JPH0898619A - Working vehicle - Google Patents

Abstract

PURPOSE: To provide a working vehicle capable of freely conducting the vertical movement of a pair of left and right traveling devices independently each other and to maintain the left and right tilt angles of the traveling machine body at a specified value, and ensured to properly deal with both cases of small and large tilt angles. CONSTITUTION: When the left and right tilt angles of a traveling machine body get out of a specified angle, in case the tilt angles can be returned to the specified angle by simply actuating vertical movement of one party of the traveling devices, this traveling device is actuated for the vertical movement. Otherwise, this traveling device is actuated for the vertical movement to the actuation stroke end and the other device is actuated for the vertical movement in the opposite direction.

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a combine in which a mowing pretreatment device is attached to a front portion of a traveling machine body having a pair of left and right traveling devices. In this type of combine, when one of the left and right traveling devices falls into a ridge or the like and the traveling machine body tilts in the left-right direction, the posture of the pre-mowing treatment device with respect to the mowing cultivated ground is changed. Since it becomes inclined, one end of the mowing device may plunge into the soil, hindering mowing performance, and there is also a problem that the mowing height for the grain stem is not constant. Therefore, as a solution to such problems,
Conventionally, there has been a configuration in which the left and right traveling devices are provided so as to be able to move up and down in a contradictory manner with respect to a traveling machine body to which the mowing pretreatment device is attached, and the posture of the mowing pretreatment device is maintained constant (U. S. Patent 3,160,221). However, in the case of the above configuration, in the case where one of the left and right traveling devices always sinks by a certain amount during the mowing work, the left and right traveling is performed before the work is started. The height of the device will be set to a different state in advance and the work will be started.In this case, as the height setting work for the traveling device, the operator visually judges and operates the actuation operation mechanism. A simple method of driving the traveling device up and down is adopted. In the case of such manual work, for example, if a push button switch or the like is used as an operation operation mechanism for an actuator such as a rolling elevator cylinder for a traveling device, the switch operation must be continued during the operation of this actuator. It's very troublesome. In addition, since it is performed by the operator's visual judgment, there is an inconvenience that an accurate lifting amount cannot be obtained. The object of the present invention is to make a simple change in the operating mechanism to improve the operability, and to reliably set the vertical movement amount of the traveling device and the right and left inclination angles of the traveling machine body.
You can set the posture of the mowing pretreatment device to the desired one, and
It is a point to provide one that can effectively set the right and left inclination angles of the traveling machine body by effectively utilizing the drive elevation control for the pre-mowing treatment device. [0004] Since the left and right traveling devices can be independently moved up and down, as in the conventional case, it is contradictory about a pivot shaft provided along the longitudinal axis of the body. Compared with the one that swings the seesaw, even if the inclination angle of both traveling devices is the same for setting the height of the traveling device, the height of the traveling device against traveling body can be changed. The height of the processing device above ground can be changed and switched. By simply inputting a desired set value to the height setter, the relative height of the traveling device with respect to the traveling body is automatically determined, and it is not necessary to continue the switch operation during that time. In this case, the height setting can be performed by setting the set value by the setter to the average height of the two traveling devices with respect to the traveling body, and the left and right traveling devices are set upside down based on this height setting value. Since the inclination can be set to the target inclination angle by the vertical setting position, the inclination height of the traveling body can be arbitrarily set. However, the lifting stroke of the traveling device with respect to the traveling machine body is limited from the standpoint of preventing overturning and the like, and when the traveling device is operated so as to achieve the target inclination angle, one traveling device has a stroke (actuation). ) When reaching the end, the height of the other traveling device is set so as to reach the target inclination angle, and the inclination angle setting is prioritized over the height setting. This is because the drive elevation control mechanism for the mowing pretreatment device can secure at least the height of the mowing pretreatment device to a predetermined height, so only the inclination angle can be prioritized in the elevation control on the traveling device side. Because it is. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIG. 7, a raising device 1, a cutting device 2 for cutting grain culms raised by the raising device 1, and a cutting grain culm toward a rear threshing device 3. The reaping pretreatment device 5 having the rear transportation device 4 for transportation is attached to the traveling machine body 7 having the pair of left and right crawler traveling devices 6 and 6 so as to be swingable up and down by the elevating cylinder 8 about the lateral support axis X. Is configured. Next, the mounting structure of the left and right crawler traveling devices 6, 6 to the traveling machine body 7 will be described. As shown in FIGS. 3 and 4, the track frames 11, 11 of the main frame 9 constituting the traveling machine body 7 in the front-rear direction are connected and fixed.
