the horizontal position, and the hydraulic cutting cylinder around the horizontal axis P1 in the front of the vehicle body It is provided to be swingable up and down by C1.

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

The combine is provided with posture changing operation means 100 that can freely change the front-rear inclination angle and the left-right inclination angle of the vehicle body V with respect to the grounding portions of the left and right traveling apparatuses 1L, 1R. Hereinafter, the configuration will be described.
First, a structure for attaching the left and right traveling devices 1L and 1R to the vehicle body V will be described. Since the left and right traveling apparatuses 1L and 1R have the same configuration, the left traveling apparatus 1L will be described below, and the description of the right traveling apparatus 1R will be omitted.

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

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

  When the hydraulic cylinder C2 (hereinafter referred to as the left front cylinder) corresponding to the front bell crank 17a is most extended and the hydraulic cylinder C3 (hereinafter referred to as the left rear cylinder) corresponding to the rear bell crank 17b is most shortened, FIG. As shown, the track frame 16 is received and supported by the support frame 12, and the track frame 16 comes closest to the main frame 11 and becomes substantially parallel.

Then, from the state shown in FIG. 2, when the left front cylinder C2 is shortened while maintaining the left rear cylinder C3 as it is, the front side of the vehicle body V is separated from the grounding portion as shown in FIG. The posture will be changed in the direction to do.
When the left rear cylinder C3 is extended while maintaining the left front cylinder C2 as it is from the state shown in FIG. 2, the rear side of the vehicle body V is moved away from the grounding portion as shown in FIG. The posture will be changed.
In addition, when the left front cylinder C2 is shortened and the left rear cylinder C3 is extended from the state shown in FIG. 2, the vehicle body V is separated from the grounding portion in a parallel posture as shown in FIG. The posture will change in the direction.

Similarly to the left traveling device 1L, the right traveling device 1R includes a right front cylinder C4 located on the front side of the fuselage and a right rear cylinder C5 located on the rear side of the fuselage. A similar operation is performed.
Accordingly, the posture changing operation means 100 can change and adjust the height of the left and right traveling devices 1L and 1R with respect to the grounding portion at the left front, left rear, right front, and right rear in the vehicle body V, respectively. The four hydraulic cylinders C2 to C5 for changing the attitude of the airframe are provided as four driving means.

  When the left and right traveling devices 1L and 1R are in the state shown in FIG. 2, respectively, the lower limit reference posture as a reference state in which the inclination angle of the vehicle body V with respect to the grounding portion of the traveling devices 1L and 1R is zero or substantially zero. Become. 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 in this lower limit reference posture, the track frames 16 of the left and right traveling apparatuses 1L and 1R The front end side is lowered with respect to the body frame 11 from the rear end side. In other words, the posture of the vehicle body V is changed (forward lifting operation) in a direction in which the front side is separated from the grounding portions of the traveling devices 1L and 1R.

  Further, 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 track frames 16 of the left and right traveling apparatuses 1L and 1R are moved. The rear end side is lowered with respect to the body frame 11 from the front end side. The posture of the vehicle body V is changed (rearward raising operation) in a direction in which the rear side is separated from the grounding portions of the traveling devices 1L and 1R.

  Further, when the left and right front cylinders C2 and C4 are shortened and the left and right rear cylinders C3 and C5 are extended and operated from the lower limit reference posture, the track frames 16 of the left and right traveling devices 1L and 1R are moved to the fuselage. The state descends substantially parallel to the frame 11. The posture of the vehicle body V is changed (lifting operation) in a direction in which the vehicle body V is separated from the grounding portions of the traveling devices 1L and 1R while being in a parallel posture.

  The vertical distance between the track frame 16 and the airframe frame 11 in the left traveling device 1L is smaller than the vertical distance between the track frame 16 and the airframe frame 11 in the right traveling device 1R. When the hydraulic cylinders C2 to C5 are operated such that the vertical distance between the track frame 16 and the airframe frame 11 in the traveling device 1R is larger than the vertical distance between the track frame 16 and the airframe frame 11 in the left traveling device 1L. Then, the posture of the vehicle body V is changed in the right-up direction with respect to the grounding portions of the traveling devices 1L and 1R, that is, a left-tilt operation is performed to raise the right side and tilt the left side.

  Further, the vertical distance between the track frame 16 and the airframe frame 11 in the right traveling device 1R is smaller than the vertical distance between the track frame 16 and the airframe frame 11 in the left traveling device 1L. When the hydraulic cylinders C2 to C5 are operated such that the vertical distance between the track frame 16 and the body frame 11 in the traveling device 1L is larger than the vertical distance between the track frame 16 and the body frame 11 in the right traveling device 1R. Then, the posture of the vehicle body V is changed in the left-up direction with respect to the grounding portions of the traveling devices 1L and 1R, that is, a right-inclination operation is performed to raise the left side and incline to the right side.

