JP3652261B2 - Work vehicle attitude control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention includes a posture change operation means that can freely change an inclination angle of a machine body relative to a grounding portion of a traveling apparatus, a manual posture change command means that commands an inclination change command of the machine body, and the attitude change command means The present invention relates to an attitude control device for a work vehicle provided with control means for controlling attitude change control for controlling the operation of the attitude change operation means based on the command information.
[0002]
[Prior art]
For example, in a combine, when working on a wetland, the machine body is in a back-tilt state, and even if the cutting part is lowered to the lower limit of the cutting height adjustment range, it does not reach the appropriate cutting height position, or the threshing device is inclined This may result in threshing and poor sorting. In this case, if the pitch adjustment is performed so that the main body is inclined forward with respect to the grounding portion of the traveling device, the cutting height position may be appropriately adjusted, or threshing and sorting may be appropriately performed. Moreover, when there is an obstacle when discharging the grain stored in the tank, the auger may not reach the discharge point. In this case, if the rolling adjustment is performed so that the main body is inclined to the left or right with respect to the grounding portion of the traveling device, the auger may reach the discharge location.
For this reason, in the work vehicle described above, by operating the attitude change command means, the control means controls the operation of the attitude change operation means based on the command from the attitude change command means, and the grounding of the traveling device of the body body is performed. The inclination angle with respect to the part can be adjusted.
[0003]
As a work vehicle of this type, conventionally, the tilt angle of the machine body with respect to the traveling device has been adjusted by swinging the body frame of the machine body with respect to the traveling device around one horizontal axis. .
[0004]
[Problems to be solved by the invention]
In the conventional tilt adjustment technology described above, the amount of change in the tilt angle cannot be increased, or the driving means for moving and adjusting the main body relative to the traveling device has been enlarged. In addition, the stability of the aircraft was likely to be lowered.
[0005]
In other words, since it is necessary to increase the amount of vertical movement of the aircraft frame when attempting to increase the amount of change in the inclination angle of the aircraft body with respect to the grounding portion of the traveling device, the stroke is used as a driving means for performing the movement operation. It was necessary to adopt a larger one. Further, in order to increase the tilt angle, it is necessary to increase the vertical distance between the aircraft frame and the traveling device, and the center of gravity of the aircraft body is high when the aircraft body is in a horizontal posture.
[0006]
For example, as disclosed in Japanese Patent Laid-Open No. 3-61421, the pair of left and right crawler travel devices can be adjusted by tilting a hydraulic cylinder for rolling. Some of them moved up and down parallel to the aircraft frame.
That is, drive means capable of changing and adjusting the height of the left end portion of the aircraft body with respect to the grounding portion of the traveling device, and drive means capable of changing and adjusting the height of the right end portion of the aircraft body with respect to the grounding portion of the traveling device. There are some which can perform rolling adjustment with respect to the traveling device of the airframe body by a pair of driving means which act separately on the left end portion and the right end portion of the airframe body.
[0007]
As in this known rolling technology, a plurality of drives acting separately on one end and the other end in the direction of tilt angle change of the machine body as drive means for adjusting the tilt angle of the machine body with respect to the traveling device By providing a means and adjusting the inclination of the aircraft body traveling device by operating the plurality of driving means, it is advantageous in terms of the size of the driving means, the range in which the inclination adjustment is possible, and the stability of the aircraft. The tilt can be adjusted while aiming.
[0008]
That is, the state of the inclined posture in which one end portion of the aircraft body is adjusted to move to the lower limit with respect to the traveling device, and the state of the inclined posture in which the other end portion is adjusted to move to the upper limit with respect to the traveling device. The tilt can be adjusted so that the tilt angle of the fuselage changes between. This makes it possible to increase the amount of change in the tilt angle while reducing the maximum stroke in which the machine body moves relative to the grounding portion of the traveling device and lowering the center of gravity of the machine when the machine body is in a horizontal posture.
[0009]
As described above, when the inclination adjustment is performed by a plurality of drive means that can change and adjust the height with respect to the grounding portion of the traveling device at both ends in the inclination angle changing direction in the main body, the attitude change command means The control means for operating a plurality of drive means based on a command from the vehicle executes a posture change operation in which the drive means acting on one end of the machine body and the drive means acting on the other end are simultaneously operated. If it does so, big motive power will be needed so that all the drive means can be driven at once. Further, it is necessary to perform complicated signal processing in terms of setting the control target position of the driving means.
[0010]
The object of the present invention is not only to increase the range of adjustment while making advantages in terms of the size of the driving means and the stability of the airframe in order to enable pitching and rolling adjustment, but also in terms of driving force and control. Further, it is desirable to provide an attitude control device for a work vehicle that can be advantageous from the standpoint and that facilitates an appropriate adjustment operation.
[0011]
[Means for Solving the Problems]
According to claim 1, in the attitude control device for a work vehicle described at the beginning, the attitude change operation means sets the height relative to the grounding portion of the traveling device at each of both end portions in the inclination angle change direction of the machine body. A plurality of drive units that can be changed and adjusted separately are provided, and an operation amount detection unit that detects a drive operation amount of each drive unit is provided,
In the state in which the control means stops the driving operation of the driving means acting on one end portion in the inclination angle changing direction in the airframe body among the plurality of driving means as the posture change control, the inclination in the airframe body Performing a posture change operation for driving the driving means acting on the other end of the angle change direction in the direction of the inclination change command by the posture change command means, and based on the detection information of the operation amount detection means, When it is determined that the driving means acting on the other end portion in the inclination angle changing direction has reached the end position of the drive operation possible range, the driving operation of the driving means acting on the other end portion in the inclination angle changing direction is performed. While stopping, it is comprised so that the alerting | reporting operation | movement which alert | reports that the drive means which acts on the other end part of the said inclination-angle change direction has reached the terminal position of the drive operation possible range will be performed.