A drive sprocket 12 and a tension sprocket 13 are attached and fixed to the front and rear ends of the track frames 11, 11, respectively. The track frame 11 is formed in a downward opening channel shape, and a pair of front and rear movable frames 1 having a plurality of idler wheels 14 pivotally supported in the open space.
5A and 15B are mounted so as to be capable of relative vertical movement. The track frame 11 is provided at an intermediate position of the group of idle wheels 14.
A large-diameter freewheeling body 16 is supported so as to be vertically swingable. The front and rear movable frames 15A and 15B are respectively attached with one ends of front and rear bell cranks 17A and 17B pivotally supported by the track frame 11 so as to be vertically swingable.
Are connected by a connecting rod 18, and the rear bell crank 1
An elevating cylinder 19 for rolling is connected to the other end of 7B so that the front and rear movable frames 15A and 15B can be moved up and down by the same amount in the same direction. As shown in FIG. 4, a volume type traveling device height sensor 20 for detecting the swing amount of the rear bell crank 17B is provided at a connecting portion between the rolling elevating cylinder 19 and the rear bell crank 17B. The control valve 21 is provided with a detection value from the height sensor 20, and the rolling lift cylinder 1 with the control valve 29 is set so that the vehicle height setting value of the volume type vehicle height setting device 22 on the hand side is set.
9, the relative height of the movable frames 15A, 15B with respect to the track frames 11, 11 can be changed. In this case, the vehicle height set value by the vehicle height setter 22 represents the height of one traveling device 6 with respect to the traveling machine body 7, and is for the traveling device located above the traveling machine body 7. On the other hand, when the tilting posture of the traveling machine body 7 is set, it is positioned below the traveling machine body 7 based on the detection value of the gravity type inclination sensor 23 which detects the inclination of the traveling machine body 7 to the left and right. By adjusting the height of the movable frames 15A and 15B corresponding to the traveling device 6 on the running side, the horizontal inclination angle of the traveling body 7 with respect to the horizontal reference plane (ground) is maintained at the set value from the inclination setter 28. The rolling lift cylinder 19 with the control valve 29 enables rolling control. Above, the sensors 20, 23 and various setting devices 2
2, 28 and the control device 21 for them are referred to as control means 31. A volume-type elevation detection sensor 24 is provided at the pivotal support shaft X portion of the pre-mowing treatment device 5 to the traveling machine body 7 to detect the amount of elevation of the pre-mowing treatment device 5 with respect to the traveling machine body 7. Based on the detection value from the ultrasonic ground height sensor 33 provided near the raising frame, the ground height of the mowing pretreatment device 5 (cutting height for grain stem) is detected. The cutting height can be controlled by the elevating cylinder 8 with the control valve 30 so as to maintain the setting range by the cutting height setting device 35. With the above-mentioned structure, as for the raising and lowering control of the crawler traveling device (movable frame), FIG.
An explanation will be given with reference to the flowchart of FIG. Limit switches 25, 25 are provided at the movable stroke end of the rolling lift cylinder 19, and when the limit switch 25 is activated, the tilt angle cannot be larger than the tilt angle determined by the limit position.
