JP3708374B2 - Horizontal body control device for work vehicles - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle body level control device for a working vehicle that includes a plurality of outrigger jacks that extend from a vehicle body and come into contact with the ground, and controls the extension amount of each outrigger jack to horizontally support the vehicle body.
[0002]
[Prior art]
For example, a work vehicle equipped with a measuring instrument, a radar, and the like includes a vehicle body level control device that horizontally supports the vehicle body via an outrigger jack during work on rough terrain.
[0003]
As this type of vehicle body horizontal control device, for example, one disclosed in Japanese Patent Laid-Open No. 7-137614, for example, as shown in FIG. 22, four cylinders 104 can project from the left and right sides of the vehicle body 101 as shown in FIG. The cylinder 104 is grounded to support the vehicle body when the work vehicle 1 is working.
[0004]
A tilt sensor 102 that detects the pitching angle of the vehicle body 101 and a tilt sensor 103 that detects the rolling angle are provided side by side. A control device (not shown) individually controls the extension amount of each cylinder 104 so that the vehicle body 101 is horizontal based on the detection values of the inclination sensors 102 and 103.
[0005]
[Problems to be solved by the invention]
However, in such a conventional device, since the tilt angle of the vehicle body 101 is detected at one place and each cylinder 104 is extended individually, the vehicle body 101 can be largely twisted as each cylinder 104 is extended. There is sex.
[0006]
Further, the extension amount of each cylinder 104 cannot be controlled to the minimum, and there is a problem that it takes time from the start of operation until the vehicle body 101 becomes horizontal.
[0007]
The present invention has been made in view of the above problems, and an object of the present invention is to provide a vehicle body horizontal control device for a work vehicle that horizontally supports the vehicle body in a short time while keeping the torsion of the vehicle body small.
[0008]
[Means for Solving the Problems]
The first invention connects the four cylinders FL, FR, RL, RR extending from the vehicle body to the ground and the two front left and right cylinders FL, FR arranged on the front side, and extends in the left-right direction of the vehicle body. On the rear transverse line XR extending in the left-right direction of the vehicle body by connecting the front rolling inclination sensor arranged on the line XF and detecting the rolling angle of the vehicle body and the two rear left and right cylinders RL, RR arranged on the rear side A rear rolling inclination sensor for detecting the rolling angle of the vehicle body, a pitching inclination sensor for detecting the pitching angle of the vehicle body, and the front transverse line XF and the front transverse line XF based on the detection values of the front rolling inclination sensor and the rear rolling inclination sensor Roll correction means for expanding and contracting each cylinder FL, FR, RL, RR so that the rear transverse line XR is horizontal, the front transverse line XF and the rear transverse line Based on a detection value of the pitching inclination sensor after the R in the horizontal cylinder FL so as to level the vehicle body, FR, RL, assumed and a pitch correction means for extending and retracting the RR.
[0009]
The second invention is the rolling reference cylinder according to the first invention, in which the cylinders FL, FR, RL, RR are grounded as roll correcting means, and the larger one of the front left and right cylinders FL, FR is the rolling reference cylinder. The front rolling reference cylinder setting means, the rear rolling reference cylinder setting means using the larger one of the rear left and right cylinders RL, RR as the rolling reference cylinder, and the larger one of the front left and right cylinders FL, FR. Is fixed as a rolling reference cylinder, the front roll control means for leveling the front transverse line XF by extending the one with the smaller extension, and the larger one of the rear left and right cylinders RL, RR as the rolling reference cylinder A rear roll control means that fixes and extends the smaller extension amount to level the rear transverse line XR. It was as.
[0010]
According to a third aspect of the present invention, in the first or second aspect of the present invention, when the front transverse line XF and the rear transverse line XR are horizontal as the pitch correction means, the amount of expansion of each cylinder FL, FR, RL, RR The front side pitching reference cylinder setting means that uses the largest one as the pitching reference cylinder, and the set including the pitching reference cylinder among the front left and right cylinders FL and FR and the rear left and right cylinders RL and RR are fixed, and the pitching reference cylinder is not included. Pitch control means for extending the set to level the vehicle body is provided.
[0011]
According to a fourth invention, in any one of the first to third inventions, the pitch control means sets the front transverse line XF or the rear transverse line XR based on the detection value of the front rolling inclination sensor or the rear rolling inclination sensor. Two cylinders in a set not including the pitching reference cylinder are extended so as to be horizontal.
[0012]
According to a fifth aspect of the present invention, in any one of the first to fourth aspects, the pitch control unit is configured to detect the front transverse line XF or the rear transverse line XR based on the detection value of the front rolling inclination sensor or the rear rolling inclination sensor. When the tilt angle exceeds the allowable twist value a, one of the two cylinders that do not include the pitching reference cylinder is expanded and contracted, and the other is stopped.
[0013]
According to a sixth invention, in any one of the first to fifth inventions, a main switching valve that switches supply / discharge of hydraulic oil to / from each cylinder FL, FR, RL, RR, and each cylinder FL, FR, RL, RR. And a flow rate control valve for adjusting the flow rate of hydraulic oil supplied to and discharged from the cylinder, and each cylinder FL, FR, RL, RR is individually expanded and contracted via the main switching valve.
