JPH0757618B2 - Running suspension controller for tracked vehicle - Google Patents

Description

TECHNICAL FIELD The present invention relates to a traveling suspension control device applied to a tracked vehicle. The present invention can also be applied to construction machines such as wheel loaders.

(Prior Art) Generally, in a tracked vehicle, a crawler belt is stretched between a starting wheel, a guide wheel, and a plurality of rolling wheels provided on both sides of the vehicle body, and each rolling wheel is mounted on a vehicle body by an oil pressure suspension unit. It is a structure attached to. Conventionally, such a traveling suspension control device for a tracked vehicle is a system in which the vehicle body posture control is performed only while the vehicle is stopped (stopped), and the guide wheel control is independently performed without interlocking with the vehicle body posture control. It was For this reason, "track loosening"
It was not possible to control the posture of the vehicle body during maneuvering (running) due to the problem of "track disengagement."

Also, since there is no average vehicle height calculation means during maneuvering (running), it is possible to control the attitude by stopping (stopping).
It was only inside.

Further, the conventional guide wheel control cannot cope with the fluctuation of the track tension because the guide wheel hydraulic cylinder is filled and sealed with oil at a certain prescribed pressure.

(Problems to be Solved by the Invention) In the conventional traveling suspension control device, the suspension device control for changing the posture and the guide wheel control for adjusting the crawler belt tension are separately controlled without interlocking control. I was unable to control the attitude during maneuvering (running) due to "track disengagement."

On the other hand, since there is no average vehicle height calculation means during the maneuvering (running) of the tracked vehicle having multiple wheels, the attitude control can be performed only when the vehicle is stopped.

Further, there is no means for correcting the fluctuation of the crawler belt tension during normal traveling (when the posture control is not performed), and thus there is a dislike that the crawler belt tension cannot be corrected.

In view of the above points, the present invention makes it possible to correct the track tension by controlling the guide wheel position in conjunction with displacing the rolling wheels to control the vehicle height, and preventing track loosening and track disengagement. An object of the present invention is to provide a traveling suspension control device for a tracked vehicle that enables vehicle height control during traveling.

(Means for Solving the Problems) In order to achieve the above-mentioned object, the present invention is to stretch a crawler belt between a starting wheel, a guiding wheel, and a plurality of rolling wheels, which are provided on both sides of a vehicle body. In a traveling suspension control device for a tracked vehicle in which rolling wheels are attached to the vehicle body by hydraulic suspension units, a vehicle height detector that detects vehicle height from displacement of the rolling wheels, and a guiding wheel device that displaces the guiding wheel And a guide wheel displacement gauge for detecting the displacement of the guide wheel, and an appropriate guide for the vehicle height in order to prevent the track from loosening or overtightening, to secure an appropriate track tension, and to control to a desired vehicle height. A vehicle height reference signal indicating a desired vehicle height setting value and an attitude reference signal generator for transmitting a guide wheel position reference signal in association with the vehicle height reference signal according to the map. It has. Further, the rolling wheel by the hydraulic pressure suspension unit is set so that the difference between the desired vehicle height set value indicated by the vehicle height reference signal of the attitude reference signal generator and the detected vehicle height value of the vehicle height detector is made zero. And a guide wheel position reference value and a guide wheel displacement indicated by the guide wheel position reference signal of the attitude reference signal generator corresponding to the desired vehicle height setting value. A guide wheel control device is provided for controlling the displacement of the guide wheel by the guide wheel device so that the difference from the detected guide wheel position of the meter is zero.

Further, in the guide wheel device, by connecting the guide wheel hydraulic cylinder and adding a guide wheel accumulator,
The track tension may be corrected. That is, by using the guide wheel accumulator, it is possible to correct a rapid change in track tension.