  Based on the amount of rotation of the four hydraulic cylinders C2, C3, C4, C5 corresponding to the rotation fulcrums of the bell cranks 17a, 17b in the left and right traveling devices 1L, 1R. In addition, potentiometer-type stroke sensors 18, 19, 20, and 21 are provided for detecting the operation amounts of the hydraulic cylinders C2, C3, C4, and C5 (that is, the stroke amount that has been expanded and contracted) (see FIG. 9).

  Next, the power transmission system is shown in FIG. The power output from the engine E mounted on the vehicle body V is transmitted to the threshing device 3 via the threshing clutch 45 and travels to the left and right via the traveling clutch 46 and the continuously variable transmission 47 as the traveling transmission device. The power transmitted to the transmission unit 48 of the devices 1L and 1R and transmitted to the transmission unit 48 is transmitted to the traveling devices 1L and 1R, while being transmitted to the cutting unit 10 via the cutting clutch 49. Although not described in detail, a turning transmission mechanism 55 is provided for turning the power transmitted to the transmission unit 48 with a difference in driving speed between the left and right traveling apparatuses 1L and 1R. The vehicle body V can be caused to turn by switching the turning transmission mechanism 55 based on the left / right swinging operation of the operation lever 28 that can be swung in the left / right direction and the front / rear direction provided in the driving unit 2. It can be done. The continuously variable transmission 47 is configured to be shifted by a shift lever 51 provided in the boarding operation unit 2.

The combine is provided with a gravity-type left / right inclination angle sensor 23 for detecting the right / left inclination angle with respect to the horizontal reference plane of the vehicle body V by the action of gravity. It is configured as follows.
That is, as shown in FIG. 7, a liquid 42 having a predetermined viscosity made of silicon oil or the like is accommodated in a rectangular container 41 fixed to the vehicle body V, and metal plates having the same shape are arranged in parallel at the same intervals. Two pairs of the detection electrodes 43 provided are arranged in a state of being fixed to the container 41 with an interval in the inclination angle detection direction (left-right direction in FIG. 7). When the liquid 42 is returned to the initial posture (liquid level horizontal state) due to gravity, when the vehicle body V is not inclined, the two sets of detection electrodes 43 are in the same immersion state (the state of FIG. 7). In the state where the vehicle body V is inclined, the immersion state of the two sets of detection electrodes 43 is different. The capacitance of each detection electrode 43 is measured, and the difference between the measured values (the vehicle body V is inclined). The conversion circuit unit 44 converts the detection value corresponding to the inclination angle information into zero.

  A gravity-type front / rear tilt angle sensor 24 that detects the front / rear tilt angle with respect to the horizontal reference plane of the vehicle body V by the action of gravity is provided. The configuration is the same as that of the angle sensor 23. Further, an angular velocity sensor 25 for detecting the angular velocity of the vehicle body V in the front-rear inclination direction is provided, and the inclination for obtaining the front-rear inclination angle of the vehicle body V based on the detection value of the front-rear inclination angle sensor 24 and the detection value of the angular velocity sensor 25 is provided. The angle calculation means 300 is configured using a control device 22 described later.

  As shown in FIG. 9, a microcomputer-based control device 22 is provided. The control device 22 includes the stroke sensors 18 to 21, a cutting height sensor 9, a left / right tilt angle sensor 23, a front / rear tilt angle sensor 24, Each detection information of the angular velocity sensor 25 is input. In addition, on the operation panel of the boarding operation unit 2, a left / right automatic switch 26 for commanding on / off of rolling control for changing the posture in the left / right direction, before / after instructing on / off of pitching control for changing the posture in the front / rear direction. An automatic switch 27 is provided, and each piece of operation information is also input to the control device 22. Further, there are a volume-type cutting height setting device 39 for setting the height of the cutting unit 10 with respect to the vehicle body V relative to the ground, that is, a cutting height, a raising switch SW1 for instructing the raising of the cutting unit, a lowering switch SW2 for instructing the lowering of the cutting unit, and the like. These pieces of information are also input to the control device 22.

  The ascending switch SW1 and the descending switch SW2 are configured to be turned on and off by a back and forth swinging operation of a cross swinging operation lever 28 provided on the operation panel of the boarding operation unit 2. That is, when the operation lever 28 is swung backward by a set amount or more, the raising switch SW1 is turned on, and when the operation lever 28 is swung forward by a set amount or more, the lowering switch SW2 is turned on.