[0014]
According to a seventh invention, in the sixth invention, pressure detecting means for detecting the pressure of hydraulic oil supplied when each cylinder FL, FR, RL, RR is extended, and each cylinder FL, Outrigger grounding means for extending FR, RL, and RR until they are grounded, and after the cylinders FL, FR, RL, and RR are grounded, the cylinders FL, FR, RL, Outrigger preparation means for supplying hydraulic oil to the RR is provided.
[0015]
According to an eighth invention, in the sixth or seventh invention, any one of the pressure detection means for detecting the pressure of the hydraulic oil supplied when each cylinder FL, FR, RL, RR is extended and the detected pressure is predetermined. An abnormality detecting means for stopping the expansion of all cylinders FL, FR, RL, RR when the value exceeds the value is provided.
[0016]
Operation and effect of the invention
In the first invention, the cylinders FL, FR, RL, RR are expanded and contracted so that the front transverse line XF and the rear transverse line XR are horizontal based on the detection values of the front rolling inclination sensor and the rear rolling inclination sensor. Then, after leveling the front transverse line XF and the rear transverse line XR, the cylinders FL, FR, RL, RR are expanded and contracted so as to level the vehicle body based on the detection value of the pitching inclination sensor. Thereby, the vehicle body can be supported horizontally in a short time while keeping the twist of the vehicle body small.
[0017]
In the second aspect of the invention, the front transverse line XF and the rear transverse line XR are leveled in synchronism, thereby suppressing twisting that occurs in the rolling direction of the vehicle body. . Of the front left and right cylinders FL, FR or rear left and right cylinders RL, RR, the one with the larger extension is fixed as the rolling reference cylinder, and the one with the smaller extension is extended to obtain the rear transverse line XR and the rear transverse line XR. By performing the leveling control, the stroke of each cylinder FL, FR, RL, RR can be minimized.
[0018]
In the third aspect of the invention, in the state where the front transverse line XF and the rear transverse line XR are horizontal, the cylinder FL, FR, RL, RR having the largest expansion amount is used as a pitching reference cylinder, and the front left and right cylinders FL , FR and rear left and right cylinders RL, RR are fixed to a set including the pitching reference cylinder, and the set not including the pitching reference cylinder is extended to level the vehicle body. As a result, the strokes of the cylinders FL, FR, RL, and RR can be minimized, the work time can be shortened, and the center of gravity of the vehicle body can be lowered to increase the stability.
[0019]
In the fourth invention, when changing the pitching angle of the vehicle body, the pitching reference cylinder is set so that the front transverse line XF or the rear transverse line XR is horizontal based on the detection value of the front rolling inclination sensor or the rear rolling inclination sensor. The two cylinders that do not include the cylinder are extended. Thereby, the twist which arises in the rolling direction of a vehicle body can be suppressed.
[0020]
In the fifth aspect of the present invention, the rolling correction is prioritized over the pitching correction of the vehicle body, so that the twist occurring in the rolling direction of the vehicle body can be suppressed.
[0021]
In the sixth aspect of the invention, the cylinders FL, FR, RL, and RR are individually expanded and contracted through the flow control valves and the main switching valve, thereby reducing the cost of the product without using a servo valve or the like.
[0022]
In the seventh invention, the cylinders FL, FR, RL, RR are expanded based on the detected pressure until they are grounded. After all the cylinders FL, FR, RL, RR are grounded, the flow control valve and the main switching valve are installed. Then, hydraulic oil is supplied to each cylinder FL, FR, RL, RR for a predetermined time. As a result, the cylinders FL, FR, RL, RR are extended by the same stroke in synchronization with each other, lifted in the inclined state when the vehicle body is stopped, and the vehicle body is not greatly twisted. By controlling the vehicle body from this state, the stroke of each cylinder FL, FR, RL, RR can be minimized, the work time can be shortened, and the center of gravity of the vehicle body can be lowered to improve stability. Enhanced.
[0023]
Reduces product costs without using a servo valve, etc., by controlling the stroke of each cylinder FL, FR, RL, RR based on the flow rate of hydraulic oil adjusted by each flow control valve and the switching time of each main switching valve Is peeled off.
[0024]
In the eighth aspect of the invention, when any of the hydraulic fluid supplied when the cylinders FL, FR, RL, RR are extended rises above a predetermined value, the expansion of all the cylinders FL, FR, RL, RR is stopped. Thereby, it can switch to operation by an operator corresponding to the case where each cylinder FL, FR, RL, RR is extended.
[0025]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
[0026]
As shown in FIG. 1, the work vehicle 1 includes four outrigger arms 4 from the left and right sides of the vehicle body 2, and hydraulic cylinders (four outrigger jacks) that extend downward from the protruding end portions of the outrigger arms 4. cyl.) FL, FR, RL, and RR are provided, and the cylinders FL, FR, RL, and RR are grounded when the work vehicle 1 is working to support the vehicle body horizontally. Each cylinder FL, FR, RL, RR is stored via each outrigger arm 4 when the work vehicle 1 travels.
