JP3477508B2 - Work machine straight-running control structure - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a straight ahead control structure for a working machine for carrying out work such as mowing and snow removal while running on contour lines on a sloping ground.

[0002]

2. Description of the Related Art Conventionally, in a straight-ahead control structure for a working machine as described above, as disclosed in, for example, Japanese Patent Application Laid-Open No. 8-21847, the rotational speeds of hydraulic motors respectively provided on left and right traveling devices. The left and right rotation speed detection sensors for detecting the speed and the traveling control means for controlling the swash plate angles of the left and right hydraulic pumps corresponding to the left and right hydraulic motors are provided,
The traveling control means controls the swash plate angles of the left and right hydraulic pumps so that the drive speeds of the left and right traveling devices (the rotational speeds of the left and right hydraulic motors) are synchronized based on the detections from the left and right rotational speed detection sensors. Therefore, there has been a configuration in which the straightness of the working machine can be secured without being affected by variations in the performance of the left and right hydraulic pumps and hydraulic motors and changes in the oil temperature.

[0003]

However, according to the above-mentioned prior art, although the straightness of the working machine can be ensured when the working machine travels on the flat ground, the working machine travels on the contour line on the sloping ground. Is caused by the force of pulling down the working machine to the lower side of the tilt due to its own weight, the working machine will slide down, so that an appropriate upward tilt of the working machine according to the pulling force is applied. Unless the steering operation was performed manually, the straightness of the working machine could not be secured.

It is an object of the present invention to provide a straight ahead control structure for a working machine which can easily ensure straightness of the working machine even when the working machine travels on a contour line on a sloping ground.

[0005]

In order to achieve the above-mentioned object, in the invention according to claim 1 of the present invention, in the rectilinear control structure of the working machine, the tilt direction and tilt angle in the left-right direction of the machine body are detected. The inclination angle detection sensor, and the driving speed of the traveling device located on the valley side is faster than the driving speed of the traveling device located on the mountain side as the inclination angle is larger based on the detection from the inclination angle detection sensor. A travel control means for controlling the driving speed of the left and right travel devices is provided ,
Control means of the working device connected to the front-rear end of the machine body.
The heavier the weight, the greater the driving speed of the traveling device located on the valley side.
To be faster than the driving speed of the traveling device located on the mountain side
In consideration of the weight of the working device,
Is configured to control the drive speed of the .

[Operation] According to the invention described in claim 1, the traveling control means has a pulling down force which acts on the working machine due to its own weight when traveling on a contour line, and an inclination angle of the sloping ground on which the working machine travels. Since the larger the inclination angle, the greater the inclination angle.When the working machine travels on the contour line, the larger the inclination angle is, the closer it is to the valley side, based on the inclination direction and inclination angle of the machine body in the left-right direction detected by the inclination angle detection sensor. The driving speeds of the left and right traveling devices are controlled so that the driving speed of the traveling device is higher than that of the traveling device located on the mountain side. In other words, an appropriate steering operation to the upper side of the slope is obtained in which the pulling force corresponding to the pulling down force acting on the working machine when traveling on a contour line that changes according to the inclination angle of the slope where the working machine travels on the contour line is obtained. The traveling control means automatically performs this so that the working machine has an appropriate pulling up force corresponding to the pulling down force and prevents the work implement from slipping down due to the pulling down force. Therefore, the straightness of the working machine can be easily ensured without performing a manual steering operation to the upper side of the inclination of the working machine.

Incidentally, the traveling control means synchronizes the driving speeds of the left and right traveling devices when the inclination angle detection sensor does not detect the inclination of the machine body in the left-right direction (when the working machine is caused to travel on a level ground). This ensures the straightness of the working machine.

[0008] Then, the travel control means is for increasing pull-down force acting on the working machine in which contours run the working machine in slopes is, the more the weight of the working device to be connected in the longitudinal direction end portion of the machine body is large lying either et al, as the weight of the working device to be connected in the longitudinal direction end portion of the machine body is large, so that the pulling force is obtained which corresponds to the pull-down force acting on the working machine increases with it, the valley-side The driving speed of the traveling device located on the mountain side is made higher than the driving speed of the traveling device located on the mountain side. In other words, the steering operation of the working machine to the upper side of the proper slope is obtained to obtain the pulling up force according to the pulling down force acting on the working machine when traveling on the contour line that changes according to the weight of the working apparatus connected to the machine body. The control means automatically performs this so that the working machine has an appropriate pulling force corresponding to the change in the weight of the working device corresponding to the pulling down force, and the work caused by the pulling down force Since the slippage of the working machine is prevented, the straightness of the working machine can be easily ensured without performing a manual steering operation to the upper side of the inclination of the working machine.

[Effect] Therefore, it is possible to provide a straight-ahead control structure for a working machine that can easily ensure straightness of the working machine even when the working machine travels on a contour line on a sloping ground.

Further , a straight traveling control structure for a working machine capable of easily ensuring the straightness of the working machine when the working machine travels on a contour line on a sloping ground regardless of the change in the weight of the working machine connected to the machine body. It was possible to provide.

According to the second aspect of the present invention,
In the invention according to claim 1 , the traveling control means is configured to change the speed difference between the traveling device located on the valley side and the traveling device located on the mountain side during forward traveling and backward traveling.

According to the invention of claim 3 of the present invention,
Inclination to detect the inclination direction and inclination angle of the aircraft in the left-right direction
Based on the angle detection sensor and the detection from the tilt angle detection sensor.
And the larger the inclination angle is,
The drive speed is faster than the drive speed of the traveling device located on the mountain side.
To control the driving speed of the left and right traveling devices so that
A control means is provided, and the travel control means is configured to
When traveling in reverse, the traveling device is located on the valley side and on the mountain side.
It is configured to change the speed difference with the traveling device.

[Operation] According to the second aspect of the present invention, the traveling control means causes the pulling down force acting on the work machine when the work machine travels on a contour line on a sloping ground, depending on the weight balance of the work machine during forward travel. Since the influence on the working machine is different between when the vehicle is traveling backward and when the vehicle is traveling in reverse, in addition to the action based on the invention according to claim 1 , it is located on the valley side due to the relationship between the weight balance of the working machine and the traveling direction. The speed difference between the traveling device and the traveling device located on the mountain side is changed. Also, the above claim 3
According to the invention of claim 1, the traveling control means,
The pull-down force that acts on the work machine when traveling on high lines
Depending on the weight balance of the industrial machine, when traveling forward and when traveling backward
Since the impact on the working machine differs depending on
In addition to the operation based on the invention according to claim 1, a working machine
Located on the valley side due to the relationship between the weight balance and the traveling direction
Change the speed difference between the traveling device and the traveling device located on the mountain side.
Become so.

For example, in a balanced state in which the front side of the working machine becomes heavy by connecting the working apparatus to the front part of the machine body, etc., when pulling down on the working machine when traveling in a contour line in the forward direction with the heavy side as the front. Under the influence of force,
Since the working machine slides down with the front side in the traveling direction facing the inclined lower side, the traveling control means corrects the front side in the traveling direction of the working machine between the two traveling devices in the upward direction. However, so that a large speed difference appears that can obtain the pulling force enough to prevent the work machine from slipping down,
The driving speed of the traveling device located on the valley side is set to be higher than the driving speed of the traveling device located on the mountain side. On the contrary, when traveling in the backward contour line with the heavy side behind, the working machine is affected by the pulling force acting on the working machine, and the working machine slides down with the rear side in the traveling direction facing the inclined lower side. Therefore, the traveling control means controls the traveling devices located on the valley side between the traveling devices so that a small speed difference is obtained between the traveling devices so as to obtain a pulling force enough to prevent only the working machine from slipping down. The drive speed is set to be higher than the drive speed of the traveling device located on the mountain side.