[0012]
That is, since the posture changing operation means is configured to include a plurality of driving means that can change and adjust the height with respect to the grounding portion of the traveling device at each of both ends in the inclination angle changing direction in the main body, An inclination obtained by adjusting one end of the machine body to the lowering limit with respect to the traveling device by appropriately operating the plurality of drive means by a control means that operates based on a command from the attitude change command means. Inclination can be adjusted such that the inclination angle of the airframe body changes between the state of the posture and the state of the inclined posture in which the other end portion is moved and adjusted with respect to the traveling device to the upper limit. This makes it possible to increase the amount of change in the tilt angle while reducing the maximum stroke in which the machine body moves relative to the grounding portion of the traveling device and lowering the center of gravity of the machine when the machine body is in a horizontal posture.
[0013]
Further, the control means performs a posture changing operation of driving the driving means acting on the other end portion in a state where the driving means acting on the one end portion in the inclination angle changing direction of the machine body is stopped. When driving the drive means so as to change the inclination angle, while providing a small drive force for the number and size of the provided drive means, and for setting the control target position of the drive means, etc. The driving means can be driven while performing control with relatively simple signal processing.
[0014]
Furthermore, when adjusting the tilt angle of the machine body by operating the attitude change operation means, if the drive means is driven and the tilt angle is changed, the terminal position that can be driven can be controlled. The means performs a notification operation. As a result, if the change of the inclination angle progresses and the driving means reaches the end position, the operation of adjusting the inclination angle can be performed while easily recognizing this.
[0015]
Therefore, when enabling the pitch adjustment of the aircraft body or adjusting the inclination of the aircraft body with respect to the traveling device as in the case of enabling the rolling adjustment, for example, during wet field work by a combine, Regardless of the phenomenon in which the angle of the rear tilts and the angle differs, the front / rear tilt of the fuselage body is appropriate so that the aircraft body does not fall too forward and the cutting height position is appropriate. Pitching can be adjusted to an appropriate tilting posture, or when discharging grain from the tank, the left and right tilting of the fuselage main body is appropriate so that the fuselage main body does not tilt more than necessary and the auger is discharged regardless of obstacles The tilt angle of the fuselage body can be adjusted over a large adjustment range.
[0016]
For that reason, the center of gravity of the aircraft when the aircraft body is in a horizontal position is lowered and it can not only run stably, but in addition to adopting small driving means with a relatively small stroke, labor saving of driving force and It can be obtained compactly and inexpensively by simplifying the control.
[0017]
In addition, when the tilt angle is adjusted, if the drive means reaches the end position where the drive operation can be performed, it is easily recognized by notification, and the attitude change command means is operated too much and the tilt is added too much. The adjustment operation can be performed accurately and easily so as to prevent erroneous operation.
[0018]
According to claim 1, After the control means stops the driving operation of the driving means acting on the other end portion in the inclination angle changing direction in the posture changing control, the same inclination changing command as the inclination changing instruction before stopping the driving operation is When commanded by the attitude change command means, one end portion in the tilt angle change direction is held in a state where the drive means acting on the other end portion in the tilt angle change direction is held at the end position of the drive operable range. The driving means located at the position is driven in the direction of the inclination change command by the attitude change command means.
[0019]
That is, when the driving means acting on one end in the direction of changing the inclination angle of the aircraft body is stopped, the driving means acting on the other end is driven to operate, so that the inclination of the aircraft body with respect to the grounding portion of the traveling device The angle is changed to the direction of the tilt command. After the other end side drive means reaches the end position of the drive operation possible range and stops the drive operation of the drive means, if there is the same inclination change command as before the stop operation, the other end side drive means By driving the driving means on the one end part side in a state where the terminal body is held at the terminal position, the inclination angle of the airframe body with respect to the grounding part of the traveling device is further changed in the direction of the inclination command. As a result, one end of the aircraft body is in a tilted posture that has been adjusted to move to the lower limit with respect to the traveling device, and another tilted posture that has been adjusted to move to the upper limit with respect to the traveling device. The drive means is driven by a control method that makes the tilt angle of the fuselage main body change depending on the state and the number and size of the drive means is small and the signal processing is relatively simple. The tilt angle can be adjusted.
[0020]
Therefore, the inclination adjustment with respect to the grounding part of the traveling device of the machine body can be performed over a wide adjustment range. For that reason, not only can the driving means be reduced in size, but also the driving force and control can be simplified to achieve compactness and cost reduction.
[0021]
Claim 2 According to the claim 1 The posture changing operation means, as the plurality of driving means, has a height with respect to the grounding portion of the traveling device at each of a left front portion, a left rear portion, a right front portion, and a right rear portion of the main body. It is configured to have four drive means that can be changed and adjusted individually,
In the posture change control, the control means simultaneously drives two driving means among the four driving means, and any one of the two driving means that simultaneously drive the driving operation can be operated. When the end position of the two driving means is reached, the driving operation of the two driving means is stopped, and it is informed that one of the two driving means that are simultaneously operated has reached the end position of the drive operable range. After performing the notification operation and stopping the driving operation of the two driving means, the attitude change commanding means changes the same inclination as the inclination changing command before stopping the driving operation of the two driving means. When the command is instructed, of the two driving means that are driven simultaneously, the driving means that has reached the end position of the drive operable range is held in the end position, and the drive Operation possible Is configured to perform the termination arrival actuating driving operation so as to reach the drive means does not reach the end position of the circumference in the end position of the drive operation range.
[0022]
That is, for example, when driving the two driving means acting on the left front part and the left rear part simultaneously to execute the rolling operation, and simultaneously driving the two driving means acting on the left front part and the right front part When performing the pitching operation by operating, when one of the two drive means reaches the end position of the drive operation range, the drive operation of the two drive means is stopped and the notification operation is performed. When the same tilt command as that before the stop operation is instructed after the stop operation of the two drive means, the drive means that has not reached the end position is held while the drive means that has reached the end position is held at the end position. An end reaching operation is performed in which the drive operation is performed so as to reach the end position of the drive operation possible range. By executing the end reaching operation in this way, the amount of movement operation can be reduced in the main body for the traveling apparatus, and the driving force and the signal processing are relatively small for the number and size of the driving means. With this control, the driving means can be driven to change the inclination angle of the main body with respect to the traveling device over a wide adjustment range.
[0023]
Therefore, it is possible to work advantageously by adjusting the inclination angle of the machine body with respect to the traveling device over a large adjustment range. On the other hand, it is possible to obtain a compact and low cost by adopting a small driving means with a small stroke, and saving the driving force and simplifying the control.