When the tilt angle is set while the limit switch 25 is operated, the vehicle height is different from the set value. Therefore, such tilt angle setting is prioritized over the vehicle height setting. In this case, the vehicle height warning lamp 26 is turned on. As for the control flow, first, both alarm lamps 26, 3
4 is not lit, the vehicle height setter 22 sets the height of one of the left and right traveling devices 6 against the traveling vehicle body 7, and the traveling device height sensor 2
The position information from 0 and 20 is taken in, and the value is L
It is displayed by the ED type position display devices 27, 27, and the automatic / manual control mode is selected by the changeover switch 32 (step I). In step II, the illustrated target value is calculated. As shown in FIG. 6, the combine angle α1 is an angle in the case where the traveling devices 6, 6 are already inclined with respect to the traveling vehicle body 7 at the start of control. And the tilt sensor 2
The target angle α4 for operating the rolling elevator cylinder 19 is calculated from the detected angle α2 according to 3 and the setting angle α3 from the tilt setting device 28 with respect to the horizontal reference plane, and the operating length (target length) of the rolling elevator cylinder 19 is calculated. Is calculated (step II). Once the target length is determined, it is determined whether the maximum stroke (variable length) of the rolling lift cylinder 19 can be covered. If this target length is greater than the variable length, this variable length is used as the target length. The tilt angle warning lamp 34 indicates that the rolling elevating cylinder 19 is at the stroke end (step III). Next, the +/- of the target angle α4 is determined. +
Indicates a case where the traveling machine body 7 is tilted to the right, and indicates an operation opposite to-. In the case of +, the target position of the left traveling device 6 is calculated from the vehicle height set value + the target degree, and when the target position exceeds the stroke range of the left rolling elevator cylinder 19, the traveling device 6 The target position is set to the maximum stroke position (upper limit position) of the cylinder 19, and the right traveling device 6 is set to a position having a cylinder length shorter than the maximum stroke position by the target length.
When the target position of the left traveling device 6 falls within the stroke of the rolling lift cylinder 19, the target position of the right traveling device 6 is set to the vehicle height setting value and the target position of the left traveling device 6 is set. Set the position to the vehicle height set value plus the target length. Elevating cylinder 19 for rolling described above
When reaches the stroke end, the vehicle height has not reached the set value, so the vehicle height alarm lamp 26 is turned on.
When the angle α4 is −, the procedure opposite to the case of + may be performed (step IV). When the target positions of the left and right traveling devices 6 and 6 are determined as described above, the required operating length (correction length) of the rolling elevating cylinder 19 is determined from the position information by the traveling device height sensor 20. When it is in the dead zone α, the operation of the rolling elevating cylinder 19 is stopped, and when it exceeds the dead zone α, the rolling elevating cylinder 19 is operated for the correction length. Next, the changeover switch 32
When the manual control is switched to, the target angle is controlled so as to be the set value by the tilt angle setting device 28. [Other Embodiments of the Invention] (a) In the above embodiment, only the idle wheel 14 is configured to be lifted and lowered, but the entire crawler traveling device 6 may be lifted and lowered. (B) The actuator of the crawler traveling device 6 may be a combination of a pneumatic cylinder or screw mechanism and an electric motor or the like. (C) The traveling device 6 is not of the crawler type,
The tire type may be used, and its type is not specified. (D) The combine may be of all culm type. (E) Further, the set value by the vehicle height setting device 22 may set the average height position of the left and right traveling device 6. In this case, this vehicle height setting value ± 1/2 target length
The target positions of both traveling devices 6 and 6 are set. As described above, since only the setting operation is performed on the setting device and there is no need to operate the switch during the elevating operation of the traveling device, the operation becomes simple and the elevating height can be visually observed. Since there is no need to make a judgment, the amount of vertical movement can be set accurately. From the above paragraph, not only the inclination angle but also the height of the traveling device with respect to the traveling body can be arbitrarily changed. From the previous section, it is not necessary to take the traveling device up and down strokes infinitely, and the inclination setting is prioritized over the height setting within the range of the up and down stroke, and the independent pre-cutting treatment equipment is raised and lowered to the ground. Organic linkage with control can be achieved. [0019]

[Brief description of drawings] FIG. 1 is a block diagram showing a control means. FIG. 2 is a front view showing a panel in which various setting devices are arranged and configured. FIG. 3 is a side view showing the lifting control means of the traveling device. FIG. 4 is a vertical cross-sectional rear view showing the lifting control means of the traveling device. FIG. 5 is a flow chart diagram. FIG. 6 is a flow chart diagram. FIG. 7 is a flow chart diagram. FIG. 8 is a flowchart diagram. FIG. 9 is an explanatory diagram showing a positional relationship between the machine body and the traveling device. [Fig. 10] Overall side view [Explanation of symbols] 5 Mowing pretreatment device 6 traveling devices 7 traveling aircraft 22 Height setting device 28 Tilt setting device 31 Control means

─────────────────────────────────────────────────── ───
[Procedure Amendment] [Submission Date] November 2, 1995 [Procedure Amendment 1] [Amendment Document Name] Specification [Amendment Item Name] Full Text [Amendment Method] Change [Amendment Content] [Document Name] Specification [Claims] Work vehicle [Claims] A pair of left and right traveling devices (6) are provided on a traveling machine body (7), and the pair of traveling devices (6) are provided for each of the traveling machine bodies (7). Separately, an elevating drive means (19) for performing an elevating operation is provided, and a horizontal inclination angle (α ) with respect to a horizontal reference plane of the traveling machine body (7) is provided.