On the other hand, in a balanced state in which the rear side of the working machine becomes heavy, for example, by connecting the working device to the rear part of the machine body, when the contour running in the forward direction with the heavier side behind, the pulling down acting on the working machine is performed. Under the influence of the force, the working machine slides down with its rear side in the direction of travel facing the inclined lower side, so the travel control means prevents only the working machine from sliding down between the two traveling devices. The driving speed of the traveling device located on the valley side is set to be higher than the driving speed of the traveling device located on the mountain side so that a small speed difference that can obtain a sufficient pulling force appears. On the contrary, when traveling in the backward contour line with the heavy side as the front, the work machine is affected by the pulling force acting on the work machine so that the work machine slides down while directing the front side in the traveling direction to the downward slope. Therefore, the traveling control means is located between the traveling devices and is located at the front side (rear side of the machine body) in the traveling direction of the working machine.
While correcting the upward direction, the driving speed of the traveling device located on the valley side is adjusted so that the driving speed of the traveling device located on the valley side is increased so that a large speed difference can be obtained that can obtain a pulling force that can prevent the working machine from slipping down. It will be faster than the driving speed.

That is, an appropriate tilting of the working machine to the upper side of the slope to obtain a pulling force corresponding to the pulling down force acting on the working machine during traveling on a contour line that changes depending on the relationship between the weight balance of the working machine and the traveling direction. The traveling control means automatically performs the operation, whereby the working machine has an appropriate pulling force corresponding to the relationship between the weight balance of the working machine and the traveling direction corresponding to the pulling down force. Since the work machine is prevented from slipping down due to the pulling down force, the straightness of the work machine can be easily ensured without performing a manual steering operation to the upper side of the inclination of the work machine. Will be able to.

[Effect] Therefore, regardless of the relationship between the weight balance of the working machine and the traveling direction, it is possible to easily ensure the straightness of the working machine when traveling the contour line on the sloping ground. It has been possible to provide a control structure.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows the entire side surface of a wireless remote control type working machine, which is an example of the working machine, and FIG. 2 shows the entire plane of the working machine. At the front of the machine body 1, a mowing device 2 which is an example of the working device A,
It is configured to function as a mowing machine by connecting via a lifting link mechanism 4 so as to be lifted and lowered by the operation of a pair of left and right single-acting hydraulic cylinders 3.

The traveling machine body 1 is mounted on the machine body frame 5, an engine 6 mounted on the rear portion of the machine body frame 5, a cooling fan 7 and a radiator 8 arranged behind the engine 6, and a front portion of the machine body frame 5. Control device 9, airframe 5
The left and right crawler type traveling devices 10 and the left and right crawler type traveling devices 10 independently drive the left and right hydrostatic stepless transmissions 11 and the like.

The reaping device 2 is a flair mower type blade body 12 for slashing grasses grown on the ground by being driven to rotate about a horizontal axis, a reaping case 13 for covering the blade body 12 from above, and a reaping case. 13, a hydraulic motor M1 provided at the upper right portion of the belt 13, a belt type transmission mechanism 14 rotatably transmitted around the blade body 12 and the hydraulic motor M1, a cutting case 1
By the sled member 15 as a grounding body mounted on each of the left and right sides of 3, and the gauge wheel 16 serving as a grounding body mounted on each of the front left and right sides of the cutting case 13,
The blade 12 is rotationally driven by the operation of the hydraulic motor M1.

The lifting link mechanism 4 includes a top link 17 extending vertically from the front upper portion of the traveling machine body 1 to the front, and a vertically swingable vertically extending from the lower front portion of the traveling machine body 1 to the front. From a pair of left and right lower links 18 provided, a substantially A-shaped hitch 19 pivotally connected to the front ends of the links 17 and 18, a pair of left and right lift arms 20 provided at the upper front portion of the traveling vehicle body 1. Vertical swing drive is performed as the left and right lift arms 20 are vertically swung by the expansion and contraction operation of the left and right hydraulic cylinders 3 by the suspension links 21 and the like that are respectively bridged over the corresponding lower links 18. It is configured to be a hydraulic drive type.

That is, in this working machine, the left and right crawler type traveling devices 10 are rotationally driven, and the blade 12 of the cutting device 2 is used.
It is configured that the rotational driving of the reaper and the raising and lowering of the reaping device 2 are hydraulically performed.

As shown in FIG. 3, in the hydraulic circuit of the working machine, a hydraulic pump P1 for driving the working device for pumping the working oil toward the hydraulic motor M1 mounted on the reaping device 2 and the crawler type on the left side are provided. Hydraulic motor M2 for driving the traveling device 10
A hydraulic pump P2 for driving the left traveling device that pumps the hydraulic oil toward the right, a hydraulic pump P3 for driving the right traveling device that pumps the hydraulic oil toward a hydraulic motor M3 that drives the crawler type traveling device 10 on the right side, and a cooling A hydraulic fan P4 for driving a cooling fan that pumps hydraulic oil toward a hydraulic motor M4 that drives a fan 7, a hydraulic pump P5 for lifting a working device that pumps hydraulic oil toward the left and right hydraulic cylinders 3, and a working device drive Pump P6 for supplying hydraulic oil to the working device driving circulation oil passage R1 which circulates hydraulic oil between the hydraulic pump P1 for hydraulics and the hydraulic motor M1, and hydraulic pumps P2, P3 for driving left and right traveling devices. And corresponding hydraulic motors M2, M
3, a charge pump P7 for replenishing the working oil to the circulating oil passages R2, R3 for driving the left and right traveling devices for circulating the working oil respectively. Reference numeral 22 in FIG. 3 is a connector with a check valve that detachably connects the oil passage portion on the traveling machine body side and the oil passage portion on the working device side in the circulating oil passage R1 for driving the working device. Hydraulic pump P1 for driving the working device, hydraulic pump P for driving the left traveling device
2 and the variable displacement type is adopted as the hydraulic pump P3 for driving the right traveling device.

As shown in FIG. 4, the traveling hydraulic pump P2, the hydraulic pump P3, and the charge pump P7 are directly connected in series in the front-rear direction to the front portion of the engine 6,
The engine 6 is driven by the power output from the first output shaft 6a provided at the front part of the engine 6. The working hydraulic pump P1 and the charge pump P6 are directly connected in series in the front-rear direction to the rear part of the engine 6, and
It is adapted to be driven by the power output from the second output shaft 6b provided at the rear part. The hydraulic pump P4 for cooling and the hydraulic pump P5 for raising and lowering are directly connected in series to the left side of the engine 6 in the front-rear direction, and are connected to the power output from the third output shaft 6c provided on the left side of the engine 6. It is designed to be driven by. That is, the engine 6 and the pumps P1 to P7 are unitized,
This simplifies the connecting structure and the supporting structure. Incidentally, reference numeral 23 in FIG.
It is a vibration-proof rubber that supports the engine 6 and the pumps P1 to P7 that are unitized in a vibration-proof manner.

As shown in FIG. 3, in the hydraulic pump P1 for driving the working device, the swash plate angle is changed by the operation of the servo valve 24 which switches the flow state of the hydraulic oil pressure-fed by the charge pump P6. Therefore, by changing the angle of the swash plate, the discharge amount and the circulation direction of the working oil with respect to the hydraulic motor M1 for driving the working device can be changed. That is, by controlling the operation of the servo valve 24, the output rotation speed of the hydraulic motor M1 can be adjusted according to the working device A connected to the traveling machine body 1, and the rotation direction of the working device A can be adjusted according to the working situation. It can be changed. In addition to the mowing device 2, the work device A connected to the traveling machine body 1 includes a grass collecting device (not shown), a snow removing device (not shown), and the like.

Hydraulic pumps P2 for driving the left and right traveling devices
The swash plate angle of P3 is changed by the operation of the servo valves 25 and 26 that switch the flow state of the hydraulic oil pumped by the charge pump P7. The discharge amount and circulation direction of the hydraulic oil to the hydraulic motors M2 and M3 for driving the traveling device are changed. That is, the left and right hydraulic pumps P2 and P3 for driving the traveling device and the hydraulic motors M2 and M
The left and right hydrostatic stepless transmissions 11 are constituted by 3, the circulating oil passages R2, R3, the servo valves 25, 26, the charge pump P7, etc., and the operation of the servo valves 25, 26 is controlled. Thus, the left and right crawler type traveling devices 10, which are independently driven by the left and right hydrostatic stepless transmissions 11, can perform stepless speed change operation and forward / reverse switching operation. The hydraulic motors M2 and M3 for driving the left and right traveling devices are equipped with electromagnetic pickup type rotation speed detection sensors S1 and S2, respectively, which detect the output rotation speeds thereof and output them to the control device 9.