[0024]
Claim 3 According to the claim 2 The posture change command means is configured to command each of a left tilt command, a right tilt command, a front tilt command, and a rear tilt command of the body as the tilt change command,
When the left tilt command and the right tilt command are instructed as the attitude change control, the control unit drives two drives that act on the left front part and the left rear part among the four drive units. Rolling operation in which the other two driving means are simultaneously driven in a state in which driving of one of the two driving means acting on the right front part and the right rear part is stopped. And when the front tilt command and the rear tilt command are commanded, of the four drive means, two drive means acting on the left front and right front, and the left rear and right It is configured to execute a pitching operation in which one of the two driving means acting on the rear part is stopped while driving the other two driving means at the same time. .
[0025]
That is, when a left tilt command or a right tilt command is commanded, the control means executes the rolling operation based on the command, and the left / right tilt angle with respect to the grounding portion of the traveling device of the body body is changed, so that the traveling device of the body body is Rolling adjustment is possible. When the front tilt command or the rear tilt command is commanded, the control means executes the pitching operation based on the command, the front / rear tilt angle with respect to the grounding part of the traveling device of the body body is changed, and the pitching adjustment for the traveling device of the body body is performed. Can do.
[0026]
Therefore, for example, in a combine, the cutting height position can be adjusted by adjusting the pitching of the fuselage body, and the auger can be adjusted by rolling adjustment of the fuselage body to discharge the grain. As described above, both the rolling adjustment and the pitching adjustment with respect to the traveling device of the airframe body can be advantageously performed over a wide adjustment range.
[0027]
DETAILED DESCRIPTION OF THE INVENTION
As shown in FIG. 1, the vehicle body V is configured to be supported by a pair of left and right crawler travel devices 1L and 1R and includes a boarding type driving unit 2 and a driving unit located below the driving seat. The machine frame 11 is equipped with the threshing device 3 and the grain tank 4, and the base end portion of the cutting unit frame 10 a of the cutting unit 10 including the pulling device 5, the clipper type cutting device 7, etc. It is connected to the support part 11a located at the front part so as to be rotatable around a horizontal axis P1 of the airframe, and is connected to the cutting part frame 10a at one end side thereof. A lift cylinder C1 is attached and configured to transmit power from the prime mover of the machine body main body V to the cutting unit 10 to form a combine. This combine is for harvesting rice, wheat and the like, and is configured in detail as follows.
[0028]
That is, the cutting unit 10 is moved up and down with respect to the machine body V by swinging the cutting unit frame 10a up and down around the axis P1 by the lift cylinder C1. That is, the lower end of the pulling device 5 and the reaping device 7 are located near the ground and the lowering work position where the cereal can be reaped, and the aircraft main body V is lifted to the ascending end or close to it and travels without cutting. Move up and down to the non-working position. Then, when the machine body V is caused to travel with the cutting unit 10 as the working position, the cutting unit 10 divides the planted cereals such as rice and wheat by the weeding tool 6 into a cutting target and a non-cutting target, A planting-side conveying unit that raises and processes the planted cereal to be harvested by the pulling device 5 and cuts the stock by the harvesting device 7 so as to sandwich and transport the harvested cereal from the harvesting device 7 to the stocking side. Then, it is conveyed to the rear side of the machine body by a conveying device 8 composed of a tip side conveying unit that engages and conveys on the tip side, and is supplied to the conveying start end portion of the threshing feed chain 3a of the threshing device 3. The threshing device 3 handles and processes with a rotating barrel that feeds the tip side to the handling chamber while sandwiching and transporting the stock side of the harvested cereal meal from the transport device 8 by the threshing feed chain 3a. The waste straw is carried out of the handling room by the threshing feed chain 3a. The threshing grains from the threshing device 3 are conveyed to the grain tank 4 by a conveyor and stored.
[0029]
As shown in FIG. 2, the crawler travel device 1L on the left side is connected to the front end side of the support frame 12 provided in the body frame 11 of the body body V via the front bell crank 17a. It is rotatably supported by a track frame 16 that is long in the front-rear direction of the airframe body, the rear end of which is connected to the rear end via a rear bell crank 17b and an auxiliary link 17b1, and the front end of the support frame 12. The crawler drive sprocket 13 that can be driven, the upper rolling wheel 14a that is supported so as to be freely rotatable at the intermediate portion in the front-rear direction of the support frame 12, and the plurality of places in the longitudinal direction of the track frame 16 The grounding wheel 14 that is freely supported, the crawler tensioning wheel 15 that is freely supported on the rear end of the track frame 16, and the compound roller Number of wheel body 13,14,14A, are constituted by an endless crawler belt B made of rubber which is wound across all 15.
[0030]
Of the front bell crank 17a, a swingable arm extending so as to be integrally rotatable from a rotation support shaft portion rotatably connected to the support frame 12 to a side opposite to the side where the track frame 16 is located. A rotary double-shaft type front cylinder C2 is attached to the cylinder bracket supported by the support frame 12 and the rotary support shaft portion of the rear link 17b rotatably connected to the support frame 12 The hydraulic double-acting rear side extends from a swingable arm portion extending so as to be integrally rotatable to the opposite side of the track frame 16 and a cylinder bracket supported by the support frame 12. A cylinder C3 is attached.
That is, the front cylinder C2 rotates the front bell crank 17a around the axis P2 with respect to the support frame 12 to move the front end side of the track frame 16 up and down relative to the body frame 11, and the rear cylinder C3 moves to the rear bell. The crank 17b is rotated about the axis P3 with respect to the support frame 12, and the rear end side of the track frame 16 is moved up and down with respect to the body frame 12.
[0031]
The right crawler traveling device 1R has the same configuration as the left crawler traveling device 1L, and the front and rear cylinders C2, C4 and the rear cylinder C3 are both in the left crawler traveling device 1L and the right crawler traveling device 1R. , C5, the track frame 12 is moved up and down with respect to the body frame 11 by the driving force of the front cylinders C2, C4 and the rear cylinders C3, C5.