(Operation) In the traveling suspension control device for a tracked vehicle of the present invention, in order to control to a desired vehicle height, the attitude reference signal generator has a built-in map representing an appropriate guide wheel position with respect to the vehicle height, With this attitude reference signal generator, a vehicle height reference signal (representing a desired vehicle height set value) and an appropriate guide wheel position reference signal (representing a desired guide wheel position reference value) are linked with the vehicle height reference signal according to the map. ) Is sent. The vehicle height (posture) control is, for example, a vehicle height detector that detects the vehicle height at each hydraulic-pneumatic suspension unit mounting position and uses this as a feedback signal (actually, the average vehicle height after removing sudden or primary fluctuations, that is, the average vehicle height). (Created from wheel displacement) for supporting the wheel so that the difference between the detected vehicle height value indicated by the feedback signal and the desired vehicle height set value indicated by the vehicle height reference signal becomes zero. Control the hydraulic and pneumatic suspension unit of.

More specifically, for example, on both sides of the front part of the vehicle body,
The hydraulic pressure suspension unit of each wheel is divided into three groups, rear left and rear right, to configure a hydraulic suspension block, and the front part of the vehicle body (the average of the front right and left vehicle heights), the rear left, and the rear right are respectively So that the difference between the detected vehicle height value and the desired vehicle height setting value becomes zero, a command signal to the servo valve of the corresponding hydraulic pressure suspension block is output from the suspension control device via the servo amplifier, and the hydraulic pressure source The hydraulic pressure is sent to the three hydraulic suspension blocks to control the vehicle height.

Simultaneously with the vehicle height control as described above, a guide wheel position reference signal indicating a guide wheel position reference value corresponding to the desired vehicle height set value and a guide signal as a feedback signal for adjusting the track tension in conjunction with the vehicle height control. Using the guide wheel displacement signal (representing the detected guide wheel position) from the wheel displacement meter, a command is issued to the servo valve of the guide wheel device so that the difference between the desired guide wheel position reference value and the detected guide wheel position becomes zero. A signal is output from the guide wheel control device via a servo amplifier to control the guide wheel.

(Embodiment) An embodiment of a traveling suspension control device for a tracked vehicle according to the present invention will be described below with reference to the drawings.

FIG. 1 shows a structure on one side of a vehicle body in an embodiment of the present invention.

In FIG. 1, reference numeral 66 denotes a vehicle body of a tracked vehicle, on both sides of which a starting wheel 22, a guide wheel 13 and a plurality of rolling wheels 6 for generating a driving force are disposed and supported, and crawler tracks are provided on these. Twenty-one is stretched.

Each wheel 6 is attached to a vehicle body 66 via an oil pressure suspension unit 8. That is, the hydraulic / pneumatic suspension unit 8
An arm 7, a suspension accumulator 1, a suspension hydraulic cylinder 2, and a variable attenuator 3 for damping vibration by connecting them together.
It has and. The upper end of the arm 7 is pivotally attached to the vehicle body 66, and the wheel 6 is pivotally supported at the lower end of the arm 7. The suspension hydraulic cylinder 2 has a piston that is interlocked with the vibration of the rolling wheel 6, that is, the swing of the arm 7, and the hydraulic fluid inside passes through the variable attenuator 3 into one chamber partitioned by the free piston of the suspension accumulator 1. It is like this. The other chamber of the accumulator 1 partitioned by the free piston is filled with nitrogen gas. Therefore, the vibration of the wheel 6 is buffered and absorbed by the actions of the hydraulic cylinder 2, the accumulator 1 and the variable attenuator 3. A servo valve A 4 opens and closes the supply of hydraulic pressure to the suspension hydraulic cylinder 2. In the figure, in order to switch the suspension characteristic of the accumulator 1, a case where two accumulator cylinders are provided is illustrated. It is also applicable to the case of one accumulator cylinder.

5-1, 5-2, 5-3, 5-4 are vehicle height detectors, which determine the vehicle height (ground height H of the bottom plate of the vehicle body in FIG. 1) from the inclination of the arm 7 of the hydraulic suspension unit 8. It is something to detect. The vehicle height detector 5-1 is added to the hydraulic pressure suspension unit at the front left of the vehicle body, the vehicle height detector 5-2 is added to the hydraulic pressure suspension unit at the front right, and the vehicle height detector 5-3 is at the rear portion. It is added to the hydraulic pressure suspension unit on the left, and the vehicle height detector 5-4 is added to the hydraulic pressure suspension unit on the rear right.