Then, it is switchable between a command state for commanding a posture change command for changing the inclination angle of the vehicle body V with respect to the grounding portion of the traveling devices 1L and 1R and a non-command state for not commanding the posture change command, and returns to the non-command state. A manually operated posture change command means 400 to be energized is provided.
In other words, as shown in FIG. 8, a left tilt switch 60 for instructing a left tilt command for changing the left-right tilt posture of the vehicle body V in the left-down direction is provided at the upper portion of the grip portion 28a of the operation lever 28. A right tilt switch 61 for instructing a right tilt command for changing the right / left tilt posture of the vehicle body V in the downward direction, a front tilt switch 62 for instructing a front tilt operation for changing the posture of the vehicle body V in the forward downward direction, A rear tilt switch 63 for commanding a rear tilt command for changing the posture of the vehicle body V in the rearward downward direction and a horizontal switch 64 for commanding a horizontal posture of the vehicle body V are provided so as to be operable with fingers. Separately, the operation panel of the boarding operation unit 2 is provided with a body raising switch 65 as an ascending command unit and a body lowering switch 66 as a descending command unit, and detection of these switches 60 to 66 is performed. Information is also input to the control device 22.

  Each of the switches 60 to 66 is a push-push type push operation switch that is turned on (command state) by a push operation and turned off (non-command state) when the push operation is released. When turned on, a left tilt command is issued to incline the left side of the vehicle body V so as to raise the right side, and when the right tilt switch 61 is turned on, a right tilt command is issued to incline the lower side of the vehicle body V and raise the left side. When the front tilt switch 62 is turned on, a front tilt command is issued to tilt the vehicle body V so that the front side is lowered and the rear side is raised, and when the rear tilt switch 63 is turned on, the rear side of the vehicle body V is lowered and the front side is raised. A tilt command is commanded after tilting.

  When the airframe raising switch 65 is turned on, an ascending process for simultaneously raising the left front portion, the left rear portion, the right front portion and the right rear portion of the vehicle body V with respect to the grounding portions of the traveling devices 1R and 1L is instructed. When 66 is turned on, a lowering process for lowering the left front portion, left rear portion, right front portion and right rear portion of the vehicle body V with respect to the grounding portions of the traveling devices 1R and 1L is commanded.

  Accordingly, the left tilt switch 60, the right tilt switch 61, the front tilt switch 62, the rear tilt switch 63, the airframe raising switch 65, and the airframe lowering switch 66 constitute the manually operated attitude change command means 400.

  Further, by using the control device 22, the front-rear inclination angle with respect to the horizontal reference plane of the vehicle body V is calculated based on the detection information of the front-rear inclination angle sensor 24 and the angular velocity sensor 25, and the front-rear inclination angle becomes the set inclination angle. Based on the pitching control for controlling the operation of the posture changing operation means 100 so as to be maintained and the detection information of the left / right tilt angle sensor 23, the left / right tilt angle with respect to the horizontal reference plane of the vehicle body V is maintained at the set tilt angle. Thus, the posture control means 200 is configured to execute rolling control for controlling the operation of the posture change operation means 100.

  In the pitching control, the attitude control means 200 includes two hydraulic cylinders (a left front cylinder C2 and a right front cylinder C4) positioned at the left front part and the right front part among the four hydraulic cylinders C2 to C5, and a left rear part. And drive operation of the other two hydraulic cylinders in a state where one of the two hydraulic cylinders (the left rear cylinder C3 and the right rear cylinder C5) located at the right rear portion is stopped. And in the rolling control, out of the four hydraulic cylinders C2 to C5, two hydraulic cylinders (a left front cylinder C2 and a left rear cylinder C3) positioned at the left front part and the left rear part, Stop driving one of the two hydraulic cylinders (right front cylinder C4 and right rear cylinder C5) located at the right front and right rear. In state, and is configured to drive the operation of the other two hydraulic cylinders.

  In other words, the control device 22 outputs drive signals to the hydraulic control electromagnetic valves 29 to 33 for hydraulic control of the cutting cylinder C1 and the four body posture changing hydraulic cylinders C2 to C5. Although not described in detail, the control device 22 performs cutting so that the detected value of the cutting height sensor 9 is maintained at the set cutting height set by the cutting height setting device 39 during the cutting operation. The cutting height control for operating the cylinder C1 is executed.