A hydraulic pump P4 is provided in an oil passage R4 connecting the hydraulic pump P4 for driving the cooling fan and the hydraulic motor M4.
Is equipped with an electromagnetic switching valve 27 that changes the rotation direction of the hydraulic motor M4 by switching the flow direction of the hydraulic oil that is pumped from the hydraulic motor M4 to the hydraulic motor M4. A cooling drive in which the hydraulic motor M4 is rotated in the forward direction so that the driving state of the cooling fan 7 takes in the cooling outside air from the intake port 28 (see FIG. 1) at the rear of the machine body and flows it toward the radiator 8 or the engine 6. By switching the hydraulic motor M4 in the opposite direction, the driving state of the cooling fan 7 can be adjusted so that dust and the like adhering to the dust-proof net (not shown) of the radiator 8 is taken in at the rear of the machine body. It is possible to switch to a backwash drive state in which the air is discharged from 28 to the outside of the machine.

A flow priority valve 29, an electromagnetic unload valve 30, an electromagnetic proportional pressure control valve 31, and an electromagnetic check valve 32 are provided in an oil passage R5 connecting the hydraulic pump P5 for raising and lowering the working device and the left and right hydraulic cylinders 3. Are equipped with. The surplus oil in the flow priority valve 29 is
It is adapted to be supplied via an electromagnetic switching valve 34 to an auxiliary working device (not shown) connected to an auxiliary connector 33 with a check valve attached to a service port for extracting auxiliary power.

Each of the left and right crawler type traveling devices 10 is equipped with a negative brake 10A, and each negative brake 10A is an electromagnetic switching valve for switching the flow state of the hydraulic oil pressure-fed by the charge pump P7 to each negative brake 10A. A braking state in which the braking force is applied to the corresponding crawler type traveling device 10 by the biasing of the coil spring 10a by controlling the operation of 35;
The hydraulic fluid from the charge pump P7 is switched to a non-braking state in which the application of the braking force to the corresponding crawler type traveling device 10 is blocked.

A short-circuit oil passage R7 for short-circuiting them is connected to a pair of control oil passages R6 connecting the hydraulic pump P1 for driving the working device and the servo valve 24 for changing its swash plate angle. The short-circuit oil passage R7 is an electromagnetic switching valve for short-circuiting, which switches the short-circuit oil passage R7 between an open state (a state where the pair of control oil passages R6 is not short-circuited) and a closed state (a state where the pair of control oil passages R6 is short-circuited). 36 is interposed. In the left and right hydrostatic continuously variable transmissions 11, each pair of control oil passages R8 connects the left and right hydraulic pumps P2, P3 for driving the traveling device and the servo valves 25, 26 for changing the swash plate angles thereof. ，
R9 has a short-circuit oil passage R10 for short-circuiting them,
R11 are connected to each of the short circuit oil passages R10,
R11 has a short circuit in which the short-circuit oil passages R10 and R11 are switched between an open state (a state where the pair of control oil passages R8 and R9 are not short-circuited) and a closed state (a state where the pair of control oil passages R8 and R9 are short-circuited). Electromagnetic switching valves 37, 38 for use in the vehicle.
Each of the short-circuiting electromagnetic switching valves 36 to 38 is of a negative type that is spring-biased toward the short-circuiting position side so as to reveal the short-circuited state of each of the short-circuiting oil passages R9 to R11 when not energized. There is.

As shown in FIG. 5, each servo valve 24-2
6 and the operation of the various solenoid valves 27, 30 to 32, 34 to 38 are controlled by the control device 9 including a microcomputer having a receiving function based on a control signal transmitted from the remote control device B having a transmitting function. It is controlled by operation. As shown in FIG. 6, the remote control device B
Includes a main switch 39, a neutral return type vehicle speed stick 40, a deceleration operation switch 41, and a deceleration adjustment dial 4.
2. Neutral return type steering stick 43, neutral (elevation stop position) return type elevation switch 44, elevation control mode changeover switch 45, automatic mode setting switch 46, working height setting dial 47, forward rotation drive switch 48, A drive stop switch 49, a reverse drive switch 50, a work output adjustment dial 51, an engine stop switch 52, and the like are provided. As shown in FIG. 5, the control device 9 controls, based on a control signal from the remote control device B, the traveling control means 9A for controlling the drive of the left and right crawler type traveling devices 10 and the lifting of the working device A. Lift control means 9B, work control means 9C for controlling the drive of the work device A, and engine 6
An engine stopping means 9D for stopping the engine is provided as a control program.

As shown in FIGS. 3 and 5 to 8, when the vehicle speed stick 40 is operated to move from the neutral position to the forward movement region or the backward movement region, the traveling control means 9A first simultaneously operates the left and right statics. By energizing the electromagnetic switching valves 37 and 38 for short-circuiting in the hydraulic continuously variable transmission 11 to switch the short-circuit oil passages R10 and R11 to the open state, the hydraulic pumps P2 and P2 driven by the operation of the servo valves 25 and 26, respectively. P
The swash plate angle of No. 3 is displayed as a runnable state in which the change operation from the neutral state is possible, and after a predetermined time (for example, 0.1 seconds) has elapsed, the servo valves 25 and 26 are energized to each hydraulic pump P2. , P3, the swash plate angle changing operation is started, and after a predetermined time (for example, 0.3 seconds) has passed, the electromagnetic switching valve 35 for operating the negative brake is energized so that each negative brake 10A is not braked. The left and right crawler type traveling devices 10 calculated from the target speed set by operating the vehicle speed stick 40 and the output rotation speeds of the hydraulic motors M2, M3 detected by the rotation speed detection sensors S1, S2 while switching to the state. The operation of each of the servo valves 25 and 26 is controlled so that the actual drive speed of the servo valve can be matched. At the start of travel, if the travelable state has already appeared, when the vehicle speed stick 40 is operated from the neutral position to the forward drive region or the reverse drive region, the servo valves 25 and 26 are energized. The subsequent control operation is performed.

On the other hand, when the vehicle speed stick 40 is stopped from traveling to the neutral position from the forward drive region or the reverse drive region, the operation of the servo valves 25, 26 is controlled simultaneously with the operation to control the hydraulic pumps P2, P3. By changing the swash plate angle to the neutral side, the output rotation speeds of the hydraulic motors M2, M3 are reduced, time measurement is started, and the rotation speed detection sensors S1, S2 are used within a predetermined time (for example, 2 seconds). When the detected output speed of each hydraulic motor M2, M3 becomes zero (the swash plate angle of each hydraulic pump P2, P3 is in a neutral state), the driving stop state of the left and right crawler type traveling devices 10 is present. When it is determined that the negative brake has been released, the electromagnetic switching valve 35 for operating the negative brake is stopped to switch each negative brake 10A from the non-braking state to the braking state. When the operation to the forward area or backward area of the vehicle speed stick 40 is not performed in the predetermined time (e.g. 5 seconds), the electromagnetic switching valve for short 3
The power supply to 7, 38 is stopped, and the short circuit oil passages R10, R11
By switching to the closed state, each servo valve 25,
By the operation of 26, a running-disabled state in which the changing operation from the neutral state of the swash plate angles of the hydraulic pumps P2, P3 becomes impossible is revealed. On the other hand, as shown in FIG. 8, even though the swash plate angles of the hydraulic pumps P2 and P3 are operated to the neutral side, the rotation speed detection sensors S1, S1 The output speed of each hydraulic motor M2, M3 detected by S2 is zero (each hydraulic pump P2, P
If the swash plate angle of 3 is not in the neutral state), it is determined that the aircraft has slipped down on a sloping ground and that there is an abnormality in each of the rotation speed detection sensors S1 and S2, and each servo valve 2 is forcibly forced.
5, 26, electromagnetic switching valve 3 for operating the negative brake
5 and the electromagnetic switching valves 37, 38 for short-circuiting are stopped, and a forced stop operation for simultaneously displaying a running-disabled state and a braking state is executed.