[0027]
A front transverse line XF and a rear transverse line XR extending in parallel with an axle (not shown) are set, and each outrigger arm 4 is arranged to expand and contract along the front transverse line XF or the rear transverse line XR, and the front left and right cylinders FL , FR are located on the front transverse line XF, and the rear left and right cylinders RL, RR are located on the rear transverse line XR.
[0028]
FIG. 2 shows a hydraulic circuit that supplies and discharges hydraulic oil to and from the cylinder FL. The passages 29 and 30 are connected to the oil chambers 27 and 28 of the cylinder FL, respectively, and the expansion and contraction of the cylinder FL is switched to the passages 29 and 30. A switching valve 21 is interposed. When the main switching valve 21 is switched to the extension function, the hydraulic oil discharged from the pump 20 is supplied to the cylinder side oil chamber 27 through the passage 29, and the hydraulic oil in the rod side oil chamber 28 passes through the passage 30. Returned to the tank 31, the cylinder FL extends. On the other hand, when the main switching valve 21 is contracted and switched to the function, the hydraulic oil discharged from the pump 20 is supplied to the rod side oil chamber 28 through the passage 30, and the hydraulic oil in the cylinder side oil chamber 27 passes through the passage 29. Returned to the tank 31, the cylinder FL contracts. In the middle of the supply passage 28, an operation check valve 22 and a shut-off valve 23 are provided, and a flow control valve 25 and a flow control valve 26 are provided in parallel to each other, and a sub switching valve 24 that opens and closes the flow control valve 26. Is provided. The flow rate control valve 25 is always opened, and the flow rate control valve 26 is opened via the auxiliary switching valve 24, so that the flow rate of hydraulic oil supplied to and discharged from the cylinder FL increases and the expansion / contraction speed of the cylinder FL increases. Yes. The flow rate of the hydraulic oil passing through the flow control valve 26 is set to be larger than that of the flow control valve 25.
[0029]
Pressure passages H and L are interposed in the passage 29 connected to the cylinder side oil chamber 27. When the hydraulic pressure in the passage 28 increases from the first set value P1, the pressure switch L is turned ON, and when the second set value P2 (> P1) increases, the pressure switch H is turned ON.
[0030]
A relief valve 37 and an unload valve 38 are interposed between the passage 35 connected to the pump 20 and the passage 36 connected to the tank 31. The passages 29 and 30 communicating with the cylinder FL are connected to the passages 35 and 36, respectively, and the same hydraulic circuit is provided for the other cylinders FR, RL, RR, and the expansion and contraction of each is individually controlled. It is like that.
[0031]
The vehicle body 2 is provided with two rolling inclination sensors (sns.) FR, RR for detecting the rolling angle, and one pitching inclination sensor (sns.) P for detecting the pitching angle.
[0032]
The rolling inclination sensor FR is disposed on the front transverse line XF. The detection value of the rolling inclination sensor FR is 0 when the front transverse line XF is in a horizontal state, and a positive value is obtained as the left side of the front transverse line XF is inclined higher than the right side as indicated by an arrow in the figure. Conversely, as the right side is inclined higher than the left side, the negative value increases.
[0033]
The rolling inclination sensor FR is disposed on the rear transverse line XR. The detection value of the rolling inclination sensor FR becomes 0 when the rear transverse line XR is in a horizontal state, and becomes positive as the left side of the rear transverse line XR is inclined higher than the right side as indicated by an arrow in the figure. On the contrary, the negative value increases as the right side tilts higher than the left side.
[0034]
A longitudinal line Y perpendicular to the front transverse line XF and the rear transverse line XR is set, and the pitching inclination sensor P is disposed on the longitudinal line Y. The detected value of the pitching inclination sensor P is 0 when the vertical line Y is in a horizontal state, and the positive value increases as the front side of the vertical line Y is inclined higher than the rear side as indicated by arrows in the figure. Conversely, the negative value increases as the rear side is inclined higher than the front side.
[0035]
As shown in FIG. 3, the controller 10 includes a microcomputer and its peripheral components, and executes the flowcharts shown in FIGS. 4 to 21 at regular intervals, thereby operating switches 11, pressure switches H and L, and inclinations. The signals of the sensors FR, RR, P are inputted, and the extension amounts of the cylinders FL, FR, RL, RR are passed through the unload valve 38, the main switching valve 21, and the sub switching valve 24 so as to support the vehicle body 2 horizontally. Control. In addition, the controller 10 displays information via the display 8 and gives a warning via the lamp 9 or the like.
[0036]
Next, the control contents in which the controller 10 extends the cylinders FL, FR, RL, and RR to support the vehicle body 2 horizontally will be described.
[0037]
First, all cylinders FL, FR, RL, RR are grounded by supplying hydraulic oil to each cylinder FL, FR, RL, RR until the pressure switch L is turned on.