When the control device 22 obtains the longitudinal inclination angle of the vehicle body V based on the detection value of the longitudinal inclination angle sensor 24 and the detection value of the angular velocity sensor 25, the low frequency component of the detection value of the longitudinal inclination angle sensor 24 and the angular velocity sensor. The front-rear inclination angle of the vehicle body V is obtained using a high-frequency component obtained by integrating 25 detection values. In other words, as shown in FIG. 10, the control device 22 uses the low-pass filter process for removing the high-frequency component from the detection values of the front and rear inclination angle sensor 24 that are sequentially detected, and the detection value of the angular velocity sensor 25. The integration process to integrate and the high pass filter process to remove the low frequency component of the integrated integral value are executed by software processing, and the output value and the high pass filter process after the low pass filter process are performed. It is configured to execute a process for obtaining the front-rear inclination angle of the vehicle body V by adding the output values after the addition. That is, a low-pass filter LPF, an integrating unit 500, a high-pass filter HPF, and the like are configured using the control device 22, and the tilt angle calculating unit 300 is configured by these.
The control device 22 is configured to repeatedly execute the above-described forward / backward tilt angle calculation processing every set unit time, while the left / right tilt angle detection processing by the left / right tilt angle sensor 23 is similarly performed in the set unit. It is configured to execute repeatedly every hour.

  When the horizontal switch 64 is turned on and a reference state command is issued in a state where neither the rolling control nor the pitching control is being executed, the attitude control means 200 is driven by the traveling devices 1L and 1R based on the reference state command. Attitude changing operation means 100 to change the inclination angle of the vehicle body V with respect to the ground contact portions of the traveling devices 1L and 1R so that the lower limit reference posture as a reference state in which the inclination angle of the vehicle body V with respect to the ground contact portion becomes zero or substantially zero. The posture change operation means 100 is controlled in such a manner that the posture change operation means 100 is continuously operated until the reference state is reached even after the posture change command is completed. The reference state recovery process is executed. Accordingly, the horizontal switch 64 constitutes a manually operated reference state command means.

  In addition, when the horizontal switch 64 is turned on while the rolling control is being executed, the attitude control unit 200 sets a target tilt angle for rolling control that makes the right / left tilt angle with respect to the horizontal reference plane zero. When the horizontal switch 64 is turned on while the rolling control and the pitching control are being performed, a target tilt angle for rolling control is set so that the left / right tilt angle with respect to the horizontal reference plane becomes zero, and the horizontal The target inclination angle for pitching control is set so that the front-rear inclination angle with respect to the reference plane becomes zero. That is, the horizontal switch 64 is also configured as a target tilt angle setting means for setting a target tilt angle in a horizontal posture in which the tilt angle with respect to the horizontal reference plane is zero or substantially zero as the target tilt angle.

Next, the posture changing operation by the rolling control and the pitching control will be specifically described.
That is, in the case of rolling control, if the traveling surface is in a left-down state, the left front cylinder C2 is shortened and the left rear cylinder C3 is operated in the left traveling device 1L from the state where the vehicle body V is in the lower limit reference posture. When the vehicle is extended, the vehicle body V changes to a left-upward inclined posture (right inclined posture) with respect to the grounding portion, and the left-right inclination angle with respect to the horizontal reference plane of the vehicle body V can be set to the target inclination angle for rolling. . Further, if the traveling surface is in the right-down state, when the vehicle body V is in the lower limit reference posture, the right front cylinder C4 is shortened and the right rear cylinder C5 is extended in the right traveling device 1R. The vehicle body V is changed to an upper right tilt posture (left tilt posture) with respect to the ground contact portion, and the left / right tilt angle with respect to the horizontal reference plane of the vehicle body V can be set as the target tilt angle for rolling.

  In the case of pitching control, if the traveling surface is in the front lowering state, the left front cylinder C3 and the right rear cylinder C5 are maintained as they are from the state in which the vehicle body V is in the lower limit reference posture, respectively. When the C2 and the right front cylinder C4 are simultaneously shortened, the front side of the vehicle body V rises with respect to the respective grounding portions of the left and right traveling devices 1L and 1R and changes its posture to a rearward leaning posture. The front / rear inclination angle with respect to the surface can be set to a target inclination angle for pitching control. Further, if the traveling surface is in the forwardly raised state, the left rear cylinder C3 and the right rear cylinder are maintained while maintaining the left front cylinder C2 and the right front cylinder C4 as they are from the state in which the vehicle body V is in the lower limit reference posture. When C5 is extended and operated at the same time, the rear side of the vehicle body V rises with respect to the respective grounding portions of the left and right traveling devices 1L and 1R and changes its posture to a forward leaning posture. Can be set as a target inclination angle for pitching control.

  Then, during the execution of the rolling control, the posture control means 200 uses either the left tilt switch 60 or the right tilt switch 61 as the posture change command means and the right tilt command or the left tilt command as the posture change command. Is commanded, the inclination posture of the vehicle body V with respect to the travel devices 1L and 1R is changed based on the posture change command, and when the posture change command command ends, the setting standby is performed after the posture change command command ends. Until the time elapses, the operation of the attitude changing operation means 100 is controlled so that the control of the tilting attitude of the vehicle body V is stopped and then the control is restarted. After the output stabilization time set to a time shorter than the set standby time elapses and until the set standby time elapses, the right / left tilt angle sensor is set. It is configured to execute the target tilt angle setting process for setting a target tilt angle based on the detection information of the service 23. Then, the posture control means 200 is configured to set a target inclination angle obtained by averaging a plurality of detection values detected a plurality of times by the left / right inclination angle sensor 23 as the target inclination angle setting process. ing.