[0032]
Accordingly, as shown in FIG. 2, when the left and right front cylinders C2 and C4 are extended to the maximum and the left and right rear cylinders C3 and C5 are shortened to the shortest, the track frames 16 of the left and right traveling apparatuses 1L and 1R are 11 is the closest to 11 and almost parallel. The attitude of the main body V at this time is the lower limit reference attitude.
[0033]
As shown in FIG. 3, when the left and right front cylinders C2 and C4 are shortened while maintaining the left and right rear cylinders C3 and C5 as they are from the lower limit reference posture, the left and right traveling apparatuses 1L and 1R are operated. The front end side of the track frame 16 is lowered with respect to the body frame 11 from the rear end side. That is, the attitude of the machine body V is changed (forward lifting operation) in a direction in which the front side is separated from the grounding portions of the crawler travel devices 1L and 1R.
As shown in FIG. 4, when the left and right rear cylinders C3 and C5 are extended while maintaining the left and right front cylinders C2 and C4 from the lower limit reference posture, the left and right traveling apparatuses 1L and 1R are operated. The rear end side of the track frame 16 is lowered with respect to the body frame 11 from the front end side. The posture of the machine body V is changed (backward raising operation) in a direction in which the rear side is separated from the grounding portions of the crawler travel devices 1L and 1R.
As shown in FIG. 5, when the left and right front cylinders C2 and C4 are shortened and the left and right rear cylinders C3 and C5 are extended and operated from the lower limit reference posture, the left and right traveling apparatuses 1L and 1R The track frame 16 is lowered substantially parallel to the body frame 11. The posture change (lifting operation) is performed in a direction in which the main body V is separated from the traveling devices 1L and 1R while maintaining a parallel posture.
[0034]
When the hydraulic cylinders C2 to C5 are operated on the side where the vertical distance between the track frame 16 and the body frame 11 in the left crawler traveling device 1L is smaller than that of the track frame 16 in the right crawler traveling device 1R, The posture of the main body V is changed (left-inclined operation) in the right-up direction with respect to the grounding portions of the traveling devices 1L and 1R.
[0035]
When the hydraulic cylinders C2 to C5 are operated on the side where the vertical distance between the track frame 16 and the body frame 11 in the right crawler traveling device 1R is smaller than that of the track frame 16 in the left crawler traveling device 1L, The posture of the main body V is changed in the left-up direction (right tilt operation) with respect to the grounding portions of the traveling devices 1L and 1R.
[0036]
Accordingly, the left front cylinder C2 (hereinafter simply referred to as the left front cylinder C2), the left rear cylinder C3 (hereinafter simply referred to as the left rear cylinder C3), and the right front cylinder C4 (hereinafter simply referred to as the left front cylinder C3). The right front cylinder C4) and the right rear cylinder C5 (hereinafter simply referred to as the right rear cylinder C5) are the left and right inclination angles and the front / rear inclination of the body V with respect to the grounding portions of the traveling devices 1L and 1R. The posture changing operation means 100 is configured to change the corner. The left front cylinder C2 is a driving means that operates to move up and down the left front portion of the body body V, and changes and adjusts the height of the left front portion of the traveling body 1L, 1R with respect to the grounding portion of the body body V. To do. The left rear cylinder C3 is a driving means that acts to move up and down the left rear portion of the body body V, and changes and adjusts the height of the left rear portion of the traveling body 1L, 1R with respect to the grounding portion of the body body V. The right front cylinder C4 is a driving means that operates to move up and down the right front part of the body body V, and changes and adjusts the height of the traveling devices 1L and 1R with respect to the grounding part at the right front part of the body body V. . The right rear cylinder C5 is a driving means that operates to raise and lower the right rear portion of the body body, and changes and adjusts the height of the traveling devices 1L and 1R with respect to the grounding portion at the right rear portion of the body body.
[0037]
In the left and right crawler travel devices 1L, 1R, the hydraulic cylinders C2, C3, C4, C5 are arranged at positions corresponding to the rotation support shaft portions of the bell cranks 17a, 17b based on the rotation amount of the rotation support shaft portions. Potentiometer-type stroke sensors 18, 19, 20, and 21 are provided as operation amount detection means for detecting an operation amount (stroke amount by which the hydraulic cylinders C2 to C5 extend and contract).
Also, the machine body V has a gravitational left / right tilt angle sensor 23 as a left / right tilt angle detecting means for detecting a left / right tilt angle with respect to the horizontal reference plane of the machine body V, and a front / rear tilt with respect to the horizontal reference plane of the machine body V. A gravity-type front / rear inclination angle sensor 24 is provided as a front / rear inclination angle detecting means for detecting an angle.
[0038]
As shown in FIG. 6, the detection information of each of the stroke sensors 18 to 21, the left / right inclination angle sensor 23, and the front / rear inclination angle sensor 24 is input to the control device 22 using a microcomputer provided in the body body V. . In addition, the operation panel of the operation unit 2 is provided with the attitude change switch unit SU shown in FIG. 7, the front raising switch 40 a and the rear raising switch 40 b, and their information is input to the control device 22.
[0039]
The posture change switch unit SU includes a left / right tilt angle setting unit 25 for setting a left / right tilt angle with respect to a horizontal reference plane of the main body V, a horizontal automatic switch 26 for turning on / off horizontal control (automatic rolling operation described later), and a horizontal control switch. A horizontal lamp 26a indicating the on state, a front / rear automatic switch 27 for turning on / off the front / rear control (automatic pitching operation described later), a front / rear lamp 27a indicating the on / off state of the front / rear control, A raising reference switch 35 for switching to the lower limit reference mode, a raising reference lamp 35a indicating that it is the upper limit reference mode, and a right raising switch 37a and a left raising switch that are operated by a cross lever type operation tool 36 are provided. 37b, an aircraft raising switch 38a and an aircraft lowering switch 38b are provided. Note that posture control by manual operation described later is executed in the lower limit reference mode.
[0040]
When the operation tool 36 is tilted to the left, the right lifting switch 37a is turned on to command a right lifting operation (left tilt operation). When the operating tool 36 is tilted to the right, the left lifting switch 37b is turned on. Operates to command a left-up operation (right tilt operation).