[0038]
The pressure switch L is turned off until the cylinders FL, FR, RL, RR are grounded, and is turned on as the drive hydraulic pressure guided to the cylinders rises. Therefore, all the cylinders FL, FR, RL, RR can be reliably grounded.
[0039]
Until all the cylinders FL, FR, RL, RR are grounded, the sub switching valve 24 is opened, and hydraulic oil is supplied to the cylinders FL, FR, RL, RR through the flow control valves 25 and 26. As a result, the operating speed of each cylinder FL, FR, RL, RR that extends without load until contact with the ground is increased, and this working time can be shortened.
[0040]
Thus, after all the cylinders FL, FR, RL, RR are grounded, hydraulic fluid is supplied to the cylinders FL, FR, RL, RR only through the flow rate control valve 25 for a predetermined time t. As a result, the cylinders FL, FR, RL, and RR extend by the same stroke in synchronization with each other, and the vehicle body 2 is not greatly twisted. The vehicle body 2 is lifted in the inclined state when the vehicle is stopped, and the control of leveling the vehicle body 2 from this state is performed, so that the stroke of each cylinder FL, FR, RL, RR is minimized, and this work time And the stability can be increased by lowering the center of gravity of the vehicle body 2.
[0041]
A configuration in which the stroke of each cylinder FL, FR, RL, RR is managed by the flow rate of hydraulic oil adjusted by each flow control valve 25 and the switching time t of each main switching valve 21, so that the product can be used without using a servo valve or the like. Cost reduction.
[0042]
Thus, after the preparatory process for extending each cylinder FL, FR, RL, RR to the road surface and extending by a predetermined stroke is performed, the front crossing line XF based on the detected values of the front rolling inclination sensor FR and the rear rolling inclination sensor RR. Then, roll correction processing is performed to expand and contract each cylinder FL, FR, RL, RR so that the rear transverse line XR is horizontal.
[0043]
In this roll correction process, with the cylinders FL, FR, RL, RR grounded, the larger one of the front left and right cylinders FL, FR is fixed as the rolling reference cylinder, and the smaller one is expanded. The front transverse line XF is made horizontal, and the larger one of the rear left and right cylinders RL, RR is fixed as a rolling reference cylinder, and the smaller one is extended to make the rear transverse line XR horizontal. To do.
[0044]
By twisting the front crossing line XF and the rear crossing line XR in a horizontal manner, twisting that occurs in the rolling direction of the vehicle body 2 can be suppressed. . Of the front left and right cylinders FL, FR or rear left and right cylinders RL, RR, the one with the larger extension is fixed as the rolling reference cylinder, and the one with the smaller extension is extended to obtain the rear transverse line XR and the rear transverse line XR. By performing the leveling control, the stroke of each cylinder FL, FR, RL, RR can be minimized.
[0045]
In this way, after the front transverse line XF and the rear transverse line XR are leveled, the pitch correction processing for expanding and contracting the cylinders FL, FR, RL, RR so that the vertical line Y is leveled based on the detection value of the pitching inclination sensor P. I do.
[0046]
In this pitch correction process, the cylinders FL, FR, RL, and RR having the largest expansion amount are used as the pitching reference cylinder in the state where the front transverse line XF and the rear transverse line XR are horizontal, and the front left and right cylinders FL , FR and the rear left and right cylinders RL, RR are fixed to a set including the pitching reference cylinder, and the set not including the pitching reference cylinder is extended to make the vertical line Y horizontal. As a result, the stroke of each cylinder FL, FR, RL, RR can be minimized, the work time can be shortened, and the center of gravity of the vehicle body 2 can be lowered to increase the stability.
[0047]
This pitching correction process is a set that does not include the pitching reference cylinder so that the front transverse line XF or the rear transverse line XR is horizontal based on the detection value of the front rolling inclination sensor FR or the rear rolling inclination sensor RR. Extend the two cylinders. Thereby, the twist produced in the rolling direction of the vehicle body 2 can be suppressed.
[0048]
Further, this pitching correction processing is performed when the inclination angle of the front transverse line XF or the rear transverse line XR exceeds the twist allowable value a based on the detected value of the front rolling inclination sensor FR or the rear rolling inclination sensor RR. One of the two front left and right cylinders FL and FR or the rear left and right cylinders RL and RR that are not included is expanded and contracted and the other is stopped. By thus giving priority to the rolling correction over the pitching correction of the vehicle body 2, it is possible to suppress the twist that occurs in the rolling direction of the vehicle body 2.
[0049]
The flowchart of FIG. 4 shows a main routine of control for horizontally supporting the vehicle body 2 described above, and this is started by a command from the operator via the operation switch 11. This will be described. Subroutine 1. , The cylinders FL, FR, RL, RR are grounded on the basis of the signal of the pressure switch L and then extended by a predetermined stroke, and a roll correction processing subroutine 2. Based on the signals of the rolling inclination sensors FR and RR, the cylinders FL and RL or the rear left and right cylinders RL and RR are synchronously extended so that the front transverse line XF and the rear transverse line XR become horizontal, and the pitch 2. Correction processing subroutine The front left and right cylinders FL and FR or the rear left and right cylinders RL and RR are synchronously extended so that the vertical line Y is horizontal.