Reference numeral 14 is a guide wheel device A, and the guide wheel 13 is attached to the vehicle body 66 via the guide wheel device A 14 so as to be freely displaceable. That is, the guide wheel device A 14 includes a guide wheel accumulator 9 and a guide wheel hydraulic cylinder 10, which are connected to each other to absorb the fluctuation in tension of the crawler belt 21. Further, the hydraulic oil in the guide wheel hydraulic cylinder 10 can be increased or decreased to displace the guide wheel 13. The induction wheel displacement meter 11 is an induction wheel device.
It is added to A 14 and detects the amount of displacement of the guide wheel 13. A servo valve B 12 opens and closes the supply of hydraulic pressure to the guide wheel hydraulic cylinder 10.

Reference numeral 15 is an attitude reference signal generator, 16 is a suspension controller, 17 is a servo amplifier A, 18 is a guide wheel controller, 19 is a servo amplifier B, and 20 is a hydraulic power source.

FIG. 2 is a diagram showing details of the control system in the configuration of the embodiment shown in FIG. In FIG. 2, 4 is a servo valve A,
5-1, 5-2, 5-3, 5-4 are vehicle height detectors, 8 is a hydraulic pressure suspension unit, 11 is an induction wheel displacement meter, 12 is a servo valve B, 14 is an induction wheel device A, and 15 is Attitude reference signal generator, 16 is a suspension controller, 17 is a servo amplifier A, 18 is a guide wheel controller, 19 is a servo amplifier B, and 20 is a hydraulic power source. Attitude reference signal generator
15 is for setting a desired vehicle height and is a suspension control device.
16 is a height calculation circuit 23, a wheel displacement amplifier 24, a waveform shaping circuit
A guide wheel displacement control circuit 18 is composed of an A 25 and a wheel displacement calculation circuit 26, and a guide wheel control device 18 is composed of a guide wheel displacement amplifier 27, a waveform shaping circuit B 28 and a guide wheel control circuit 29.

A desired vehicle height is set in the attitude reference signal generator 15. As shown in FIG. 3, the attitude reference signal generator 15 is
Target (designated) ground clearance setter 50, serial I / OD 51, CPUD
54, ROMD 52, RAMD 53, D / A converter D 55, D / A converter E 56
And a map sequential circuit 57, which sequentially controls the set vehicle height control amount and the guide wheel position amount in accordance with a preset map, and performs control up to a final vehicle height set value. That is, the attitude reference signal generator 15 sends out a vehicle height reference signal and a guide wheel position reference signal in conjunction with the vehicle height reference signal. The vehicle height reference signal is sent to the vehicle height calculation circuit 23, and the guide wheel position reference signal is sent to the guide wheel control circuit 29.

On the other hand, each rolling wheel displacement (vehicle height displacement: front left rolling wheel displacement, front right rolling wheel displacement, rear left rolling wheel displacement, rear right rolling wheel displacement) is measured by the vehicle height detectors 5-1 and 5-2. Detected by 5-3 and 5-4 respectively, amplified by the rolling wheel displacement amplifier 24, and removed by the waveform shaping circuit A 25 which is a low pass filter to remove high frequency noise components (abrupt vehicle height fluctuations) and calculate rolling wheel displacement. Add to circuit 26.

As shown in FIG. 4, the rolling wheel displacement calculation circuit 26 includes an A / D converter A
31, CPUA 32, RAMA 33, serial I / OA 34 and ROMA 35
Consists of. Further, the vehicle height calculation circuit 23 has a serial I / OB 3
7, CPUB 38, RAMB 39, ROMB 40 and D / A converter B 41.

The rolling wheel displacement calculation circuit 26 converts the rolling wheel displacement waveform signal from the waveform shaping circuit A 25 into a digital amount by the A / D converter A 31, and calculates the average rolling wheel displacement from moment to moment by the CPU A 32. The calculation result is stored in the RAMA 33, and the calculation result, that is, the average wheel displacement (average vehicle height displacement) is fed back to the vehicle height calculation circuit 23 via the serial I / OA 34.