That is, at the start of traveling, each crawler type traveling device 1 is operated after a predetermined time has elapsed after the traveling state is displayed.
Since the driving of 0 is started, it is possible to prevent the occurrence of shock at the start of traveling. Further, since the negative brakes 10A are switched from the braking state to the non-braking state after a lapse of a predetermined time after starting the driving of the crawler type traveling devices 10, the vehicle body may slip down at the start of traveling in the uphill state. Can be prevented. On the other hand, when the traveling is stopped, the negative brake 10A is switched from the non-braking state to the braking state after the drive stopped state of each crawler type traveling device 10 is revealed, so that the shock is not generated when the traveling is stopped. It can be prevented. In addition, since each negative brake 10A is switched to the braking state and the traveling-disabled state appears after a lapse of a predetermined time, when the traveling is restarted within the predetermined time, each crawler type traveling device 10 can be quickly re-driven. In addition, it is possible to guarantee that the vehicle is stopped after a lapse of a predetermined time. Furthermore, regardless of the operation of each hydraulic pump P2, P3 to the neutral side of the swash plate angle,
When the driving stop state of the left and right crawler type traveling devices 10 does not appear after a lapse of a predetermined time, the aircraft is forcibly stopped. Therefore, when the traveling is stopped in the ascending / descending traveling state, It can prevent slipping off,
Further, when the traveling is stopped in the traveling state other than that, the abnormality of the rotation speed detecting sensors S1 and S2 can be easily recognized.

The traveling control means 9A uses the vehicle speed stick 40.
When the deceleration operation switch 41 is operated from the “OFF” position to the “ON” position in the driving state of the left and right crawler type traveling devices 10 by the operation of, the deceleration adjustment is performed to the target speed set by the vehicle speed stick 40. Dial 4
The value obtained by multiplying the percentage set in 2 is set as a new target speed, and each servo valve 25 is set so that the new target speed and the actual driving speed of the left and right crawler type traveling devices 10 match. , 26 to control the operation of the crawler type traveling device 10 on the left and right sides. On the contrary, during normal traveling when the deceleration operation switch 41 is operated from the “ON” position to the “OFF” position, the target speed set by the vehicle speed stick 40 is set as a new target speed, and the new target speed is set. By controlling the operation of the servo valves 25 and 26 so that the actual drive speeds of the left and right crawler type traveling devices 10 are matched, the normal traveling state of the left and right crawler type traveling devices 10 is revealed. There is.

As shown in FIGS. 3, 5, 6 and 9,
When the steering stick 43 is in the neutral position and the vehicle is in a straight traveling state when the left and right crawler type traveling devices 10 are driven by operating the vehicle speed stick 40, the traveling control means 9A tilts and tilts the aircraft in the left-right direction. Inclination angle detection sensor S3 mounted on the traveling vehicle body 1 to detect an angle
Based on the moving average value of the detected values from each servo valve 2
It is designed to control the operation of 5, 26.

For example, as shown in FIG. 9, the traveling control means 9A is used when traveling straight on a flat ground or on a sloping ground where the moving average value of the inclination angle detected by the inclination angle detecting sensor S3 is within ± 10 degrees. When traveling straight up and down along the direction of inclination, the output speeds of the left and right hydraulic motors M2 and M3 detected by the left and right speed detection sensors S1 and S2 are synchronized so that the servo valves 25 and 26 are synchronized. By controlling the operation and changing the swash plate angles of the left and right hydraulic pumps P2, P3, the constant speed drive state of the left and right crawler type traveling devices 10 is revealed. As a result, it is possible to ensure the straightness of the working machine when traveling straight on a flat ground or traveling up and down along an inclination direction on a slope.

On the other hand, during contour running on a contour line on a sloping ground where the moving average value of the tilt angle detected by the tilt angle detection sensor S3 is larger than ± 10 degrees,
Due to its own weight, the work machine comes to have a force to pull down the work machine to the lower side of the slope, and the pulling down force increases as the slope angle of the sloping ground increases. The larger the moving average value of the inclination angle detected by the sensor S3, the crawler type traveling device 10 in which the output rotation speed of the hydraulic motor M2 (or M3) for driving the crawler type traveling device 10 in the mountain side is located in the valley side. By controlling the operation of each servo valve 25, 26 to change the swash plate angles of the left and right hydraulic pumps P2, P3 so as to be lower than the output speed of the hydraulic motor M3 (or M2) that drives the The left and right crawler type traveling devices 10 capable of obtaining an appropriate pulling up force corresponding to a pulling down force acting on a working machine when traveling on a contour line that changes according to the inclination angle of a sloped land.
The non-constant speed drive state of is revealed.

That is, when the vehicle runs on a contour line on a slope where the moving average value of the tilt angle detected by the tilt angle detecting sensor S3 is larger than ± 10 degrees, the running control means 9A has a large moving average value of the tilt angle. The pulling force corresponding to the pulling down force that changes according to the inclination angle of the sloping ground, that is, the driving speed of the crawler type traveling device 10 located on the valley side is made higher than the driving speed of the crawler type traveling device 10 located on the mountain side. The proper steering operation to the upper side of the obtained inclination is automatically performed, whereby the working machine has an appropriate pulling up force corresponding to the pulling down force. Even if the manual operation of B is not performed, it is possible to prevent the working machine from slipping down due to the pulling down force, which facilitates the straightness of the working machine when traveling on contour lines. So that the it can be secured.

Further, the traveling control means 9A changes the weight of the working machine according to the type of the working apparatus A connected to the front part of the traveling machine body 1, and the weight of the working machine when traveling on a contour line is reduced by its own weight. Since the pulling down force that is caused by the increase as the weight of the working machine increases, the moving average value of the tilt angles detected by the tilt angle detection sensor S3 is ± 10.
When traveling on a contour line on a sloping ground that is larger than a degree, the hydraulic motor M2 (or the hydraulic motor M2 that drives the crawler type traveling device 10 located on the mountain side increases as the weight of the work device A connected to the front part of the traveling machine body 1 increases. The operation of each servo valve 25, 26 is controlled so that the output rotation speed of M3) becomes lower than the output rotation speed of the hydraulic motor M3 (or M2) that drives the crawler type traveling device 10 located on the valley side. By changing the swash plate angles of the left and right hydraulic pumps P2, P3, it is possible to obtain an appropriate pulling up force according to the pulling down force acting on the working machine during contour line traveling which changes according to the weight of the working machine. The non-constant speed drive state of the crawler type traveling device 10 is revealed.

That is, during contour traveling on a sloping ground where the moving average value of the inclination angle detected by the inclination angle detection sensor S3 is larger than ± 10 degrees, the traveling control means 9A is connected to the front part of the traveling machine body 1. The larger the weight of the working device A is, the faster the driving speed of the crawler type traveling device 10 located on the valley side is made to be faster than the driving speed of the crawler type traveling device 10 located on the mountain side. An appropriate steering operation to the upper side of the slope where a pulling force corresponding to the pulling down force is obtained is also automatically performed, whereby the working machine has an appropriate pulling up force corresponding to the pulling down force. Therefore, even if the remote control device B is not manually operated, it is possible to prevent the working machine from slipping down due to the pulling down force thereof, and therefore, it is possible to prevent the working machine from traveling during contour line traveling. It has to be easily secured regardless of the type of the working device A coupled straightness of the working machine to the front of the vehicle body 1 (by weight). The traveling control means 9
A is based on the operating position of a work device selection switch 67 (see FIGS. 1 and 5), which is a selection means equipped on the traveling machine body 1 and is switched according to the type of the working machine A connected to the traveling machine body 1. The type of the work device A is discriminated, and when the contour line travels on a sloping ground where the moving average value of the tilt angle detected by the tilt angle detection sensor S3 is larger than ± 10 degrees, the work device is determined. An appropriate non-constant speed drive state of the left and right crawler type traveling devices 10 in consideration of the weight of A can be revealed. By the way, the weight of the working device A connected to the traveling machine body 1 is about 350 kg for the mowing device 2, about 250 kg for the grass collecting device, and about 400 kg for the snow removing device.

Further, the traveling control means 9A is one in which the work device A is connected to the front part of the traveling machine body 1, and the pulling down force which acts on the working machine during traveling on the contour lines due to its own weight is used. Since the influence of the weight balance of the machine on the working machine is different between forward traveling and backward traveling, the moving average value of the inclination angle detected by the inclination angle detection sensor S3 becomes larger than ± 10 degrees. During contour traveling on a sloping ground, as shown in FIG. 10, a hydraulic motor M2 for driving the crawler type traveling device 10 located on the mountain side.
(Or M3) and the crawler type traveling device 1 located on the valley side
The operation of each servo valve 25, 26 is controlled so that the difference in the output rotational speed of the hydraulic motor M3 (or M2) that drives 0 is changed to 1/2 of that during forward traveling during backward traveling. By changing the swash plate angles of the hydraulic pumps P2 and P3, due to the weight balance of the working machine, an appropriate pulling up according to the pulling force acting on the working machine during contour traveling which differs between forward traveling and backward traveling The left and right crawler type traveling devices 10 capable of obtaining the force are exposed to the non-constant speed driving state.