Also, when the operating tool 36 is tilted backward, the airframe raising switch 38a is turned on to command the airframe raising operation, and when the operating tool 36 is tilted forward, the airframe lowering switch 38b is turned on. Command to lower the aircraft.
[0041]
The front raising switch 40a and the rear raising switch 40b are provided in the grip portion of the operation tool 36. When the front raising switch 40a is turned on, an aircraft front raising operation (rear tilting operation) is commanded, and when the rear raising switch 40b is turned on, an aircraft rear raising operation (front tilt operation) is commanded.
[0042]
Therefore, if the right-up switch 37a, the left-up switch 37b, the front-up switch 40a, and the rear-up switch 40b are turned on, the left tilt command, A manually-operated posture change command means 300 that commands a tilt command, a front tilt command, and a rear tilt command is configured.
[0043]
The left / right tilt angle setting device 25 includes a horizontal switch 25a, a left tilt switch 25b, and a right tilt switch 25c. That is, when the horizontal switch 25a is pressed, a tilt angle corresponding to the horizontal state is set as the left / right tilt angle, and when the left tilt switch 25b is pressed, the currently set left / right tilt angle is corrected to the left tilt direction by the set angle. When the right tilt switch 25c is pressed, the currently set left / right tilt angle is corrected to the right tilt direction by the set angle.
[0044]
On the other hand, the control device 22 outputs drive signals for the electromagnetic control valves 29 to 32 for controlling the four hydraulic cylinders C2 to C5 for changing the body posture, and is provided in the operation unit 2. A control signal for the drive unit of the electronic buzzer BZ is output.
[0045]
A control means 200 for controlling the operation of the attitude changing operation means 100 is configured by using the control device 22, and this control means 200 is the left side of the body main body V among the four hydraulic cylinders C <b> 2 to C <b> 5. Two hydraulic cylinders (left front cylinder C2 and left rear cylinder C3) acting separately on the front part and the left rear part, and two hydraulic cylinders acting on the right front part and right rear part (right front cylinder C4 and A rolling operation for driving and operating the other two hydraulic cylinders C2 to C5 in a state in which one of the two hydraulic cylinders C2 to C5 of the right rear cylinder C5) is stopped, and the four hydraulic pressures Among the cylinders C2 to C5, two hydraulic cylinders (left front cylinder C2 and right front cylinder C4) acting separately on the left front part and the right front part of the fuselage main body V, and on the left rear part and the right rear part The other two hydraulic cylinders C2 to C5 in a state where one of the two hydraulic cylinders (the left rear cylinder C3 and the right rear cylinder C5) acting separately is stopped. It is comprised so that the pitching operation | movement which drives / operates can be performed.
[0046]
The control means 200 performs a rolling operation and a pitching operation as a control form, which includes automatic control and manual control executed based on a manual operation command.
In the case of automatic control, the control means 200 sets the left / right inclination angle of the main body V by the left / right inclination angle setting device 25 based on the detection information of the left / right inclination angle sensor 23 as the rolling operation. An automatic rolling operation is performed to maintain the aircraft body V in a horizontal posture in the longitudinal direction of the aircraft based on detection information of the longitudinal tilt angle sensor 24 as the pitching operation. Is configured to run.
The execution of the automatic rolling operation is commanded when the horizontal automatic switch 26 is on, and the execution of the automatic pitching operation is commanded when the front / rear automatic switch 27 is on. When the execution of the automatic rolling operation and the automatic pitching operation is instructed at the same time, the automatic rolling operation is executed after the automatic rolling operation is preferentially executed.
[0047]
In the case of manual control, when the control unit 200 is instructed to perform a left tilt command (right-up command) based on the command information of the attitude change command unit 300 as the rolling operation, The left / right tilt angle is changed to the left tilt side, and when a right tilt command (left-up command) is commanded, a manual rolling operation is performed to change the left / right tilt angle of the machine body V to the right tilt side, and the pitching As an operation, based on the command information of the attitude change command means 300, when a front tilt command (aircraft rear raising command) is commanded, the front / rear tilt angle of the main body V is changed to the front tilt side, and the rear tilt command It is configured to execute a manual pitching operation for changing the front / rear inclination angle of the main body V to the rear inclination side when the (upward advance command) is instructed.
[0048]
When an ascending command is instructed by the airframe raising switch 38a, the control means 200 simultaneously drives and operates the four hydraulic cylinders C2 to C5 so that the airframe main body V is in contact with the grounding portions of the traveling devices 1L and 1R. When the height is raised and a lowering command is commanded by the airframe lowering switch 38b, the airframe body with respect to the grounding portions of the traveling devices 1L and 1R is operated by simultaneously driving the four hydraulic cylinders C2 to C5. A parallel up / down operation to lower the height of V is executed. The manual rolling operation, manual pitching operation, and parallel up / down operation are executed in preference to the automatic rolling operation and the automatic pitching operation.
[0049]
Next, the rolling operation and the pitching operation in the lower limit reference mode will be described.
That is, in the case of the rolling operation, when the left front cylinder C2 is shortened and the left rear cylinder C3 is extended from the state in the lower limit reference posture (FIG. 2), as shown in FIG. Then, the fuselage main body V changes to a left-upward inclined posture (right inclined posture) with respect to the grounding portion. Further, when the right front cylinder C4 is shortened and the right rear cylinder C5 is extended from the lower limit reference posture, as shown in FIG. It will change to the upper right tilt posture (left tilt posture). In this way, it is possible to execute a rolling operation in which the main body V is tilted in the left-right direction with respect to the grounding portions of the traveling devices 1L and 1R.
[0050]
On the other hand, in the case of the pitching operation, the left front cylinder C2 and the right front cylinder C4 are simultaneously shortened while maintaining the left rear cylinder C3 and the right rear cylinder C5 as they are from the state of the lower limit reference posture (FIG. 2). If it does so, the front part side of the machine body main body V will raise with respect to each grounding part of the left and right crawler traveling apparatuses 1L and 1R, and will change an attitude | position to a back leaning attitude | position. Further, when the left rear cylinder C3 and the right rear cylinder C5 are simultaneously extended while maintaining the left front cylinder C2 and the right front cylinder C4 as they are in the lower limit reference posture, the rear side of the main body V is left and right. The crawler traveling apparatuses 1L and 1R are lifted with respect to the respective ground contact portions and changed in posture to a forward inclined posture. Thus, the pitching operation of tilting the main body V in the front-rear direction with respect to the grounding portions of the traveling devices 1L and 1R can be executed.