[0050]
The flowchart of FIG. 5 shows a subroutine 1. Is shown. This is a subroutine 1.1. Is executed and each cylinder FL, FR, RL, RR is extended at a high speed until the pressure switch (psw.) L is turned on, and it is determined in step 1 that all the pressure switches L are turned on. Then, assuming that all the cylinders FL, FR, RL, and RR are grounded, in steps 2 to 4, all the main switching valves 21 are switched to the extension function for t seconds and then closed.
[0051]
The flowchart of FIG. 6 shows a subroutine 1.1. Is shown. This is a subroutine for abnormality detection processing described later. In step 5, 6 and 7, the main switching valve 21 is switched to the expansion function and the sub switching valve 24 is opened until each pressure switch L is turned ON, and each cylinder FL, FR, RL, RR is stretched at high speed. When each pressure switch L is turned off in steps 5, 8, and 9, the main switching valve 21 is closed and the sub switching valve 24 is closed, and the cylinders FL, FR, RL, RR are stopped in a grounded state. Let
[0052]
The flowchart of FIG. The subroutine is shown. This is a subroutine 2.1. The cylinder FL and FR with the larger extension amount is set as the reference cylinder, and the rear side rolling reference cylinder setting process subroutine 2.2. The cylinder RL, RR having the larger extension amount is set as the reference cylinder. Subroutine for subsequent front roll control processing 2.3. The cylinder with the larger extension amount of the cylinders FL and FR is fixed as the front rolling reference cylinder, and the smaller extension amount is extended to make the front transverse line XF horizontal. Subsequent roll control processing subroutine 2.4. The cylinder RL, RR, which has the larger extension amount, is fixed as the rolling reference cylinder, and the smaller extension amount is extended to make the rear transverse line XR horizontal.
[0053]
The flowchart of FIG. 8 shows a subroutine 2.1. Is shown. In this case, when the detection value of the rolling tilt sensor FR is determined to be substantially 0 in steps 10 and 14, the front rolling reference cylinder is left out assuming that the front transverse line XF is in a horizontal state. If the detected value of the rolling tilt sensor FR is determined to be a positive value in steps 11 and 12, assuming that the left side of the front crossing line XF is tilted higher than the right side, the front rolling reference cylinder is set as the front left cylinder FL. . If the detected value of the rolling tilt sensor FR is determined to be negative in steps 11 and 13, assuming that the right side of the front crossing line XF is tilted higher than the left side, the front rolling reference cylinder is defined as the front right cylinder FR. .
[0054]
The flowchart of FIG. 9 shows a subroutine 2.2. Is shown. In this case, when the detection value of the rolling tilt sensor RR is determined to be substantially 0 in steps 20 and 24, the rear side rolling line XR is assumed to be in the horizontal state, and the rear side rolling reference cylinder is omitted. When the detected value of the rolling tilt sensor RR is determined to be a positive value in steps 21 and 22, it is assumed that the left side of the rear transverse line XR is inclined higher than the right side, and the rear rolling reference cylinder is changed to the rear left cylinder. RL. When the detected value of the rolling tilt sensor RR is determined to be negative in steps 21 and 23, the rear rolling reference cylinder is set to the rear right cylinder on the assumption that the right side of the rear transverse line XR is inclined higher than the left side. RR.
[0055]
The flowchart of FIG. 10 shows a subroutine 2.3. Is shown. This routine ends when it is determined in step 15 that there is no front rolling reference cylinder. On the other hand, if it is determined in step 16 that the front rolling reference cylinder is the front left cylinder FL, a roll control processing subroutine 2.3.1. For operating the front right cylinder FR. To roll control processing subroutine 2.3.2. For operating the front left cylinder FL when the front rolling reference cylinder is determined to be the front right cylinder FR. Proceed to
[0056]
The flowchart of FIG. 11 shows a roll control processing subroutine 2.3.1. For operating the front right cylinder FR. Is shown. This is an abnormality detection subroutine 4. When the detected value of the rolling inclination sensor FR is determined to be substantially 0 in step 31, the main switching valve 21 is closed by proceeding to step 32 assuming that the front transverse line XF is in a horizontal state. To fix the front right cylinder FR. On the other hand, if it is determined in step 33 that the detected value of the rolling tilt sensor FR is a positive value, the process proceeds to step 34 where the main switching valve 21 is switched to the expansion function and the front right cylinder FR is expanded. At the time of overshoot when the detected value of the rolling tilt sensor FR is determined to be negative at step 33, the routine proceeds to step 35, where the main switching valve 21 is contracted and switched to the function to contract the front right cylinder FR.