That is, during contour running on a sloping ground where the moving average value of the tilt angle detected by the tilt angle detecting sensor S3 is larger than ± 10 degrees, the travel control means 9A is located on the valley side depending on the traveling direction. Crawler type traveling device 10
From the relationship of the weight balance of the working machine, that is, changing the speed difference between the crawler type traveling device 10 located on the mountain side and the crawler type traveling device 10, an appropriate inclination that can obtain a pulling force according to a different pulling force during forward traveling and backward traveling The steering operation to the upper side is also automatically performed, so that when the heavy side is in front, the working machine slides down while the front side in the traveling direction is directed to the inclined lower side. When traveling forward, the working machine has a pulling force that can prevent the working machine from slipping down while correcting the front side in the traveling direction of the working machine. The work machine has a pulling force that prevents only the work machine from slipping down when the vehicle is traveling backward, as the machine is slipping while the rear part of the machine is tilted downward. Even if the remote control device B is not manually operated, it is possible to prevent the working machine from slipping down due to the pulling down force that changes depending on the traveling direction, and thus to work the straightness of the working machine when traveling on contour lines. It can be easily secured regardless of the direction of travel of the aircraft.

Moreover, when the traveling control means 9A controls the driving speed of the left and right crawler type traveling devices 10 as described above, the hydraulic motor M2, which is the output side of each hydrostatic continuously variable transmission device 11, is used. Since the control operation is performed based on the detection value from each rotation speed detection sensor S1, S2 that detects the output rotation speed of M3, each hydraulic pressure in the left and right hydrostatic continuously variable transmissions 11 is increased. The control operation of the pumps P2, P3 and the hydraulic motors M2, M3 makes it possible to accurately ensure the straightness of the working machine without being affected by variations in the performance and changes in the oil temperature.

As shown in FIGS. 3, 5 and 6, the traveling control means 9A controls the steering stick 43 within the pivot mode region when the left and right crawler type traveling devices 10 are driven by operating the vehicle speed stick 40. During left turn traveling operated in the left steering area, the operation of the servo valve 25 is controlled so that the swash plate angle of the hydraulic pump P2 for driving the left traveling device is in a neutral state, and the left crawler type traveling device 1 is operated.
The left pivot turning traveling state in which 0 is stopped is displayed. On the contrary, when the steering stick 43 is operated in the right steering area in the pivot mode area, the servo valve 26 is controlled so that the swash plate angle of the hydraulic pump P3 for driving the right traveling device becomes neutral. The right pivot turning traveling state in which the operation is controlled to stop driving the crawler type traveling apparatus 10 on the right side is revealed.

Further, in the driving state of the left and right crawler type traveling devices 10 by operating the vehicle speed stick 40, when the steering stick 43 is operated in the left steering region within the spin mode region, the left traveling device is driven. Servo so that the swash plate angle of the hydraulic pump P2 is in a constant velocity reverse rotation state (a state in which the hydraulic motor M2 for driving the left traveling device outputs the same number of revolutions as the hydraulic motor M3 for driving the right traveling device in the opposite direction). By controlling the operation of the valve 25, a left spin turning traveling state in which the left crawler type traveling device 10 is reversely driven at a constant speed with respect to the right crawler type traveling device 10 is revealed. On the contrary, when the steering stick 43 is operated in the right steering area within the spin mode area, the swash plate angle of the hydraulic pump P3 for driving the right traveling device is in the constant speed reverse rotation state (for driving the right traveling device). Of the crawler type traveling device 10 on the left side by controlling the operation of the servo valve 26 so that the hydraulic motor M3 of the left traveling device outputs the same number of revolutions as the hydraulic motor M2 for driving the left traveling device in the opposite direction). The left spin turning traveling state in which the crawler type traveling device 10 is driven in reverse at a constant speed is revealed.

As shown in FIGS. 3, 5 and 6, the elevating control means 9B controls the operation of the electromagnetic unload valve 30, the electromagnetic proportional pressure control valve 31, and the electromagnetic check valve 32 to control the traveling machine body. Height detection sensor S equipped in 1.
The height position of the mowing device 2 (an example of the work device A) with respect to the traveling machine body 1 detected by 4 is set by the working height setting dial 47 as a height setting device. Position control means 9Ba for controlling the operation of the left and right hydraulic cylinders 3 so as to match the height position, and a floating for lowering the pressure in the left and right hydraulic cylinders 3 to a preset low side set value during the lowering operation. After the hydraulic oil is supplied to and discharged from the hydraulic cylinder 3 during the operation state and during the operating time during the lifting operation, the pressure in the hydraulic circuit R5a for the hydraulic cylinder 3 is adjusted to a preset value on the higher side. The floating control means 9Bb for displaying the standby state for maintaining that state is provided.
By this operation, the elevation control mode is switched between the position control mode by the position control means 9Ba and the floating control mode by the floating control means 9Bb. The height detection sensor S4
Is for detecting the height position of the mowing device 2 with respect to the traveling machine body 1 from the vertical swing angle of the lift arm 20.

More specifically, the position control means 9Ba
Is a target height position of the mowing device 2 with respect to the traveling machine body 1 set by the work height setting dial 47 and a height detection sensor when the position control mode is selected by operating the lift control mode changeover switch 45. The height position of the mowing device 2 with respect to the traveling machine body 1 at the present time detected by S4 is compared, and when the height position of the mowing device 2 is lower than the target height position, the elevating switch 44 is operated to the up side. In this case, by controlling the operation of the electromagnetic unloading valve 30, the electromagnetic proportional pressure control valve 31, and the electromagnetic check valve 32 based on the operating position of the working height setting dial 47, the reaper 2 has the working height. Setting dial 47
The left and right hydraulic cylinders 3 are extended so that the harvesting device 2 is positioned at the target height position with respect to the traveling machine body 1 set by. On the contrary, when the elevating switch 44 is operated to the lower side, the operation is controlled by controlling the operations of the electromagnetic unload valve 30, the electromagnetic proportional pressure control valve 31, and the electromagnetic check valve 32 based on the operation. The left and right hydraulic cylinders 3 are shortened only during the time. On the other hand, when the height position of the reaping device 2 is higher than the target height position and the elevating switch 44 is operated to the lower side, the working height setting dial 47
By controlling the operation of the electromagnetic unload valve 30, the electromagnetic proportional pressure control valve 31, and the electromagnetic check valve 32 based on the operating position of the cutting position, the cutting device 2 cuts the traveling machine body 1 set by the working height setting dial 47. The left and right hydraulic cylinders 3 are shortened so as to be located at the target height position of the device 2. Conversely, the lifting switch 4
When 4 is operated to the up side, the operation of the electromagnetic unload valve 30, the electromagnetic proportional pressure control valve 31, and the electromagnetic check valve 32 is controlled based on the operation, so that the left and right are operated only during the operation time. The hydraulic cylinder 3 is extended.

That is, in the position control mode, the position control means 9Ba moves the reaper 2 to the working height setting dial 4 based on the operation of the elevating switch 44.
Since it comes to be positioned at the target height position set by 7, the work height setting dial 47 can be used to set the appropriate height of the cutting device 2 in a work place where many obstacles such as concrete pieces and stones are scattered. A high mowing work state in which the mowing work is carried out in a state where the mowing device 2 is levitated to a height position where contact with an obstacle can be avoided by a simple operation of setting a target height position and operating the elevating switch 44. Can be easily displayed, and therefore, when the mowing device 2 comes into contact with obstacles such as concrete pieces or stones during mowing work in a work place where there are many obstacles such as concrete pieces or stones. It is possible to easily prevent such obstacles from being bounced off or the harvesting device 2 being damaged.