[0051]
Although the description of the rolling operation and the pitching operation in the upper limit reference mode is omitted, the body state V is the most separated posture in the left and right crawler travel devices 1L and 1R while maintaining the parallel posture with respect to the grounding portion (FIG. 5). From the reference), the operation directions of the cylinders C2 to C5 are operated in the direction opposite to the operation direction in the rolling operation and the pitching operation in the lower limit reference mode.
[0052]
The posture control means 200 is configured to operate the two hydraulic cylinders C2 to C5 that are driven and operated based on detection information of the stroke sensors 18 to 21 during execution of either the rolling operation or the pitching operation. As one of the two is detected to have reached the end position of the drive operable range, the execution of one of the rolling operation and the pitching operation is stopped and then stopped. When the execution of any one of the rolling operation and the pitching operation is instructed, the driving operation is performed in a state where the hydraulic cylinders C2 to C5 that have reached the end position of the drive operation possible range are held at the end position. An end reaching operation is performed to make the other hydraulic cylinders C2 to C5 not reaching the end position of the possible range reach the end position. It is configured.
Specifically, the end position of the drive operable range of each hydraulic cylinder C2 to C5 corresponds to the upper limit position and the lower limit position of the full stroke of each hydraulic cylinder C2 to C5.
[0053]
Then, depending on whether the control means 200 is performing posture change control by manual control or when performing posture change control by automatic control, the end reaching operation is executed as follows. The
In the case of manual control, the posture control means 200 determines that any one of the two hydraulic cylinders C2 to C5 that are being driven has reached the end position of the drive operable range. After stopping the execution of either the operation or the manual pitching operation, the posture change command means 300 uses the same direction as the operation direction before the stop of either the manual rolling operation or the manual pitching operation stopped. When the tilting operation command is continuously commanded for a set time (for example, 1.5 seconds), it is determined that the continuation of the execution has been commanded and the terminal reaching operation is performed. Yes.
[0054]
In the case of automatic control, the posture control means 200 determines that one of the two hydraulic cylinders C2 to C5 that are being driven has reached the end position of its driveable range, so that the automatic rolling is performed. After stopping the execution of either the operation or the automatic pitching operation, the posture change command means 300 uses the same direction as the operation direction before the stop of either the automatic rolling operation or the automatic pitching operation stopped. When the tilt operation command is commanded, it is determined that the continuation of the execution is commanded, and the terminal reaching operation is executed.
[0055]
More specifically, the end reaching operation will be described. In the case of manual control, for example, as shown in FIG. 9 (a), when the traveling vehicle body V is in the left-tilt state, the rear raising command is given by the rear raising switch 40b. When the manual pitching operation for changing the attitude of the machine body to the rear-up state is executed, as shown in FIG. 9B, the left rear cylinder C3 that is driven and operated as the rear part of the machine body is raised. Of the right rear cylinder C5, the right rear cylinder C5 reaches the upper limit position first, and the manual pitching operation stops. Therefore, when the rear raising switch 40b continuously issues a rear raising command for the set time (for example, 1.5 seconds), the manual pitching operation is resumed, and as shown in FIG. Both the cylinder C3 and the right rear cylinder C5 are operated so as to reach the upper limit position, and the body posture can be changed to the end position in the rearward raising direction. In addition, a, a0 in the figure shows the height at the left front end of the main body V. “b”, “b1”, “b2” indicate the height at the left rear end of the main body V. c and c0 indicate the height of the airframe body V at the right front end. d and d2 indicate the height at the right rear end of the main body V.
[0056]
The control means 200, when executing the rolling operation and the pitching operation by manual control, based on the detection information of the stroke sensors 18 to 21, the two hydraulic cylinders C2 to C5 that are drivingly operated. When it is detected that one of them has reached the end position of the drive operable range, the drive operation of the two hydraulic cylinders C2 to C5 that have been driven as described above is stopped along with this detection. In addition, a notification operation for operating the electronic buzzer BZ is performed so as to notify that any one of the two hydraulic cylinders C2 to C5 that has been driven has reached the end position of the drive operable range. It is configured.
[0057]
Next, the attitude control operation and the notification operation by the control device 22 will be described based on the flowcharts of FIGS.
As shown in FIG. 10, first, it is determined whether or not a manual operation command (left-right tilt, front-back tilt, up-down ascending and descending) is issued, and when a manual operation command is issued, a manual attitude control process is executed.
When the manual operation command is not issued, the state of the horizontal automatic switch 26 and the front / rear automatic switch 27 is checked. When only the horizontal automatic switch 26 is on, only the automatic rolling operation is executed, and both are turned on. If it is, the automatic rolling operation is preferentially executed first, and then the automatic pitching operation is executed.
[0058]
As shown in FIG. 11, in the manual attitude control process, if a left-up switch 37b is commanded as a left-right tilt command, a right-tilt process is executed, and a right-up switch 37a commands a right-up command. If so, the left tilt process is executed.
As the front / rear tilt command, if the rear raising is commanded by the rear raising switch 40b, the front tilting process is executed. If the front raising switch 40a is given the front raising process, the rear tilting process is executed.
As the up / down raising / lowering command, if the aircraft raising switch 38a is instructed to raise the aircraft, the aircraft raising process is executed. If the aircraft lowering switch 38b is instructed to lower the aircraft, the aircraft lowering process is executed.