[0057]
The flowchart of FIG. 12 is a roll control processing subroutine 2.3.2. For operating the front left cylinder FL. Is shown. This is an abnormality detection subroutine 4. When the detected value of the rolling inclination sensor FR is determined to be substantially 0 in step 41, the main switching valve 21 is closed by proceeding to step 42 assuming that the front transverse line XF is in a horizontal state. To fix the front left cylinder FL. On the other hand, if it is determined in step 43 that the detected value of the rolling tilt sensor FR is a negative value, the process proceeds to step 45 where the main switching valve 21 is switched to the expansion function and the front left cylinder FL is expanded. At the time of overshooting when the detected value of the rolling tilt sensor FR is determined to be a positive value at step 43, the routine proceeds to step 44, where the main switching valve 21 is contracted and switched to the function to contract the front left cylinder FL.
[0058]
The flowchart of FIG. 13 is a subroutine 2.4. Is shown. This is the end of this routine when it is determined in step 17 that there is no rear rolling reference cylinder. On the other hand, if it is determined in step 18 that the rear rolling reference cylinder is the rear left cylinder RL, a roll control processing subroutine 2.4.1. The roll control processing subroutine 2.4.2. Extends the rear left cylinder RL when the rear rolling reference cylinder is determined to be the rear right cylinder RR. Proceed to
[0059]
14 is a roll control processing subroutine for operating the rear right cylinder RR 2.4.1. Is shown. This is an abnormality detection subroutine 4. When the detected value of the rolling tilt sensor RR is determined to be substantially 0 in step 51, the main switching valve 21 is closed assuming that the rear transverse line XR is in a horizontal state in step 52. To fix the rear right cylinder RR. On the other hand, if it is determined in step 53 that the detected value of the rolling tilt sensor RR is a positive value, the routine proceeds to step 54 where the main switching valve 21 is switched to the expansion function and the rear right cylinder RR is expanded. If it is determined in step 53 that the detected value of the rolling tilt sensor RR is a negative value, the process proceeds to step 55 where the main switching valve 21 is contracted and switched to the function to contract the rear right cylinder RR.
[0060]
15 is a roll control processing subroutine 2.4.2. For operating the rear left cylinder RL. Is shown. This is an abnormality detection subroutine 4. When the detected value of the rolling tilt sensor RR is determined to be substantially 0 in step 61, the main switching valve 21 is closed in step 62 assuming that the rear transverse line XR is in the horizontal state. To fix the rear left cylinder RL. On the other hand, when it is determined in step 63 that the detected value of the rolling tilt sensor RR is a positive value, the routine proceeds to step 64, where the main switching valve 21 is contracted and switched to the function, and the rear left cylinder RL is contracted. When it is determined in step 63 that the detected value of the rolling tilt sensor RR is a negative value, the process proceeds to step 65 where the main switching valve 21 is switched to the expansion function and the rear left cylinder RL is expanded.
[0061]
The flowchart of FIG. 16 is a subroutine for pitch correction processing. Is shown. This is the sub-routine 3.1. The cylinder FL, FR, RL, RR with the largest expansion amount is used as the pitching reference cylinder, and the pitch control processing subroutine 3.2. The set including the pitching reference cylinder among the front left and right cylinders FL and FR and the rear left and right cylinders RL and RR is fixed, and the set not including the pitching reference cylinder is extended to make the vertical line Y horizontal.
[0062]
The flowchart of FIG. 17 shows a subroutine 3.1. Is shown. When the detected value of the pitching inclination sensor P is determined to be substantially 0 in steps 70 and 74, the vertical reference line Y is assumed to be in the horizontal state and the pitching reference cylinder is not used. When the detected value of the pitching tilt sensor P is determined to be a positive value in steps 71 and 72, the pitching reference cylinder is assumed to be in a tilted state where the front side of the vertical line Y is higher than the rear side. FR. If the detected value of the pitching tilt sensor P is determined to be negative in steps 71 and 73, the pitching reference cylinder is assumed to be in a tilted state where the rear side of the vertical line Y is higher than the front side. , RR.
[0063]
The flowchart of FIG. 18 shows a subroutine 3.2. Of pitch control processing. Is shown. This is the end of this routine when it is determined at step 75 that there is no pitching reference cylinder. On the other hand, if it is determined in step 76 that the pitching reference cylinder is the rear right cylinder RR, a pitch control processing subroutine 3.2.1. For operating both front cylinders FL and FR. When the pitching reference cylinder is determined to be the front right cylinder FR, the pitch control processing subroutine 3.2.2. For operating the rear left and right cylinders RL and RR is determined. Proceed to
[0064]
19 is a pitch control processing subroutine for operating the front left and right cylinders FL, FR 3.2.1. Is shown. This is an abnormality detection subroutine 4. When the detected value of the rolling tilt sensor FR is determined to be substantially 0 in step 81, the main switching valve 21 is closed by proceeding to step 90 assuming that the front transverse line XF is in a horizontal state. The front left cylinder FL is fixed, and when the detected value of the pitching inclination sensor P is determined to be substantially 0 in step 91, the main switching valve 21 is closed in step 92 on the assumption that the vertical line Y is in a horizontal state. The front right cylinder FR is fixed and pitching correction is not performed.