On the other hand, the floating control means 9Bb is
When the floating control mode is selected by operating the lift control mode changeover switch 45, as shown in FIG. 11, the open state of the electromagnetic unload valve 30 with respect to the hydraulic cylinder 3 and the closed state of the electromagnetic check valve 32 are exposed. In addition, the operation of the electromagnetic proportional pressure control valve 31 is controlled to preset the pressure in the hydraulic circuit R5a from the hydraulic pump P5 for raising and lowering the working device to the electromagnetic check valve 32 so as to be balanced with the weight of the cutting device 2. The standby state in which the standby pressure (for example, 2.5MP), which is the set value on the higher side, is raised is displayed, whereby the open state of the electromagnetic check valve 32 is displayed during the raising operation. As a result, the inconvenience that the mowing device 2 suddenly rises or the mowing device 2 once descends and then rises occurs, and the electromagnetic check during the descending operation occurs. With the revealing of the open state of the click valve 32,
It is possible to prevent the inconvenience that the mowing device 2 suddenly descends or the mowing device 2 once rises and then descends.

When the automatic mode setting switch 46 is operated (ON) in this state, the floating control means 9Bb causes the electromagnetic unload valve 3 to operate based on the operation.
0 open state for hydraulic cylinder 3 and solenoid check valve 3
2 and the open state, and the proportional solenoid pressure control valve 3
By controlling the operation of No. 1 and lowering the pressure in the left and right hydraulic cylinders 3 to a preset lower set value (for example, 1.0 MP), the cutting device 2
, A part of the weight is left on the ground, and a floating state is made to follow the ground contact along the unevenness of the ground. In other words, in a work site where there are few obstacles such as concrete pieces and stones, the floating state is made to appear so that the gauge wheel 16 contacts the cutting device 2 along the unevenness of the ground. Since it can be stably positioned at the height above ground level, uncut grasses caused by the reaping device 2 being unnecessarily separated from the ground, and soil cutting caused by the reaping device 2 contacting the ground, It is possible to avoid wear of the mowing device 2 and the like, and to perform good mowing work for mowing grasses grown on the ground to a predetermined height above the ground, and improving durability of the mowing device 2. It is designed so that

This floating state can be released by operating the elevating switch 44, and when this releasing operation is performed, the floating control means 9Bb causes an electromagnetic proportional movement based on the operating direction of the elevating switch 44. The operation of the pressure control valve 31 is controlled to supply / discharge the hydraulic oil to / from the hydraulic cylinder 3, and the closed state of the electromagnetic check valve 32 is revealed after the operation of the elevating switch 44 (after returning to the elevating stop position). Finally, the operation of the electromagnetic proportional pressure control valve 31 is controlled so that the pressure in the hydraulic circuit R5a with respect to the hydraulic cylinder 3 becomes the above-described standby pressure (high-side set value).

For example, when the raising / lowering switch 44 is operated to the upside, if the operation is completed before the pressure in the hydraulic circuit R5a reaches the standby pressure, as shown by the solid line in FIG. 11, the floating control means 9Bb. Is
With the end of the operation, the closed state of the electromagnetic check valve 32 appears (the electromagnetic unload valve 30 remains open with respect to the hydraulic cylinder 3), and the operation of the electromagnetic proportional pressure control valve 31 is controlled, The hydraulic oil is supplied toward the hydraulic cylinder 3 until the pressure in the hydraulic circuit R5a reaches the standby pressure (the set value on the high side), the standby state is revealed, and the standby state is maintained. . Further, when the operation of the raising / lowering switch 44 to the ascending side is continued even after the pressure in the hydraulic circuit R5a reaches the standby pressure, as shown by the broken line in FIG. 11, the floating control means 9Bb moves up and down. While the switch 44 is continuously operated in the upward direction, the electromagnetic check valve 32 is held in the open state and the operation of the electromagnetic proportional pressure control valve 31 is controlled to supply hydraulic oil to the hydraulic cylinder 3 for cutting. By raising the device 2, and when the operation is completed, the closed state of the electromagnetic check valve 32 is revealed, and the supply of hydraulic oil to the hydraulic cylinder 3 is cut off. The pressure in the hydraulic circuit R5a is reduced to the standby pressure (the set value on the high side) by controlling the operation of the electromagnetic proportional pressure control valve 31 while maintaining the desired height position by the operation of. Current issues a standby state by discharging the hydraulic oil in the hydraulic circuit R5a, is adapted to maintain the standby state.

On the other hand, when the elevating switch 44 is operated to the descending side, the floating control means 9Bb keeps the elevating switch 44 operating to the descending side as shown by the solid line in FIG. The electromagnetic check valve 32 is kept open and the operation of the electromagnetic proportional pressure control valve 31 is controlled to discharge the hydraulic oil from the hydraulic cylinder 3 to increase the ground pressure of the reaping device 2 and the operation is completed. Along with this, the closed state of the electromagnetic check valve 32 is revealed to stop the discharge of the hydraulic oil from the hydraulic cylinder 3, so that the reaping device 2 is grounded to the ground at a desired ground pressure by the operation of the elevating switch 44 at that time. At the same time, the operation of the electromagnetic proportional pressure control valve 31 is controlled so as to increase the hydraulic pressure in the hydraulic circuit R5a to the standby pressure (the set value on the high side). And supplied toward the 3 current issued a standby state, so as to maintain its stand-by state. By the way, in the present embodiment, as shown in FIG. 11, the minimum value of the pressure in the hydraulic cylinder 3 that can be expressed by operating the elevating switch 44 is set to 0.2 MP.

As the electromagnetic check valve 32, a negative type which is spring-biased toward the stop position for blocking the flow of hydraulic oil is adopted. The oil passage is cut off to prevent the reaping device 2 from dropping suddenly.

As shown in FIG. 5, in the floating control mode, the working height setting dial 47 functions as a pressure setting device 53 which is a setting device for changing the set value on the lower side. By operating the pressure setting device 53, the set value on the low side can be changed between the maximum value (2.5MP = 100%) which is the standby pressure and the minimum value (0.2MP = 0%). It has become. As a result, when the work area is soft, the pressure setter 53 is operated to bring the set value on the lower side closer to the standby pressure as the work area is softer depending on the degree of the work area. By increasing the pressure, the ratio of the weight of the mowing device 2 applied to the ground during mowing in the floating state can be reduced, so that the sled member 15 and the gauge wheel 1 as a grounding body during mowing work can be reduced.
It is possible to prevent the 6 from getting stuck in the ground, and thus it is possible to avoid the occurrence of soil shaving caused by it. In addition, since the weight (grounding pressure) of the mowing device 2 on the ground can be adjusted by operating the pressure setting device 53 according to the type of mowing grass and the amount of mowing, the mowing device 2 cuts the mowing grass. It is also possible to prevent an inconvenience of unnecessarily cutting the grass by receiving the resistance of No. 1 and ascending. Further, since the working height setting dial 47 in the position control mode is made to function as the pressure setting device 53 in the floating control mode, the configuration is simplified and compared with the case where dedicated setting devices are provided. The manufacturing cost can be reduced.

As described above, as the working device A connected to the traveling machine body 1, there are a grass collecting device, a snow removing device, etc. in addition to the mowing device 2, and these working devices A have different weights (the mowing device). 2 is about 350 kg, grass collecting device is about 2
50kg, the snow removal device is about 400kg),
The floating control means 9Bb determines the type of the work device A based on the operation position of the work device selection switch 67, similarly to the traveling control means 9A, and based on the determination, the hydraulic circuit R5a for the hydraulic cylinder 3 in the hydraulic circuit R5a. In order to balance the pressure and the weight of the connected working device A,
The standby pressure, which is a preset value on the high side, is changed (for example, 2.0MP for a grass collecting device with a weight of about 250kg, or 2.0MP for a snow removing device with a weight of about 400kg). Is changed to 3.0MP) and the maximum value of the lower set value set by the operation of the pressure setter 53 is changed to the value of the standby pressure of the working device A to be connected (for example, 2.0M if it is a grass device
P, and if it is a snow removal device, change it to 3.0MP). As a result, regardless of the type of the work device A connected to the traveling machine body 1, when the work device A is lifted, the mowing device 2 suddenly rises or the mowing device 2 once descends and then rises. It is possible to prevent inconveniences and inconveniences such as the reaping device 2 suddenly descending during the descending operation of the work device A, or the reaping device 2 once rising and then descending, and depending on the situation of the work site. Appropriate floating state can be revealed.