  The posture control means 200 travels based on the posture change command when a front tilt command or a rear tilt command is commanded by either the front tilt switch 62 or the rear tilt switch 63 even during execution of pitching control. The inclination posture of the vehicle body V with respect to the devices 1L and 1R is changed, and the control is resumed when the posture change command is completed. The detected value of the front / rear inclination angle sensor 24 when the posture change command is completed is set as a target. It is configured to set as an inclination angle.

  Next, the posture change control operation by the control device 22 will be specifically described based on the flowcharts of FIGS. In addition, although illustration is abbreviate | omitted, this control becomes a structure performed in the state in which the threshing clutch switch (not shown) which detects the on / off of the threshing clutch 45 is turned on.

  As shown in FIG. 11, the state of the left / right automatic switch 26 and the front / rear automatic switch 27 is checked. If only the left / right automatic switch 26 is on, only rolling control is executed, and only the front / rear automatic switch 27 is on. In this case, only the pitching control is executed. When both the left / right automatic switch 26 and the front / rear automatic switch 27 are turned on, the rolling control and the pitching control are executed. When both the left / right automatic switch 26 and the front / rear automatic switch 27 are turned off, manual operation processing is executed.

  As shown in FIG. 12, the following processing is executed in the rolling control. In other words, if the deviation between the detected value of the left / right inclination angle sensor 23 and the signal value corresponding to the target inclination angle deviates from the dead zone for rolling control to the left inclination side of the vehicle body V, the right / left inclination posture of the vehicle body V is lowered to the right. Right tilt processing is executed to change the posture in the direction. That is, as shown in FIG. 17, it is determined whether one of the right front cylinder 4 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 located on the right side of the body. If both the cylinders C4 and C5 are not operated to the lower limit position, the right front cylinder 4 is extended and the right rear cylinder C5 is shortened until one of them reaches the lower limit position. If either the right front cylinder 4 or the right rear cylinder C5 is operated to the lower limit position, then the left front cylinder C2 and the left rear cylinder C3 are based on the detection information of the front and rear stroke sensors 18, 19 located on the left side of the machine body. Is determined to be operated to the upper limit position. If neither of the cylinders C2 and C3 is operated to the lower limit position, the left front cylinder C2 is shortened until one of the cylinders reaches the upper limit position. The left rear cylinder C3 is extended.

  If the deviation between the detected value of the left / right tilt angle sensor 23 and the target tilt angle deviates from the dead zone of the rolling control to the right tilt side of the vehicle body V, the left to change the left / right tilt posture of the vehicle body V to the lower left direction. Execute tilt processing. That is, as shown in FIG. 18, based on the detection information of the front and rear stroke sensors 18 and 20 located on the left side of the machine body, whether or not one of the left front cylinder C2 and the left rear cylinder C3 is operated to the lower limit position. If both the cylinders C2 and C3 are not operated to the lower limit position, the left front cylinder C2 is extended and the left rear cylinder C3 is shortened until one of them reaches the lower limit position. If either the left front cylinder C2 or the left rear cylinder C3 is operated to the lower limit position, then the right front cylinder C4 and the right rear cylinder C5 are based on the detection information of the front and rear stroke sensors 19, 21 located on the right side of the machine body. Is determined to be operated to the upper limit position, and if both cylinders C4 and C5 are not operated to the upper limit position, the right front cylinder C4 is shortened until one reaches the upper limit position. Further, the right rear cylinder C5 is extended.

If there is a manual posture change operation command during the rolling control, the following processing is executed.
That is, as shown in FIGS. 13, 17, and 18, when there is a manual posture change operation command, the execution of rolling control is stopped, and the manual posture change operation command is tilted to the right by the right tilt switch 61. If it is a command, the right tilt process (see FIG. 17) as described above is executed, and if it is a left tilt command by the left tilt switch 60, the left tilt process (see FIG. 18) as described above is executed. However, when the commands of the right tilt switch 61 and the left tilt switch 60 are stopped, the operation is stopped in the state when the commands are stopped.