[0059]
As shown in FIG. 12, in the right tilt process, whether one of the right front cylinder C4 and the right rear cylinder C5 is operated to the lower limit position based on the detection information of the front and rear stroke sensors 20, 21 on the right side of the aircraft. If both the cylinders C4 and C5 are not operated to the lower limit position, the right front cylinder C4 is extended and the right rear cylinder C5 is shortened. When it is determined that one of the right front cylinder C4 and the right rear cylinder C5 is operated to the lower limit position based on the detection information of the stroke sensors 20, 21, the driving operation of the right front cylinder C4 and the right rear cylinder C5 is stopped. At the same time, the electronic buzzer BZ for notifying that the cylinders C4 and C5 have reached the end position is operated. When a left-up command is issued after driving operation of the right front cylinder C4 and the right rear cylinder C5 is stopped, in this case, based on the detection information of the front and rear stroke sensors 18 and 19, the left front cylinder C2 It is determined whether any one of the left rear cylinder C3 is operated to the upper limit position. If both the cylinders C2 and C3 are not operated to the upper limit position, either the left front cylinder C2 or the left rear cylinder C3 is selected. Until one reaches the upper limit position, the left front cylinder C2 is shortened and the left rear cylinder C3 is extended.
[0060]
Next, when the cylinders C2 to C5 are stopped driving, if the left-up operation is continuously commanded for a set time (1.5 seconds) or longer, the lower limit of the stroke of the right front cylinder C4 and the right rear cylinder C5 is determined. While holding the cylinder that has reached the lower limit position, the cylinder that has not reached the lower limit position is driven to the lower limit position (for example, if the right front cylinder C4 has reached the lower limit position, the right rear cylinder C5 Shortened operation). At the same time, the cylinder that has reached the upper limit position of the left front cylinder C2 and the left rear cylinder C3 is held at the upper limit position, and the cylinder that has not reached the upper limit position is driven to the upper limit position (for example, the left front cylinder If the cylinder C2 has reached the upper limit position, the left rear cylinder C3 is extended).
[0061]
As shown in FIG. 13, in the left tilt process, whether one of the left front cylinder C2 and the left rear cylinder C3 is operated to the lower limit position based on the detection information of the front and rear stroke sensors 18, 19 on the left side of the machine body. If both 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. When it is determined that either the left front cylinder C2 or the left rear cylinder C3 has been operated to the lower limit position based on the detection information of the stroke sensors 18, 19, the driving operation of the left front cylinder C2 and the left rear cylinder C3 is stopped. Then, the electronic buzzer BZ for notifying that the cylinders C2 and C3 have reached the end position is operated. When a right-up command is issued after the driving operation of the left front cylinder C2 and the left rear cylinder C3 is stopped, in this case, based on the detection information of the front and rear stroke sensors 20, 21, the right front cylinder C4 and It is determined whether any one of the right rear cylinder C5 is operated to the upper limit position. If both the cylinders C4 and C5 are not operated to the upper limit position, either the right front cylinder C4 or the right rear cylinder C5 is selected. Until the upper limit position is reached, the right front cylinder C4 is shortened and the right rear cylinder C5 is extended.
[0062]
Next, when the cylinders C2 to C5 are stopped driving, if a command for raising the right side is continuously issued for a set time (1.5 seconds) or longer, the lower limit of the stroke of the left front cylinder C2 and the left rear cylinder C3 is set. While holding the cylinder that has reached the lower limit position, the cylinder that has not reached the lower limit position is driven to the lower limit position (for example, if the left front cylinder C2 has reached the lower limit position, the left rear cylinder C3 Shortened operation). At the same time, the cylinder that has reached the upper limit position of the stroke among the right front cylinder C4 and the right rear cylinder C5 is held at the upper limit position, and the cylinder that has not reached the upper limit position is driven to the upper limit position (for example, the right front cylinder If the cylinder C4 has reached the upper limit position, the right rear cylinder C5 is extended).
[0063]
As shown in FIG. 14, in the forward tilt process, 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 on the front side of the body. If both the 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. When it is determined that either the left front cylinder C2 or the right front cylinder C4 has been operated to the lower limit position based on the detection information of the stroke sensors 18 and 20, the driving operation of the left front cylinder C2 and the right front cylinder C4 is stopped and the cylinder is stopped. The electronic buzzer BZ that notifies that C2 and C4 have reached the end position is activated. When the rear raising is instructed after the driving operation of the left front cylinder C2 and the right front cylinder C4 is stopped, in this case, the left rear cylinder C3 is based on the detection information of the left and right stroke sensors 19, 21 on the rear side of the machine body. And whether one of the right rear cylinder C5 is operated to the upper limit position. If neither of the cylinders C3, C5 is operated to the upper limit position, the left rear cylinder C3 and the right rear cylinder C5 The left rear cylinder C3 and the right rear cylinder C5 are extended until either of them reaches the upper limit position.
[0064]
Next, when the cylinders C2 to C5 are stopped driving and the rearward raising is continuously commanded for a set time (1.5 seconds) or more, the lower limit of the stroke of the left front cylinder C2 and the right front cylinder C4 is determined. The cylinder that has reached the position is held at its lower limit position, and the cylinder that has not reached the lower limit position is driven to the lower limit position (for example, if the left front cylinder C2 has reached the lower limit position, the right front cylinder C4 is Elongate operation). At the same time, the cylinder that has reached the upper limit position of the left rear cylinder C3 and the right rear cylinder C5 is held at the upper limit position, and the cylinder that has not reached the upper limit position is driven to the upper limit position (for example, If the left rear cylinder C3 has reached the upper limit position, the right rear cylinder C5 is extended.
[0065]
As shown in FIG. 15, in the rear tilt process, one of the left rear cylinder C3 and the right rear cylinder C5 is operated to the lower limit position based on the detection information of the left and right stroke sensors 19, 21 on the rear side of the aircraft. 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. When it is determined that one of the left rear cylinder C3 and the right rear cylinder C5 has been operated to the lower limit position based on the detection information of each stroke sensor 19, 21, the drive operation of the left rear cylinder C3 and the right rear cylinder C5 is performed. While stopping, the said electronic buzzer BZ which alert | reports that the cylinders C3 and C5 reached the end position is operated. When the front-up operation is instructed after the driving operation of the left rear cylinder C3 and the right rear cylinder C5 is stopped, in this case, based on the detection information of the left and right stroke sensors 18 and 20 on the front side of the machine body, the left front cylinder C2 And whether one of the right front cylinder C4 is operated to the upper limit position, and if both the cylinders C2 and C4 are not operated to the upper limit position, either the left front cylinder C2 or the right front cylinder C4 is selected. Until the upper limit position is reached, the left front cylinder C2 and the right front cylinder C4 are shortened.