The floating control means 9Bb is adapted to calculate the pressure value from the control current amount for the electromagnetic proportional pressure control valve 31.

Further, the floating control means 9Bb drives the PTO shaft 54 for driving the work devices A based on the type discrimination of the work devices A (the output shaft of the work device driving hydraulic motor M1 provided in each work device A). ) The work drive control for changing the setting of the output rotation speed is performed. Specifically, the floating control means 9Bb sets the setting range of the output rotation speed of the PTO shaft 54 that can be adjusted by the work output adjustment dial 51 to the original maximum output when the work device A is the reaping device 2. On the other hand, it is changed to the range of 80 to 100%, and if it is a grass collecting device, it is changed to the range of 20 to 65% against the original maximum output, and if it is a snow removal device, it is changed to the original maximum output. The range is changed to 40-100%. That is, the floating control means 9Bb is configured to regulate the minimum output and the maximum output of the PTO shaft 54 according to the type of the work device A,
As a result, it is possible to prevent the occurrence of work failure due to insufficient output and the damage to the work device A due to output over. The work drive control by the floating control means 9Bb is also executed in the position control mode. Further, the floating control means 9Bb operates the raising / lowering switch 44 to the ascending side or the descending side before the main switch 39 of the remote control device B is operated “ON”, or the automatic mode setting switch 46 “ON”. When the operation is performed, the control operation based on the operation of the elevating switch 44 and the automatic mode setting switch 46 is not executed until the neutral operation of the elevating switch 44 or the “OFF” operation of the automatic mode setting switch 46 is confirmed. And this allows
It is possible to prevent the work device A from suddenly moving up and down unexpectedly when the main switch 39 of the remote control device B is turned on.

The work control means 9C controls the operation of the servo valve 24 on the basis of the operation of the forward rotation drive switch 48 mounted on the remote control device B, so that the swash plate angle of the hydraulic pump P1 for driving the work device is controlled. Is changed to operate the hydraulic motor M1 for driving the working device in the normal direction, so that the normal rotation drive state of the reaping device 2 is revealed. Further, by controlling the operation of the servo valve 24 based on the operation of the reverse rotation drive switch 50, the swash plate angle of the hydraulic pump P1 is changed and the hydraulic motor M1 is reversely operated.
The reversing drive state of the reaping device 2 is revealed. Further, by controlling the operation of the servo valve 24 based on the operation of the drive stop switch 49, the hydraulic pump P1
By changing the swash plate angle to the neutral state and stopping the operation of the hydraulic motor M1, the drive stopped state of the reaping device 2 is revealed.

The engine stopping means 9D is a remote control device B.
The engine 6 is stopped based on the operation of the engine stop switch 52 mounted on the. Further, by operating the operation lever 55 (see FIG. 1) mounted on the left side portion of the traveling machine body 1, the fuel supply to the engine 6 is forcibly cut off, so that the engine 6 can be brought to an emergency stop. ing. By the way, the engine 6 can be started by operating a key switch 56 (see FIG. 1) provided on the left side of the traveling machine body 1.

As shown in FIG. 2, the traveling machine body 1 and the mowing device 2 are arranged so that the mowing width of the mowing device 2 is as wide as possible in terms of work efficiency and the traveling machine body 1 is in view of stability of the vehicle body. The maximum size that can be accommodated within the width of the carrier bed so that each can fit within the width of the carrier bed when being transported by a carrier such as a truck, while keeping the tread size as large as possible. Each width dimension is set so as to have substantially the same width. As a result, while improving work efficiency and stability of the machine,
The traveling machine body 1 or the mowing device 2 is prevented from coming into contact with other objects during transportation due to the traveling machine body 1 or the mowing device 2 protruding from the luggage carrier.

As shown in FIG. 12, in the hitch 19, the hook metal fittings 19A arranged in the upper left and right center and the engaging metal fittings 19B arranged in the lower left and right ends are connected by a substantially equilateral triangular frame 19C. It is configured by The left and right engaging fittings 19B include a recess 19a whose front side is open, and hook-like engaging pieces 19b and 19 which are vertically swingably mounted around the horizontal axis in the recess 19a.
It is configured by a biasing spring (not shown) that biases the engaging piece 19b so as to raise and swing the engaging piece 19b so that the front surface of the concave portion 19a is closed by b. The downward swinging operation of each engaging piece 19b is performed by applying a pressing force to each engaging piece 19b from the front, or operating the operation lever 57 that is swingably supported around the horizontal axis at the center of the frame 19C. It can be done at. On the other hand, in the mowing case 13 of the mowing device 2,
The 1st connection part 13A located in the center of the right and left, and the 2nd connection part 13B located in the position displaced from the 1st connection part 13A by the predetermined amount (for example, 200 mm) to the right are equipped. Each of the connecting portions 13A and 13B includes a first connecting pin 13b provided on an upper end portion of a pair of support frames 13a extending upward from the mowing case 13, and a pair of left and right lower portions of the support frame 13a. The second connecting pin 13c and the like are provided respectively.

With the above-mentioned structure, the hook body 19A of the hitch 19 is moved to the first connecting portion 13A or the second side of the second cutting device 2 by advancing the traveling body 1 toward the cutting device 2 with the hitch 19 lowered. The hitch 19 is located under the first connecting pin 13b of the connecting portion 13B, and in that state.
First, the first connecting pin 13 of the cutting device 2 is raised.
The hook metal fitting 19A of the hitch 19 is engaged with b, and then the mowing device 2 swings around the first connecting pin 13b toward the hitch 19 side and presses against the hitch 19 from the front side. The second connecting pin 13c of No. 2 is engaged with the engaging fitting 19B of the hitch 19, and thus the connection of the mowing device 2 to the traveling machine body 1 is completed. Further, when the hitch 19 is lowered while the engaging piece 19b of each engaging fitting 19B is lowered and swung by the operation of the operating lever 57, first, the second connecting pin 13c of the harvesting device 2 causes the engaging metal of the hitch 19 to engage. Remove from tool 19B, then hitch 19
Hook metal 19A of the first connecting pin 13b of the reaper 2
Therefore, the removal of the mowing device 2 from the traveling machine body 1 is completed. That is, with a simple configuration in which the mowing case 13 of the mowing device 2 is equipped with the first connecting portion 13A and the second connecting portion 13B, it is possible to easily attach / detach the mowing device 2 to / from the traveling machine body 1 and change the connecting position. It is like this.

When the hitch 19 is connected to the first connecting portion 13A of the reaping device 2, as shown by the solid line in FIG.
When the mowing device 2 is located at a non-offset position where the left and right ends of the traveling device 1 and the left and right ends of the mowing device 2 are substantially aligned with respect to the traveling body 1, a normal mowing operation is performed. When carrying a vehicle or a hauling vehicle, by exposing this non-offset connected state, it is possible to perform the mowing work in a stable state where the left and right balance of the machine body is substantially balanced, and the traveling machine body 1 and the mowing device 2 are It is designed to fit within the width of the platform. On the other hand, if the hitch 19 is connected to the second connecting portion 13B of the mowing device 2,
As shown by the alternate long and short dash line in FIG. 2, since the reaping device 2 is located at the offset position where the left end of the reaping device 2 projects from the left end of the traveling wing 1, the levee heaven When carrying out mowing work at the boundary with the slope (cliff) at the end or shoulder, etc., the traveling machine body 1 was kept away from the slope at the embankment top or the road shoulder by displaying this offset connection state. In this state, it is possible to mow the grass that grows on the boundary side with the slope. Moreover, in this offset connection state, the right end side of the mowing device 2, which has become relatively heavy due to the provision of the hydraulic motor M1 for driving the mowing device, is located within the width of the traveling machine body 1 and is more than the right end side thereof. Since the relatively light left end side comes to project from the left end of the traveling body 1, it is possible to balance the left and right balance of the body, and therefore, it is possible to mow the grass that grows on the boundary side with the slope. It can be performed in a stable state where the left-right balance of the aircraft is balanced.