  When a right tilt command by the right tilt switch 61 or a left tilt command by the left tilt switch 60 is commanded and a posture change operation is performed, when the command for the posture change command is completed, a set standby time ( The posture change operation of the vehicle body V is stopped until 1 second), and after the output change time (0.6 seconds) shorter than the set standby time has elapsed since the end of the posture change command, the setting wait Until the time elapses (0.4 seconds), as described above, the left / right inclination angle sensor 23 detects the left / right inclination angle for each set unit time, and performs an averaging process to obtain the moving average, thereby averaging the inclination The angle is obtained, and when the set standby time has elapsed, the average inclination angle at that time is set as the target inclination angle for rolling control. That is, the target inclination angle for rolling control is updated to the average inclination angle.

  After the target tilt angle is updated in this way, rolling control is executed based on the updated target tilt angle. That is, when the set waiting time (one second) has elapsed from the time when the posture change command is completed, the state returns to the state in which the rolling control is executed, and the horizontal reference plane of the vehicle body V detected by the left / right tilt angle sensor 23 Therefore, the operation of the posture changing operation means 100 is controlled so that the left / right inclination angle is maintained at the updated target inclination angle.

  Note that neither a right tilt command by the right tilt switch 61 nor a left tilt command by the left tilt switch 60 is commanded. If a horizontal command by the horizontal switch 62 is commanded, the target tilt for rolling control is based on the command. The angle is set to the tilt angle corresponding to the horizontal state, ie zero.

  As shown in FIG. 14, in the pitching control, if the deviation between the detected value of the front / rear inclination angle sensor 24 and the signal value corresponding to the horizontal state deviates from the dead zone for pitching control to the front inclination side of the vehicle body V, A post-tilt process is executed to change the posture of the vehicle body V in the backward-lowering direction. That is, as shown in FIG. 19, whether one of the left rear cylinder C3 and the right rear cylinder C5 is operated to the lower limit position based on the detection information of the left and right stroke sensors 19 and 21 located at the rear of the machine body. If both the cylinders C3 and C5 are not operated to the lower limit position, the left rear cylinder C3 and the right rear cylinder C5 are shortened until either one of the cylinders C3 and C5 reaches the lower limit position. . If one of the left rear cylinder C3 and the right rear cylinder C5 is operated to the lower limit position, the left front cylinder C2 and the right front cylinder C4 are shortened until either the left front cylinder C2 or the right front cylinder C4 reaches the upper limit position.

  If the deviation between the detected value of the front / rear inclination angle sensor 24 and the signal value corresponding to the horizontal state deviates from the dead zone for pitching control to the rear inclination side of the vehicle body V, the front / rear inclination posture of the vehicle body V is moved downward. Pre-tilt processing for changing the posture is executed. That is, as shown in FIG. 20, whether 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 located at the front of the machine body. If both cylinders C2 and C4 are not operated to the lower limit position, the left front cylinder C2 and the right front cylinder C4 are extended until either one of the cylinders C2 and C4 reaches the lower limit position. If either the left front cylinder C2 or the right front cylinder C4 is operated to the lower limit position, the left rear cylinder C3 and the right rear cylinder C5 are extended until either the left rear cylinder C3 or the right rear cylinder C5 reaches the upper limit position. Let

When a manual posture change operation command is issued during pitching control, the following processing is executed.
That is, as shown in FIGS. 15, 19, and 20, when a manual posture change operation command is issued, the pitching control is stopped, and the manual posture change operation command is issued by the front tilt switch 62. If so, the above-described front inclination process (see FIG. 20) is executed. If the rear inclination command is issued by the rear inclination switch 63, the above-described rear inclination process (see FIG. 19) is executed. However, if the commands of the front tilt switch 62 and the rear tilt switch 63 are stopped during the operation, the operation is stopped in the state when the commands are stopped. When the front inclination command by the front inclination switch 62 or the rear inclination command by the rear inclination switch 63 is instructed and the posture changing operation is performed, when the instruction is completed, the inclination angle calculation means 300 obtains at the end of the instruction. The calculated value of the front / rear tilt angle is set as the target tilt angle for pitching control. Although neither a front tilt command nor a rear tilt command is issued, when a horizontal command is issued by the horizontal switch 64, the target tilt angle for pitching control is set to zero based on the command. When the target tilt angle is updated in this way, in the subsequent control, pitching control is executed based on the updated target tilt angle.

  In other words, in this embodiment, the left inclination switch 60, the right inclination switch 61, the front inclination switch 62, and the rear inclination switch 63 each set a target inclination angle for setting a target inclination angle other than the target inclination angle of the horizontal posture. It is also used as a means.