2) The inclination angle detecting means (23 ) for detecting the inclination angle and the information of the inclination angle detecting means (23) are used to maintain the lateral inclination angle (α2) of the traveling machine body (7 ) at a predetermined angle (α3) . A work vehicle provided with a control device (21) for operating the elevating and lowering drive means (19) as described above, wherein the lateral inclination angle of the traveling machine body (7) is the predetermined angle (α).
3) When disengaged from the pair, the pair of traveling devices (6)
In the case where the horizontal inclination angle (α2) of the traveling machine body (7) can be returned to the predetermined angle (α3) only by raising and lowering one of the traveling devices (6), the one traveling device (6) (6) is moved up and down, and one traveling device (6) of the pair of traveling devices (6) is moved up and down.
If the right and left inclination angle (α2) cannot be returned to the predetermined angle (α3) , one traveling device (6) is moved up and down to the operation stroke end, and the other traveling device (6) is operated. A work vehicle in which the control device (21) is configured so as to move up and down in a direction opposite to the operating direction of the one traveling device (6). Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a configuration for posture control of a traveling machine body in a left-right direction in a work vehicle in which a pair of left and right traveling devices is configured to be vertically movable. In a work vehicle such as that described above, a pair of left and right traveling devices are constructed so that they can be moved up and down independently of the traveling machine body, and the horizontal inclination angle of the traveling machine body with respect to a horizontal reference plane is detected. There is a structure which is provided with a tilt angle detection means and is configured to vertically move the left and right traveling devices so as to maintain the left and right tilt angles of the traveling machine body at a predetermined angle based on information of the tilt angle detection means. As described above, when the left and right traveling devices are individually configured to be vertically movable, both the left and right traveling devices can be operated regardless of the magnitude of the left and right inclination angles of the traveling machine body. If the left and right tilt angles of the traveling machine body are maintained at a predetermined angle by raising and lowering, the power required for raising and lowering the left and right traveling devices will be large, so there is room for improvement in terms of saving power. is there. According to the present invention, in a work vehicle in which the left and right traveling devices are individually configured to be lifted and lowered, the left and right tilt angles of the traveling machine body can be accurately maintained at a predetermined angle, and the power for lifting and lowering the traveling device is saved. Is intended. Means for Solving the Problems [1] According to a feature of the present invention, when the horizontal inclination angle of the traveling machine body deviates from a predetermined angle, the degree of disengagement is small, and one traveling device is lifted. When the horizontal inclination angle of the traveling machine body can be returned to the predetermined angle only by operating the one traveling device, the one traveling device is moved up and down to return the horizontal inclination angle of the traveling machine body to the predetermined angle. As a result, it is not necessary to vertically move the left and right traveling devices in opposite directions. [2] On the contrary, when the lateral inclination angle of the traveling machine body deviates from the predetermined angle, the degree of deviation thereof is large, and the lateral inclination angle of the traveling machine body is set to the predetermined angle only by vertically moving one traveling device. If it cannot be returned, one of the traveling devices is moved up and down to the end of the operating stroke, and the other traveling device is moved up and down in the direction opposite to the operating direction of the one traveling device to raise and lower one traveling device. The shortage caused by the operation is compensated by the lifting operation of the other traveling device. As a result, even if the horizontal inclination angle of the traveling machine body deviates largely from the predetermined angle, the horizontal inclination angle of the traveling machine body can be largely changed by vertically moving the left and right traveling devices as described above. It is possible to greatly change the right and left tilt angle and return it to a predetermined angle. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIG. 10, a raising device 1, a cutting device 2 for cutting grain culms caused by the raising device 1, and a threshing device 3 for rearing cut culms. A rear pre-conveying device 4 that conveys the pre-mowing treatment device 5 to the traveling machine body 7 having a pair of left and right crawler type traveling devices 6 is provided around the lateral support axis X. Is combined with the lifting cylinder 8 so as to be swingable up and down to form a combine. Next, the mounting structure of the traveling device 6 to the traveling machine body 7 will be described. As shown in FIG. 3 and FIG. 4, the track frame 11 is connected and fixed to the main frame 9 in the front-rear direction constituting the traveling machine body 7, and the drive sprocket 12 and the tension sprocket 13 are supported at the front and rear ends of the track frame 11. Has been done. Truck frame 11