The vehicle height calculation circuit 23 inputs the signal from the wheel displacement calculation circuit 26 to the serial I / OB 37, and CPUB 38, RAMB 39 and ROM
B 40 calculates the average value of the front and left rolling wheel displacements {front average rolling wheel (vehicle height) displacement}, and calculates this front average rolling wheel displacement (vehicle height) signal and rear left average rolling wheel. Displacement (vehicle height) signal,
Rear right average wheel displacement (vehicle height) signal is created and D / A converter B
The analog signal is converted into a feedback signal (representing a vehicle height detection value) by 41, and the difference signal obtained by subtracting the vehicle height reference signal from the vehicle height control reference signal generator 15 is used as a front suspension block (for example, the vehicle body 66). Left and right total 6 attached to the front of
Hydraulic suspension units 8), a rear left suspension block (three hydraulic suspension units 8 on the left side attached to the rear of the vehicle body 66), and a right rear suspension block (right side 3 mounted on the rear portion of the vehicle body 66). The vehicle height (posture) is controlled by amplifying the current through the servo amplifier A 17 and sending it to the servo valve A 4 added to each hydraulic pressure suspension unit 8). That is, control is performed so that the vehicle height reference signal matches the instructed vehicle height.

In conjunction with the vehicle height (posture) control as described above, control of the left and right vehicle wheels is also performed. That is, the guide wheel position reference signal sent from the attitude reference signal generator 15 is set in accordance with a preset map of the relationship between the vehicle height reference signal and the guide wheel reference signal.
It is sent to the guide wheel control circuit 29 in 18.

On the other hand, the guide wheel position is detected by the guide wheel displacement meter 11 provided in the left and right guide wheel devices A 14, and the guide wheel displacement amplifier 27
Waveform shaping circuit B 28 which is a low-pass filter amplified by
High frequency noise component (amount of sudden induction wheel position change)
Is removed and then sent to the guide wheel control circuit 29.

As shown in FIG. 5, the induction wheel control circuit 29 includes an A / D converter C 4
3, CPUC 44, RAMC 45, ROMC 46, serial I / OC 47 and D
It has an A / A converter C 48.

Then, the guide wheel control circuit 29 receives the guide wheel displacement waveform signals for the left and right guide wheels fed back from the shaping waveform circuit B 28, converts them into digital amounts by the A / D converter C 43, and sometimes the CPU C 44. The average displacement of the left and right guide wheels is calculated and sent to the RAMC 45.

On the other hand, the guide wheel position reference signal from the attitude reference signal generator 15 is converted into a digital value by the A / D converter C 43, and the left and right guide wheel average displacements (representing the detected guide wheel positions) and the digital value guidance The difference signal between the wheel position reference signal and the CPU C44, RAM C45 and
The ROMC 46 calculates each value, the D / A converter C 48 converts it to an analog quantity, the current is amplified through the servo amplifier B 19, and it is sent to the servo valve B 12 of the left and right guide wheel devices A 14, respectively. The amount of oil supplied to the hydraulic cylinder 10 is controlled so that the hydraulic cylinder 10 is displaced to a designated guide wheel position reference corresponding to a target vehicle height (roller wheel displacement). This properly adjusts the tension of the crawler belt 21.

The vehicle height reference signal and the guide wheel position reference signal are generated in association with each other. That is, in the block diagram of the attitude reference signal generator 15 of FIG. 3, first, the ground height setting device 50 sets the target ground height (vehicle height).
This set ground clearance voltage is sent to the serial I / OD 51. A map of the relationship between the set ground clearance and the position of the guide wheels as shown in FIG. 6 is registered in advance in the ROMD 52, and the map sequential circuit 57 sequentially controls at a specified vehicle height interval ΔH to control to the desired ground clearance H. . That is,
As shown in FIG. 6, the vehicle height reference signal changes with respect to the standard ground clearance HS at intervals of −ΔH on the contraction side and + ΔH on the extension side, and the guide wheel position reference signal is the vehicle height reference signal. It changes to the extension side with respect to the contraction side change of the reference signal, and changes to the contraction side with respect to the extension side change of the vehicle height reference signal.