  As shown in FIGS. 16 to 20, in the manual operation process, the following process is executed. That is, if there is a right tilt command from the right tilt switch 61, the right tilt process is executed, if there is a left tilt command from the left tilt switch 60, the left tilt process is executed, and a front tilt command from the front tilt switch 62 is given. If the rear inclination command is issued by the rear inclination switch 63, the rear inclination process is executed. Then, when an aircraft raising command is issued by the aircraft raising switch 65, an aircraft raising process as an ascending process is executed. This airframe raising process is performed simultaneously with the shortening operation of the left front cylinder C2, the extension operation of the left rear cylinder C3, the shortening operation of the right front cylinder C4, and the extension operation of the right rear cylinder C5 only while the airframe raising switch 65 is ON. Execute. In addition, when an aircraft lowering command is issued by the aircraft lowering switch 66, an aircraft lowering process as a lowering process is executed. This airframe lowering process is performed simultaneously with the extension operation of the left front cylinder C2, the shortening operation of the left rear cylinder C3, the extension operation of the right front cylinder C4, and the shortening operation of the right rear cylinder C5 only while the body lowering switch 66 is ON. Execute.

If there is a horizontal command from the horizontal switch 64, a reference state return process is executed. That is, once the horizontal switch 64 is pushed and switched to the on state, the lower limit reference as a reference state in which the inclination angle of the vehicle body V with respect to the grounding portions of the traveling devices 1L and 1R becomes zero or substantially zero. The operation of each of the hydraulic cylinders C2 to C5 is started so as to be in the posture. That is, the left front cylinder C2 is extended, the left rear cylinder C3 is shortened, the right front cylinder 4 is extended, and the right rear cylinder C5 is shortened.
After starting the operation of the hydraulic cylinders C2 to C5 so as to be in the lower limit reference posture as described above, the stroke sensors 18 are determined without determining whether or not the horizontal switch 64 is switched to the OFF state. -21 until the lower limit reference posture is reached, that is, the left front part, right front part, left rear part, and right rear part of the vehicle body V are within the lifting operation range with respect to the grounding part of the traveling devices 1L and 1R. The operations of the hydraulic cylinders C2 to C5 are controlled in such a manner that the hydraulic cylinders C2 to C5 are continuously operated until the lower limit position is reached. That is, once the operation of each hydraulic cylinder C2 to C5 is started so as to be in the reference state, each hydraulic cylinder C2 to C5 is continued even after the operator releases the horizontal switch 64 and the horizontal command is finished. It is actuated to make it exactly the lower limit reference posture.

  Further, after confirming that the vehicle body V has reached the lower limit reference posture, the operation by the hydraulic cylinders C2 to C5 is continued for one second thereafter, and for one second after it is confirmed that the vehicle body V has reached the lower limit reference posture. After the elapse of time, the operations of the hydraulic cylinders C2 to C5 are stopped. By thus extending and executing the operations of the hydraulic cylinders C2 to C5, all the hydraulic cylinders C2 to C5 can be accurately operated to the stroke end, and the vehicle body V can be reliably brought into the lower limit reference posture. Although not shown, the pressure oil supply path to the hydraulic cylinders C2 to C5 is provided with a relief valve so that excessive pressure is not applied to the hydraulic cylinder even if the pressure oil is supplied after reaching the stroke end. I have to.

  In this embodiment, the state in which the left / right automatic switch 26 or the front / rear automatic switch 27 is turned on and the state in which both the left / right automatic switch 26 and the front / rear automatic switch 27 are turned on correspond to the automatic on mode. The left / right automatic switch 26 and the front / rear automatic switch 27 are both turned off, but it corresponds to the automatic cut mode. In the automatic on mode, it is configured to execute rolling control and pitching control as automatic posture change control. In the cut-off mode, the manual posture change operation process based on the command of the posture change command unit 400 and the horizontal switch 64 as the reference state command unit without executing the rolling control and the pitching control as the automatic posture change control. The reference state return process based on the command is executed.

[Another embodiment]
Hereinafter, other embodiments are listed.

(1) In the above-described embodiment, the posture control means is configured to be switchable between an automatic entering mode for executing rolling control and pitching control as automatic posture change control and an automatic cutting mode for not executing automatic posture change control. However, it may be configured to execute either rolling control or pitching control as automatic posture change control, or may be configured not to execute automatic posture change control.

(2) In the above-described embodiment, the reference state commanding unit is configured to be used as the target tilt angle setting unit that commands the horizontal posture. However, the reference state commanding unit and the target tilt angle setting unit are different from each other. It is good also as a structure provided separately.

(3) In the above embodiment, the configuration in which the posture change commanding unit and the reference state commanding unit are provided so as to be able to operate with a finger on a grip part of an operation lever for steering provided in a driving part of a vehicle body is exemplified. It is good also as a structure with which another part, such as a control part panel, is equipped.

(4) In the above embodiment, the traveling device is configured by a pair of left and right crawler type traveling devices, but is not limited thereto, and may be a single traveling device, for example, or a wheel type instead of a crawler type. The traveling device may be used.