Is formed in a downwardly open channel shape, and a pair of front and rear movable frames 15A and 15B supporting a plurality of idler wheels 14 are supported in the open space so as to be relatively movable up and down. At the intermediate position of the wheel body 14, a large-diameter idle wheel body 16 is supported by the track frame 11 so as to be vertically swingable. One end of front and rear bell cranks 17A and 17B supported by the track frame 11 so as to be vertically swingable is attached to the front and rear movable frames 15A and 15B, and the front and rear bell cranks 17A and 17B are connected by a connecting rod 18. Then, the rolling cylinder 19 (corresponding to the elevating drive means) is connected to the other end of the rear bell crank 17B. Thereby, the front and rear movable frames 15A and 15B are configured to be moved up and down by the same amount in the same direction by the rolling cylinder 19. As shown in FIGS. 4, 1 and 2, at the connecting portion between the rolling cylinder 19 and the rear bell crank 17B,
The height sensor 20 for the traveling device 6 of the volume type that detects the swing amount of the rear bell crank 17B is provided, and the detection value of the height sensor 20 is input to the control device 21 (see FIG. 1). As a result, the volume type vehicle height setting device 2 on the hand side
Control valve 2 so that the vehicle height set value set in 2 is reached.
The relative height of the movable frames 15A and 15B with respect to the track frame 11 is changed by the rolling cylinder 19 with 9. In this case, the vehicle height set value by the vehicle height setter 22 represents the height of one traveling device 6 with respect to the traveling machine body 7, and is for the traveling device 6 located higher than the traveling machine body 7. When the tilting posture of the traveling machine body 7 is set, the traveling type machine body 7 is detected based on the gravity type inclination sensor 23 (corresponding to the inclination angle detecting means) for detecting the horizontal inclination angle α2 of the traveling machine body 7. The height of the movable frames 15A and 15B of the traveling device 6 located on the lower side of
The horizontal inclination angle α2 with respect to the horizontal reference plane (ground) is maintained at a predetermined angle α3 set by the inclination setter 28.
A rolling cylinder 19 equipped with a control valve 29 is configured to be capable of rolling control. A volume type elevation detection sensor 24 is provided at a portion of the horizontal cutting axis X of the traveling machine body 7 in the pre-mowing treatment device 5 so as to detect the amount of elevation of the pre-mowing treatment device 5 with respect to the traveling machine body 7. Based on the detection value of the ultrasonic type ground height sensor 33 provided near the raising frame, the ground height of the pre-cutting device 5 (cutting height for grain stem) is set to the cutting height. The cutting height is controlled by the lifting cylinder 8 with the control valve 30 so as to maintain the setting range set by the device 35. With the above-described structure, the raising / lowering control of the traveling device 6 (movable frames 15A, 15B) will be described with reference to FIGS.
Description will be made based on Nos. 7 and 8. As shown in FIG. 3, a limit switch 25 is provided at the operation stroke end of the rolling cylinder 19, and when the limit switch 25 is operated, the limit of the lateral inclination angle α2 determined by the position of the limit switch 25 is greater than that of the traveling machine body 7. Since the left / right tilt angle α2 cannot be made large, the tilt angle warning lamp 34 is activated. When the left and right inclination angle α2 of the traveling machine body 7 is set while the limit switch 25 is operating, the vehicle height of the traveling machine body 7 is different from the vehicle height setting value set by the vehicle height setter 22. When the setting of the left-right inclination angle α2 is prioritized over the setting of the vehicle height, the vehicle height alarm lamp 26 is turned on. If the vehicle height warning lamp 26 and the inclination angle warning lamp 34 are not lit, the vehicle height setter 22 sets the height of the left or right traveling device 6 with respect to the traveling machine body 7, and the height sensor 20 The detected value is displayed by the LED type position display device 27 (see FIG. 2), and the automatic or manual control mode is selected by the automatic changeover switch 32 (step I). In step II, the rolling cylinder 19
The target length of is calculated. As shown in FIG. 9, the combine angle α1 is an angle when the left and right traveling devices 6 are already inclined with respect to the traveling machine body 7 at the start of control. The target angle α4 of the rolling cylinder 19 is calculated by the horizontal inclination angle α2 detected by the inclination sensor 23 and the predetermined angle α3 with respect to the horizontal reference plane set by the inclination setter 28, and the target length of the rolling cylinder 19 is calculated. (Step II). Once the target length is determined, it is determined whether the maximum stroke (variable length) range of the rolling cylinder 19 can be covered. If the target length is larger than the variable length, this variable length is set as the target length and the rolling cylinder 19
Is at the end of the working stroke, the tilt angle warning lamp 34
Is displayed (step III). Next, + and-of the target angle α4 are judged.