The vehicle height control and guide wheel control functions described above are shown as a flowchart in FIG. In this figure, RBH
(I) shows the target vehicle height when the number of times of control is the I-th time (I: 1 to N), and RBH shows the final target vehicle height. Also, RRI
(I) is the right target guide wheel position when the control count is the I-th (I: 1 to N), and RLI (I) is the left target guide wheel position when the control count is the I-th, and RRI and RLI indicates the final target guide wheel position on the right side and the left side, respectively.

The control to reach the final target vehicle height during vehicle height control will be described with reference to FIG. First, according to a map in which the relationship between the vehicle height and the guide wheel position shown in FIG. 6 designated in advance from the vehicle height control reference generator 15 is registered, the vehicle height reference signal and the guide wheel position reference are interlocked with the vehicle height reference signal. Generate a signal. Here, the final desired vehicle height is set by the ground height setting device 50 (for example,
(300 mm), a certain vehicle height interval (for example, ΔH = 10 mm) specified by the map sequential circuit 57 and a guide wheel interval control signal are generated. However, when lowering from the standard attitude (standard ground clearance HS) to a low attitude (ground clearance HL), the attitude reference signal generator 15 generates an "HL" signal and sends it to the map sequential circuit 57. , A signal for decreasing the vehicle height by ΔH is generated, and conversely, in the case of increasing the vehicle height, the map sequential circuit 57 generates a signal for increasing the vehicle height by ΔH. The vehicle height control and the guide wheel control are automatically performed through the D / A converter D 55 and the D / A converter E 56 by linking the vehicle height control and the guide wheel control for each vehicle height interval and the guide wheel interval. Is performed only once for the vehicle height interval ΔH (for guide wheel control, the amount of displacement corresponding to ΔH is performed).
The control is performed up to the final desired vehicle height, and the guide wheels are controlled to adjust the track tension.

Therefore, the control shown in the flowchart of FIG. 7 does not perform the final target vehicle height control and the final guide wheel position control at one time, but performs the sequential control in accordance with the specified interval ΔH and smoothly. Control can be performed during traveling (movement). This is to prevent a rapid change in track tension (crawler track looseness or track tension) due to a change in vehicle height.

FIG. 8 is a detailed view of a guide wheel device A 14 which is a first specific example of the guide wheel device usable in the present invention. The guide wheel device is pivotally supported on the vehicle body 66 at the left end and has a guide wheel hydraulic cylinder 10 having a piston A 59, a guide wheel accumulator 9 having a free piston 58 and a piston B 60, a link Y 63, and a guide wheel. It includes a wheel 13, a throttle valve 61, and a one-way valve 62. Here, the guide wheel 13 is pivotally supported at the other end of the link Y 63 whose one end is pivotally attached to the vehicle body 66, and the rod (link) connected to the piston A 59 is connected at an intermediate position of the link Y 63. There is. The hydraulic cylinder 10 and the accumulator 9 are connected by a throttle valve 61 and a one-way valve 62, and the inside of the hydraulic cylinder 10 and the free piston of the accumulator 9 are connected.
The chamber on the left side of 58 is filled with hydraulic oil 65. The chamber on the right side of the free piston 58 is filled with nitrogen gas 64. A servo valve B 12 and a guide wheel displacement meter 11 are added to the guide wheel device A 14, and the guide wheel displacement meter 11 is, for example, a piston.
This is a configuration for detecting the position of B 60.

In this guide wheel device A 14, the nitrogen gas 64 filled and compressed in the guide wheel accumulator 9 acts as a spring against a rapid change in the tension of the crawler belt 21, and the guide wheel hydraulic cylinder 10 and the guide wheel accumulator 9 are used. The hydraulic oil 65 filled in between absorbs the fluctuation of the track tension by viscous resistance generated by passing through the throttle valve 61 and the one-way valve 62,
Crawler belt tension can be maintained appropriately.