[0065]
On the other hand, if it is determined in step 82 that the detected value of the rolling tilt sensor FR is a negative value, the routine proceeds to step 84 where the main switching valve 21 is switched to the expansion function and the front left cylinder FL is expanded. At the time of overshooting when the detected value of the rolling tilt sensor FR is determined to be a positive value at step 82, the routine proceeds to step 83 where the main switching valve 21 is contracted and switched to the function to contract the front left cylinder FL.
[0066]
In the next step 85, it is determined whether or not the absolute value of the detected value of the rolling inclination sensor FR is larger than the allowable twist value a. The right cylinder FR is fixed and pitching correction is not performed. Thereby, the twist which arises in the vehicle body 2 at the time of pitching correction | amendment can be suppressed.
[0067]
If it is determined in step 85 that the absolute value of the detected value of the rolling tilt sensor FR is equal to or less than the allowable twist value a, or if it is determined in step 91 that the detected value of the pitching tilt sensor P is not substantially zero, step Proceed to 87, 88, 89 to perform pitching correction. That is, when it is determined that the detected value of the pitching inclination sensor P is a negative value, the routine proceeds to step 87 where the main switching valve 21 is switched to the extension function and the front right cylinder FR is extended while the detection of the pitching inclination sensor P is detected. When overshooting is determined to be a positive value, the routine proceeds to step 88, where the main switching valve 21 is contracted and switched to the function to contract the front right cylinder FR.
[0068]
20 is a pitch control processing subroutine for operating the rear left and right cylinders RL, RR 3.2.2. Is shown. This is an abnormality detection subroutine 4. When the detected value of the rolling inclination sensor RR is determined to be substantially 0 in step 101, the process proceeds to step 110 on the assumption that the rear transverse line XF is in the horizontal state, and the main switching valve 21 is closed. The rear left cylinder RL is fixed, and if the detected value of the pitching inclination sensor P is determined to be substantially 0 in step 111, the main switching valve 21 is set in step 112 assuming that the vertical line Y is in a horizontal state. The rear right cylinder RR is fixed by closing the valve, and pitching correction is not performed.
[0069]
On the other hand, when it is determined in step 102 that the detected value of the rolling tilt sensor RR is a negative value, the routine proceeds to step 104 where the main switching valve 21 is switched to the expansion function and the rear left cylinder RL is expanded. At the time of overshooting when the detected value of the rolling tilt sensor RR is determined to be a positive value at step 102, the routine proceeds to step 103 where the main switching valve 21 is contracted and switched to the function to contract the rear left cylinder RL.
[0070]
At the next step 105, it is determined whether or not the absolute value of the detected value of the rolling inclination sensor RR is larger than the allowable twist value a. If the absolute value exceeds the allowable twist value a, the routine proceeds to step 106 and the main switching valve 21 is closed. The right side cylinder RR is fixed and pitching correction is not performed. Thereby, the twist which arises in the vehicle body 2 at the time of pitching correction | amendment can be suppressed.
[0071]
If the absolute value of the detected value of the rolling tilt sensor RR is determined to be equal to or smaller than the allowable twist value a in Step 105, or if the detected value of the pitching tilt sensor P is determined to be not substantially 0 in Step 111, Step Proceeding to 107, 108, 109, pitching correction is performed. That is, when it is determined that the detected value of the pitching inclination sensor P is a negative value, the routine proceeds to step 107 where the main switching valve 21 is switched to the extension function and the rear right cylinder RR is extended, while the pitching inclination sensor P At the time of overshoot when the detected value is determined to be a positive value, the routine proceeds to step 108, the main switching valve 21 is contracted and switched to the function, and the rear right cylinder RR is contracted.
[0072]
21 is a flowchart of abnormality detection processing subroutine 4. Is shown. In step 121, it is determined whether the pressure switch H is ON or OFF. If it is determined that all the pressure switches H are OFF, this routine is terminated. If any of the pressure switches H is determined to be ON, it is assumed that one of the cylinders FL, FR, RL, RR has been fully extended. In step 122, all the sub switching valves 24 are closed. In the following step 123, all the main switching valves 24 are closed. In the following step 124, a warning is given via the display 8 and the lamp 9.
[Brief description of the drawings]
FIG. 1 is a plan view of a work vehicle showing an embodiment of the present invention.
FIG. 2 is a hydraulic circuit diagram.
FIG. 3 is a system diagram.
FIG. 4 is a flowchart showing the same control content.
FIG. 5 is a flowchart showing the same control content.
FIG. 6 is a flowchart showing the same control content.
FIG. 7 is a flowchart showing the same control content.
FIG. 8 is a flowchart showing the same control content.
FIG. 9 is a flowchart showing the same control content.
FIG. 10 is a flowchart showing the same control content.
FIG. 11 is a flowchart showing the same control content.
FIG. 12 is a flowchart showing the same control content.
FIG. 13 is a flowchart showing the same control content.
FIG. 14 is a flowchart showing the same control content.
FIG. 15 is a flowchart showing the same control content.