As shown in FIGS. 13 and 14, the machine body frame 5 includes an engine frame 5A and a truck frame 5B above the engine frame 5A so that a space s is formed inside the hydraulic motors M2 and M3 for driving the traveling device. It is possible to secure a maintenance space for the hydraulic motors M2 and M3 and the rotation speed detection sensors S1 and S2 while keeping the center of gravity of the machine as low as possible. It is possible to improve the sex. As shown in FIGS. 1 and 14, the crawler type traveling device 10 is provided on each of the left and right track frames 5B.
Posture that protrudes outward of the crawler type traveling device 1
A pair of front and rear suspension fittings 5a, which can be switched between the retracted position and the retracted position stored within the width of 0, are pin-connected.
At the time of failure, by switching the hanging metal fitting 5a to the working posture and engaging a hook such as a crane,
It can be hung and transported by a crane. Further, instead of the hanging metal fitting 5a, a protective frame (not shown) extending over the left and right track frames 5B is connected, so that damage at the time of falling can be suppressed. The hanging metal fitting 5a can be held in the working posture and the retracted posture by the action of a detent mechanism (not shown).

As shown in FIGS. 1 and 2, an arch-shaped support frame 5C is erected at a substantially intermediate position in the front and rear of the traveling machine body 1, and front and rear bonnets 58 and 59 are mounted on the support frame 5C. It is designed to be swingable up and down. That is, the front bonnet 58 is swung upward to open the front side of the traveling machine body 1 to open the front side of the traveling machine body 1, the control device 9 provided in the front part of the traveling machine body 1, the hydraulic pumps P2, P3 for driving the traveling machine, The maintenance of the charge pump P7 and the like can be easily performed from the front side of the traveling machine body 1. Further, by swinging the rear bonnet 59 upward to open the rear side of the traveling machine body 1,
Maintenance of the engine 6, the hydraulic pump P4 for driving the cooling fan, the hydraulic pump P5 for raising and lowering the working device, and the like arranged at the rear of the traveling machine body 1 can be easily performed from the rear side of the traveling machine body 1. .

As shown in FIG. 15, a mounting table 61 is attached to the upper part of the support frame 5C via two left and right anti-vibration rubbers 60.
Rotating lights 62, 63, 64 of three colors of yellow and green are anti-vibration rubber 65
Is placed through. That is, each rotating lamp 62, 6
By adopting a double anti-vibration support structure for 3, 64, the durability of each rotary lamp 62, 63, 64 is improved. The red revolving light 62 is adapted to light up when an abnormality such as reception occurs to warn the operator of the abnormality. Yellow revolving light 63
Is turned on when the inclination angle detected by the inclination angle detection sensor S3 exceeds a predetermined value to warn the operator that the aircraft may tip over. The green revolving light 64 is turned on when the reaping device 2 is being driven, so that the operator can know the driving state of the reaping device 2. That is, since the rotating lights 62, 63, 64 of three colors are equipped and the rotating lights 62, 63, 64 to be turned on according to the warning contents are changed, the warning contents can be easily and accurately given to the operator. It can be recognized. Further, a receiving antenna 66 is mounted on the upper left side of the mounting table 61 so as to be able to swing back and forth and maintain its posture, so that when the front and rear bonnets 58 and 59 are swung up and raised during maintenance, the reception antenna 66 is received. By switching the antenna 66 from the rearwardly tilted posture (indicated by the solid line in FIG. 1) to the upright posture (indicated by the alternate long and short dash line in FIG. 1), it is possible to avoid the disadvantage that the receiving antenna 66 interferes. It is like this.

[Other Embodiments] Other embodiments will be listed below. The working machine may be a grass catcher configured by connecting a grass collecting device to the traveling machine body 1 or a snow remover configured by connecting a snow removing device to the traveling machine body 1. The mowing device 2 may be a blade mower type, a reel mower type, or the like, other than the flair mower type. The traveling device 10 may be a wheel type. The larger the moving average value of the tilt angles detected by the tilt angle detection sensor S3, the greater the travel control means 9 is.
A is a hydraulic motor M that drives the crawler type traveling device 10 in which the output rotation speed of the hydraulic motor M2 (or M3) that drives the crawler type traveling device 10 in the valley side is located in the mountain side.
By controlling the operation of each servo valve 25, 26 so as to increase above the output rotation speed of 3 (or M2), the drive speed of the crawler type traveling device 10 located on the valley side is crawler type traveling located on the mountain side. The driving speed of the device 10 may be set higher than the driving speed of the device 10 to ensure the straightness of the working machine when traveling on a contour line. In the control operation of the traveling control means 9A based on the detection from the inclination angle detection sensor S3, the speed difference between the left and right traveling devices 10 can be set in various ways. As a transmission that changes the drive speed of the traveling device 10, other than the hydrostatic continuously variable transmission 11 (for example, a belt type transmission) as long as the left and right traveling devices 10 can be operated independently A continuously variable transmission or a gear type transmission may be adopted. The work device A connected to the traveling machine body 1 may be automatically discriminated by a load sensor or the like.

[Brief description of drawings]

[Figure 1] Overall side view of the mower

[Fig. 2] Overall plan view of the mower

[Fig. 3] Hydraulic circuit diagram of the mower

FIG. 4 is a side view showing a state where the engine and each pump are unitized.

FIG. 5 is a block diagram showing a control configuration of a mower.

FIG. 6 is a perspective view showing a configuration of a remote control device.

FIG. 7 is a time chart showing the control operation of the traveling control means at the time of starting and stopping traveling.

FIG. 8 is a time chart showing a forced stop operation when the traveling control means stops traveling.

FIG. 9 is a graph showing a speed difference between the left and right traveling devices according to the weight of the work device in the control operation of the traveling control means based on the detection from the inclination angle detection sensor.

FIG. 10 is a graph showing a speed difference between the left and right traveling devices according to the traveling direction in the control operation of the traveling control means based on the detection from the inclination angle detection sensor.

FIG. 11 is a time chart showing the control operation of the floating control means.

FIG. 12 is a perspective view showing a connecting structure of the traveling machine body and the mowing device.

FIG. 13 is a side view showing a frame structure of the traveling body.

FIG. 14 is a vertical sectional rear view showing the frame structure of the traveling body.

FIG. 15 is a vertical sectional front view showing a supporting structure of a rotating lamp and a receiving antenna.

[Explanation of symbols]

9A traveling control means 10 traveling devices A working device S3 Tilt angle detection sensor

Front page continuation (72) Inventor Kazunari Abe 2310-5 Yamada, Kurosaki-cho, Nishikanbara-gun, Niigata Prefectural Office of Construction, Hokuriku Regional Construction Bureau Hokuriku Engineering Office (72) Inventor Tetsuo Yamaguchi Ishizukita-machi, Sakai-shi, Osaka 64 Kubota Sakai Factory (72) Inventor Homura Nakamura 64 Ishizukita-machi, Sakai City, Osaka Prefecture Kubota Corporation Sakai Factory (72) Inventor Kobayashi 64 Ishizukita-machi, Sakai City, Osaka Kubota Corporation Sakai Factory (56) References JP-A-63-126405 (JP, A) Fukukaihei 3-68172 (JP, U) Fukukaihei 5-7580 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) B62D 11/00 A01B 69/00

Claims (3)

(57) [Claims] 1. A tilt angle detection sensor for detecting a tilt direction and a tilt angle of a vehicle body in the left-right direction, and a traveling device positioned on the valley side as the tilt angle increases based on the detection from the tilt angle detection sensor. Travel control means for controlling the drive speed of the left and right traveling devices so that the drive speed is higher than the drive speed of the traveling device located on the mountain side, and the travel control means
However, the weight of the work equipment connected to the front and rear
The larger it is, the closer the driving speed of the traveling device located on the valley side is to the mountain side.
In order to be faster than the driving speed of the traveling device
Driving the left and right traveling devices in consideration of the weight of the working device
A straight ahead control structure for a work implement configured to control speed . Wherein said running control means, claim are configured to change the speed difference during forward travel and reverse travel and in running device located in the traveling device and the mountain side located on the valley side 1
A straight ahead control structure for the work machine described. 3. A tilt direction and a tilt angle in the left-right direction of the airframe.
Angle detecting sensor for detecting
Based on the above detection, the larger the angle of inclination, the closer to the valley
The driving speed of the traveling device is
Drive speed of the left and right traveling devices so that it is faster than the dynamic speed
And a travel control means for controlling
However, when traveling forward and backward,
To change the speed difference between the equipment and the traveling device located on the mountain side
A straight ahead control structure for the work machine that is configured .