As a second specific example of the guide wheel device usable in the present invention, a guide wheel device B 72 shown in FIG. 9 has a piston rod Y 70 of a guide wheel hydraulic cylinder 10 and a link YA 68 via a slider 69. It is a format that can be slid. That is, as shown in FIG. 10, a guide wheel shaft 67 supporting a guide wheel is pivotally supported at the other end of a link YA 68 whose one end is pivotally attached to the vehicle body 66, and a slider 69 slides with respect to the link YA 68. A piston rod Y 70 is pivotally attached to the slider 69 by a pin 71. As a result, the guide wheel hydraulic cylinder 10, the guide wheel accumulator 9, the throttle valve 61, the one-way valve 62, the servo valve B 12, etc. can be fixed to the vehicle body 66, and the hydraulic pipe for adjusting the guide wheel can be easily arranged. You can
The same parts as those of the guide wheel device A of FIG. 8 are designated by the same reference numerals.

Further, as a third specific example of the guide wheel device that can be used in the present invention, a guide wheel device C 73 shown in FIG. 11 performs guide wheel control only by the hydraulic cylinder 10. However, the piston rod Y 70 is attached to the link YA 68 in the same structure as in Fig. 10, and the hydraulic cylinder 10 is mounted on the vehicle body.
It is fixed at 66. Note that the addition of the servo valve B 12 and the guide wheel displacement gauge 11 is the same as that of the above guide wheel devices A and B.

(Effects of the Invention) As described above, according to the traveling suspension control device for a tracked vehicle of the present invention, the average vehicle height during maneuvering (traveling) is calculated and fed back to be linked to the attitude control by the hydraulic / pneumatic suspension unit. By controlling the guide wheel device, the tension of the crawler belt can be appropriately controlled at all times, and the posture control can be performed not only during stoppage but also during maneuvering (running).

[Brief description of drawings]

FIG. 1 is a block diagram showing one embodiment of a traveling suspension control device for a tracked vehicle according to the present invention, one side of a vehicle body, FIG. 2 is a detailed view of a control system, and FIG. 3 is an attitude reference signal generator. FIG. 4, FIG. 4 is a block diagram of a rolling wheel displacement calculation circuit and a vehicle height calculation circuit, FIG. 5 is a block diagram of a guide wheel control circuit, and FIG. 6 is a relationship between a vehicle height reference signal and a guide wheel position reference signal. FIG. 7 is a flow chart showing a traveling suspension control operation, FIG. 8 is a detailed view showing a first specific example of the guide wheel device usable in the present invention, and FIG. 9 is the same second specific example. FIG. 10 is an enlarged view of a main part of the second specific example, FIG.
The drawing is a detailed view of the third specific example of the guide wheel device. 1 ... Suspended accumulator, 2 ... Suspended hydraulic cylinder, 3 ...
Variable attenuator, 4 ... Servo valve A, 5-1,5-2,5-3,5-4
... Vehicle height detector, 6 ... Roller, 7 ... Arm, 8 ... Hydraulic suspension unit, 9 ... Guide wheel accumulator, 10 ... Guide wheel hydraulic cylinder, 11 ... Guide wheel displacement gauge, 12 ... Servo valve B, 13 ... Guide wheel, 14 ... Guide wheel device A, 15 ... Attitude reference signal generator, 16
... Suspension control device, 17 ... Servo amplifier A, 18 ... Induction wheel control device, 19 ... Servo amplifier B, 20 ... Hydraulic power source, 21 ... Crawler belt, 22
… Starting wheel, 23… Vehicle height calculation circuit, 24… Roller wheel displacement amplifier, 25
... Waveform shaping circuit A, 26 ... Roller wheel displacement calculation circuit, 27 ... Guide wheel displacement amplifier, 28 ... Waveform shaping circuit B, 29 ... Guide wheel control circuit, 31 ... A / D converter A, 32 ... CPUA, 33 ... RAMA, 34 ... Serial I / OA, 35 ... ROMA, 37 ... Serial I / OB, 38 ... CPUB, 39
... RAMB, 40 ... ROMB, 41 ... D / A converter B, 43 ... A / D converter C, 44 ... CPUC, 45 ... RAMC, 46 ... ROMC, 47 ... Serial I / O
C, 48 ... D / A converter C, 50 ... Ground height setting device, 51 ... Serial
I / OD, 52 ... ROMD, 53 ... RAMD, 54 ... CPUD, 55 ... D / A converter D, 56 ... D / A converter E, 57 ... Map sequential circuit, 58 ... Free piston, 59 ... Piston A, 60 ... Piston B, 61 ... Throttle valve, 62 ... One way valve, 63 ... Link, 64 ... Nitrogen gas, 65 ... Hydraulic oil, 66 ... Car body, 67 ... Guide wheel shaft, 68 ... Link YA, 69 ... Slider, 70 ... Piston rod Y, 71 ... Pin, 72 ... Guide wheel device B, 73 ... Guide wheel device C.