FIG. 16 is a flowchart showing the same control content.
FIG. 17 is a flowchart showing the same control content.
FIG. 18 is a flowchart showing the same control content.
FIG. 19 is a flowchart showing the same control content.
FIG. 20 is a flowchart showing the same control content.
FIG. 21 is a flowchart showing the same control content.
FIG. 22 is a side view of a work vehicle showing a conventional example.
[Explanation of symbols]
2 body
4 Outrigger arm
21 Main switching valve
24 Sub-switching valve
25 Flow control valve
26 Flow control valve
FL, FR, RL, RR Cylinder
H Pressure switch
L Pressure switch
XF Front crossing line
XR rear crossing line
Y Longitudinal line

Claims (8)

Four cylinders FL, FR, RL, RR extending from the vehicle body and grounding,
A front rolling inclination sensor that connects two front left and right cylinders FL, FR disposed on the front side and that is disposed on a front transverse line XF that extends in the left-right direction of the vehicle body and detects a rolling angle of the vehicle body;
A rear rolling inclination sensor that connects two rear left and right cylinders RL, RR disposed on the rear side and that is disposed on a rear transverse line XR extending in the left-right direction of the vehicle body and detects a rolling angle of the vehicle body;
A pitching inclination sensor for detecting the pitching angle of the vehicle body;
Roll correction means for expanding and contracting each cylinder FL, FR, RL, RR so that the front transverse line XF and the rear transverse line XR are horizontal based on the detection values of the front rolling inclination sensor and the rear rolling inclination sensor;
Pitch correcting means for expanding and contracting the cylinders FL, FR, RL, RR so that the vehicle body is leveled based on the detection value of the pitching inclination sensor after leveling the front transverse line XF and the rear transverse line XR;
A vehicle body level control device for a work vehicle. With each cylinder FL, FR, RL, RR grounded as the roll correction means,
Front rolling reference cylinder setting means that uses the larger one of the front left and right cylinders FL, FR as the rolling reference cylinder,
A rear rolling reference cylinder setting means having the larger one of the rear left and right cylinders RL, RR as a rolling reference cylinder;
A front roll control means that fixes the larger one of the front left and right cylinders FL, FR as a rolling reference cylinder and expands the smaller one to extend the horizontal crossing line XF horizontally;
A rear roll control means for fixing the larger one of the rear left and right cylinders RL, RR as a rolling reference cylinder and extending the smaller one of the expansion amounts to level the rear transverse line XR;
The vehicle body horizontal control device for a work vehicle according to claim 1, further comprising: In the state where the front transverse line XF and the rear transverse line XR are horizontal as the pitch correction means,
A front pitching reference cylinder setting means having a pitching reference cylinder having a maximum expansion amount among each cylinder FL, FR, RL, RR;
Pitch control means for fixing the set including the pitching reference cylinder among the front left and right cylinders FL and FR and the rear left and right cylinders RL and RR, and extending the set not including the pitching reference cylinder to level the vehicle body;
The vehicle body level control device for a work vehicle according to claim 1, wherein the vehicle body level control device is provided. The pitch control means includes two cylinders that do not include a pitching reference cylinder so that the front transverse line XF or the rear transverse line XR is horizontal based on the detection value of the front rolling inclination sensor or the rear rolling inclination sensor. The vehicle body level control device for a work vehicle according to any one of claims 1 to 3, characterized in that: The pitch control means does not include the pitching reference cylinder when the inclination angle of the front transverse line XF or the rear transverse line XR exceeds the torsional tolerance a based on the detection value of the front rolling inclination sensor or the rear rolling inclination sensor. 5. The vehicle body level control device for a work vehicle according to claim 4, wherein one of the two cylinders is expanded and contracted and the other is stopped. A main switching valve for switching supply / discharge of hydraulic oil to / from each cylinder FL, FR, RL, RR;
A flow rate control valve for adjusting the flow rate of hydraulic oil supplied to and discharged from each cylinder FL, FR, RL, RR;
6. The vehicle body horizontal control device for a work vehicle according to claim 1, wherein each cylinder FL, FR, RL, RR is individually expanded and contracted via a main switching valve. Pressure detecting means for detecting the pressure of hydraulic fluid supplied when each cylinder FL, FR, RL, RR is extended;
Outrigger grounding means for extending each cylinder FL, FR, RL, RR until grounding based on the detected pressure;
Outrigger preparation means for supplying hydraulic oil to each cylinder FL, FR, RL, RR for a predetermined time through the flow rate control valve and the main switching valve after all cylinders FL, FR, RL, RR are grounded;
The vehicle body horizontal control device for a work vehicle according to claim 6, further comprising: Pressure detecting means for detecting the pressure of hydraulic fluid supplied when each cylinder FL, FR, RL, RR is extended;
An abnormality detection means for stopping the expansion of all cylinders FL, FR, RL, RR when any of the detected pressures exceeds a predetermined value;
The vehicle body horizontal control device for a work vehicle according to claim 6 or 7, further comprising:

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