[0066]
Next, when the cylinders C2 to C5 are stopped driving, if the front raising is continuously commanded for a set time (1.5 seconds) or longer, the strokes of the left rear cylinder C3 and the right rear cylinder C5 are stroked. The cylinder that has reached the lower limit position is held at the lower limit position, and the cylinder that has not reached the lower limit position is driven to the lower limit position (for example, if the left rear cylinder C3 has reached the lower limit position, The rear cylinder C5 is shortened), and the cylinder that has reached the upper limit position of the left front cylinder C2 and the right front cylinder C4 is held at the upper limit position, and the cylinder that has not reached the upper limit position is driven to the upper limit position. (For example, if the left front cylinder C2 has reached the upper limit position, the right front cylinder C4 is shortened).
[0067]
[Another embodiment]
Next, another embodiment will be listed.
In the above-described embodiment, the traveling device is configured by the pair of left and right crawler traveling devices 1L and 1R. However, the traveling device is not limited to this. For example, a single traveling device may be used. It may be a device.
[0068]
In the above embodiment, the four drive means C2 to C5 constituting the posture changing operation means 100 are constituted by hydraulic cylinders. However, the present invention is not limited to this, and other driving means such as an electric motor and a screw feed mechanism are provided. You may comprise by a drive means.
[0069]
In the above-described embodiment, the combine is exemplified as the work vehicle. However, the combine is not limited to the combine, and other agricultural work vehicles such as a seedling transplanter and a tractor may be used. It may be.
[Brief description of the drawings]
FIG. 1 is a side view showing a front portion of a combine.
FIG. 2 is a side view showing a configuration for raising and lowering a traveling device.
FIG. 3 is a side view showing a configuration for raising and lowering a traveling device.
FIG. 4 is a side view showing a configuration for raising and lowering a traveling device.
FIG. 5 is a side view showing a configuration for raising and lowering the traveling device.
FIG. 6 is a block diagram showing a control configuration.
FIG. 7 is a front view of a switch unit for posture change operation.
FIG. 8 is a front view showing a rolling operation state.
FIG. 9 is a perspective view for explaining an end reaching operation.
FIG. 10 is a flowchart showing a control operation.
FIG. 11 is a flowchart showing a control operation.
FIG. 12 is a flowchart showing a control operation.
FIG. 13 is a flowchart showing a control operation.
FIG. 14 is a flowchart showing a control operation.
FIG. 15 is a flowchart showing a control operation.
[Explanation of symbols]
1L, 1R travel device
18-21 Operation amount detection means
23 Left / right tilt angle detection means
24 Forward / backward tilt angle detection means
100 Posture change operation means
200 Attitude control means
300 Posture change command means
C2 to C5 drive means
V body

Claims (3)

Attitude changing operation means capable of changing and changing the inclination angle of the airframe body relative to the grounding portion of the traveling device;
Manual attitude change command means for instructing an inclination change command of the body, and
A work vehicle attitude control device provided with control means for executing attitude change control for controlling the operation of the attitude change operation means based on command information of the attitude change command means;
The posture change operation means includes a plurality of drive means that can change and adjust the height with respect to the grounding portion of the traveling device at each of both ends in the inclination angle change direction in the airframe body, An operation amount detection means for detecting the drive operation amount of each drive means is provided,
In the state in which the control means stops the driving operation of the driving means acting on one end portion in the inclination angle changing direction in the airframe body among the plurality of driving means as the posture change control, the inclination in the airframe body Performing a posture change operation for driving the driving means acting on the other end of the angle change direction in the direction of the inclination change command by the posture change command means, and based on the detection information of the operation amount detection means, When it is determined that the driving means acting on the other end portion in the inclination angle changing direction has reached the end position of the drive operation possible range, the driving operation of the driving means acting on the other end portion in the inclination angle changing direction is performed. with stops, drive means acting on the other end of the tilt angle changing direction is configured to perform a notifying operation for notifying that it has reached the end position of the drive operation range, further, the posture In the further control, after stopping the driving operation of the driving means acting on the other end portion in the inclination angle changing direction, the same inclination changing command as the inclination changing command before stopping the driving operation is issued by the posture changing command means. In the case where the driving means acting on the other end portion in the tilt angle changing direction is held at the end position of the drive operation possible range, the driving means acting on the one end portion in the tilt angle changing direction is An attitude control device for a work vehicle configured to drive in a direction of an inclination change command by an attitude change command means . The posture changing operation means, as the plurality of driving means, separately sets the height relative to the grounding portion of the traveling device at each of the left front part, left rear part, right front part, and right rear part of the main body. It is configured to include four drive means that can be changed and adjusted,
In the posture change control, the control means simultaneously drives two driving means among the four driving means, and any one of the two driving means that simultaneously drive the driving operation can be operated. When the end position of the two driving means is reached, the driving operation of the two driving means is stopped, and it is informed that one of the two driving means that are simultaneously operated has reached the end position of the drive operable range. After performing the notification operation and stopping the driving operation of the two driving means, the attitude change commanding means changes the same inclination as the inclination changing command before stopping the driving operation of the two driving means. When the command is instructed, of the two driving means that are driven simultaneously, the driving means that has reached the end position of the drive operable range is held in the end position, and the drive Operation possible Work vehicle attitude control device Configured claim 1 to carry out termination arrival actuating driving operation so as to reach the drive means does not reach the end position of the circumference in the end position of the drive operation range. The posture change command means is configured to command each of a left tilt command, a right tilt command, a front tilt command, and a rear tilt command of the body as the tilt change command,
When the left tilt command and the right tilt command are instructed as the attitude change control, the control unit drives two drives that act on the left front part and the left rear part among the four drive units. Rolling operation in which the other two driving means are simultaneously driven in a state in which driving of one of the two driving means acting on the right front part and the right rear part is stopped. And when the front tilt command and the rear tilt command are commanded, of the four drive means, two drive means acting on the left front and right front, and the left rear and right It is configured to execute a pitching operation in which one of the two driving means acting on the rear part is stopped while driving the other two driving means at the same time. work vehicle in the attitude of the claim 2, wherein Control device.

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