Claims (5)

[Claims] 1. A track track in which a crawler belt is stretched between a starting wheel, a guide wheel, and a plurality of rolling wheels provided on both sides of a vehicle body, and each rolling wheel is attached to the vehicle body by a hydraulic suspension unit. In a vehicle traveling suspension control device, a vehicle height detector that detects a vehicle height from the displacement of the wheel, a guide wheel device that displaces the guide wheel, and a guide wheel displacement meter that detects displacement of the guide wheel, In order to prevent the crawler belt from loosening or being overtensioned and to secure an appropriate crawler belt tension to control a desired vehicle height, a map showing an appropriate guide wheel position with respect to the vehicle height is provided, and a vehicle showing a desired vehicle height set value is provided. A high reference signal and an attitude reference signal generator that sends a guide wheel position reference signal in conjunction with the vehicle height reference signal according to the map, and a desired vehicle height indicated by the vehicle height reference signal of the attitude reference signal generator. Set value and vehicle height detected by the vehicle height detector A suspension control device for controlling the suspension state of the rolling wheels by the hydraulic suspension unit so as to make the difference between zero and the guide wheel position reference of the attitude reference signal generator corresponding to the desired vehicle height set value. A guide wheel control device that controls the displacement of the guide wheel by the guide wheel device so as to make the difference between the guide wheel position reference value indicated by a signal and the detected guide wheel position of the guide wheel displacement gauge zero. A traveling suspension control device for a tracked vehicle, which is capable of performing vehicle height control during traveling and crawler belt tension adjustment linked to the vehicle height control. 2. The vehicle height detectors are arranged respectively corresponding to a pair of left and right rolling wheels on the front side of the vehicle body and a pair of left and right rolling wheels on the rear side of the vehicle body, and the hydraulic pressure suspension unit is provided on the front left and right sides of the vehicle body. Are divided into those belonging to the front suspension block, those belonging to the rear left suspension block attached to the rear left side of the vehicle body, and those belonging to the rear right suspension block attached to the rear right side of the vehicle body. ,
The vehicle height control of the front suspension block is performed by the average value of the pair of left and right rolling wheel displacements on the front side of the vehicle body, the vehicle height control of the rear left suspension block is performed by the rear left rolling wheel displacement, and the rear right rolling wheel is controlled. The traveling suspension control device for a tracked vehicle according to claim 1, wherein the vehicle height of each of the rear right suspension blocks is controlled by displacement. 3. The guide wheel device includes a guide wheel hydraulic cylinder for displacing the guide wheel, and a guide wheel accumulator connected to the hydraulic cylinder for absorbing a sudden change in tension of the crawler belt. The traveling suspension control device for the tracked vehicle according to claim 1. 4. A link (68) for linking the guide wheel to the vehicle body.
And a slider (69) is slidably attached in the middle of the link (68), and a piston rod of a guide wheel hydraulic cylinder of the guide wheel device fixed to the vehicle body is pivotally attached to the slider (69). The traveling suspension control device for the tracked vehicle according to claim 1, which is worn. 5. The suspension control device determines an arbitrary target vehicle height value between the desired vehicle height set value and the detected vehicle height value, and sets the difference between the target vehicle height value and the detected vehicle height value to zero. The guide control device executes the control so that the difference between the guide wheel position target value corresponding to the target vehicle height value and the detected guide wheel position is zero, and the target vehicle height value is set to the desired vehicle height. 2. The traveling suspension control device for a tracked vehicle according to claim 1, wherein the control is repeatedly executed by gradually approaching a high set value and finally matching the set value.