(5) In the above embodiment, the posture changing operation means is composed of four hydraulic cylinders positioned at four positions on the front, rear, left and right of the vehicle body V. However, in addition to the hydraulic cylinders, the posture changing operation means includes an electric motor and a screw feed mechanism. You may comprise with another drive means. Further, the traveling device may be configured to change the left-right inclination angle or the front-rear inclination angle of the vehicle body V with respect to the grounding portion by one driving means.

(6) In the above embodiment, the combine is exemplified as the work vehicle. However, for example, a work vehicle other than the combine such as an agricultural tractor or a rice planting machine may be used.

Side view showing the front of the combine Side view showing the lifting / lowering configuration of the traveling device Side view showing the lifting / lowering configuration of the traveling device Side view showing the lifting / lowering configuration of the traveling device Side view showing the lifting / lowering configuration of the traveling device Power transmission diagram The perspective view which shows the structure of an inclination angle detection means. Diagram showing the grip of the control lever Block diagram showing control configuration Block diagram showing arithmetic processing configuration Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation

Explanation of symbols

1L. 1R Traveling devices 23, 24 Inclination angle detection means 28 Operation lever 28a Grip part 64 Reference state command means 65 Lift command part 66 Lower command part 100 Posture change operation means 200 Posture control means 400 Posture change command means V Car body

Claims (4)

Attitude change operation which can change the attitude of the vehicle body with respect to the grounding portion of the traveling device by changing the height of the traveling device with respect to the grounding portion at each of the left front portion, left rear portion, right front portion and right rear portion of the vehicle body Switchable between a command state for commanding a posture change command for changing the posture of the vehicle body relative to the grounding portion of the traveling device and the grounding device and a non-command state for not commanding the posture change command. A manually operated attitude change command means and an attitude control means for controlling the operation of the attitude change operation means;
When the posture change command is instructed by the posture change command means, the posture control means changes the posture change operation means to change the posture of the vehicle body with respect to the grounding portion of the traveling device based on the posture change command. A work vehicle posture control device configured to execute a manual posture change process that is activated and stops the operation of the posture change operation means when the command of the posture change command ends.
A command state for instructing a reference state command for instructing a posture change to a reference state in which the height with respect to the grounding portion of the traveling device is lowest at each of the left front portion, the left rear portion, the right front portion, and the right rear portion of the vehicle body and the reference A manually operated reference state command means that is switchable to a non-command state that does not command a state command and is energized to return to the non-command state is provided,
When the reference state command is commanded by the reference state command means, the posture control means starts the operation of the posture change operation means so as to be in the reference state based on the reference state command, and A reference state return process for controlling the operation of the posture change operation means is executed in a form in which the posture change operation means is continuously operated after the posture change command is completed until the reference state is reached. A work vehicle attitude control device configured. Inclination angle detection means for detecting an inclination angle with respect to the horizontal reference plane of the vehicle body, and target inclination angle setting means for setting a target inclination angle with respect to the horizontal reference plane of the vehicle body,
The posture control means is
The operation of the posture changing operation means is controlled so that the inclination angle with respect to the horizontal reference plane of the vehicle body detected by the inclination angle detection means is maintained at the target inclination angle preset by the target inclination angle setting means. The automatic entry mode for executing automatic posture change control, and the reference based on the manual posture change operation processing based on the command of the posture change command means and the command of the reference state command means without executing the automatic posture change control It is configured to be switchable to an automatic cut mode for executing state return processing, and
When the reference state command is instructed by the reference state instruction means in the automatic entering mode, the inclination angle with respect to a horizontal reference plane is zero or substantially zero as the target inclination angle without executing the reference state return processing. Configured to set a target tilt angle for horizontal
2. The work vehicle attitude control device according to claim 1, wherein the reference state command means is also used as the target inclination angle setting means.   The attitude control of the work vehicle according to claim 1 or 2, wherein the attitude change commanding means and the reference state commanding means are provided so as to be operated by a finger on a grip part of a control lever for steering provided in a driving part of a vehicle body. apparatus. As the posture change command means,
An ascending command unit for commanding ascending processing for simultaneously raising the left front part, the left rear part, the right front part, and the right rear part of the vehicle body with respect to the grounding part of the traveling device; and the left front part and the left rear part of the vehicle body A lowering command unit for commanding a lowering process for simultaneously lowering each of the right front part and the right rear part with respect to the grounding part of the traveling device,
When the attitude control means is instructed to perform the ascending process by the ascending command unit, the ascending process is executed only while the ascending process is commanded, and when the descending command unit is instructed to descend. The work vehicle attitude control device according to any one of claims 1 to 3, wherein the lowering process is executed only while the lowering process is commanded.

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