“+” Indicates a case where the traveling machine body 7 is tilted to the right, and “−” indicates a tilt operation to the left. If +,
The target position of the left traveling device 6 is calculated from (vehicle height set value + target length), and this target position is the left rolling cylinder 1
If the operating stroke range of 9 is exceeded, the traveling device 6
Is set to the working stroke end (upper limit position) of the rolling cylinder 19, and the target position of the right traveling device 6 is set to a position shorter than the working stroke end by the target length. When the target position of the left traveling device 6 falls within the working stroke range of the rolling cylinder 19,
The target position of the right traveling device 6 is set to the vehicle height set value, and the target position of the left traveling device 6 is set to the vehicle height set value plus the target length. When the rolling cylinder 19 reaches the operation stroke end, the vehicle height has not reached the vehicle height set value, and therefore the vehicle height alarm lamp 26 is turned on. When the target angle α4 is −, the operation opposite to the case of + is performed (step IV). When the target positions of the left and right traveling devices 6 are determined as described above, the required operating length (correction length) of the rolling cylinder 19 is determined by the detection value of the height sensor 20.
When the rolling cylinder 19 is in the dead zone α,
The operation of the rolling cylinder 19 is stopped, and the dead zone α
If it exceeds, the rolling cylinder 19
Is activated. Next, when the manual control is switched by the automatic changeover switch 32, the target angle α4 is controlled to be the predetermined angle α3 set by the inclination setter 28. [Other Embodiments of the Invention] (a) In the above-mentioned [Embodiment of the Invention], only the idle wheel 14 is configured to be moved up and down.
The whole may be configured to be moved up and down. (B) As the rolling cylinder 19 of the traveling device 6,
A configuration in which a pneumatic cylinder or screw mechanism and an electric motor or the like are combined may be used. (C) The traveling device 6 is not of the crawler type,
The tire type may be used, and the type is not specified. (D) The combine may be of all culm type. (E) The vehicle height setter 22 may set the average height position of the left and right traveling devices 6. In this case, the target heights of the left and right traveling devices 6 are set to the vehicle height set value plus or minus 1/2 target length. As described above, in the work vehicle in which the left and right traveling devices are separately movable up and down, when the degree of deviation of the traveling machine body from the predetermined angle is small, one traveling By configuring the device so as to move up and down to return the left and right inclination angles of the traveling machine body to a predetermined angle, it is possible to save the power for lifting and lowering the traveling device. When the degree of deviation from the predetermined angle in the horizontal tilt angle of the traveling machine body is large, one traveling device is moved up and down to the operation stroke end, and the other traveling device is moved up and down in the opposite direction. Therefore, even when the degree of deviation from the predetermined angle in the left and right inclination angle of the traveling body is large,
The left-right inclination angle of the traveling machine body can be accurately maintained at a predetermined angle. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram showing a state in which each part is linked to a control device. FIG. 2 is a diagram showing a panel provided with a vehicle height setting device, an inclination setting device, and the like. FIG. 4 is a side view showing an elevating structure of the traveling device. FIG. 4 is a vertical sectional rear view showing an elevating structure of the traveling device. FIG. 5 is a diagram showing a flow of an elevating operation of the traveling device. FIG. 6 is a diagram showing a flow of an elevating operation of the traveling device. FIG. 7 is a diagram showing a flow of a raising / lowering operation of the traveling device. FIG. 8 is a diagram showing a flow of a raising / lowering operation of the traveling device. FIG. 9 is a diagram showing a positional relationship between the traveling body and the traveling device. Overall side view [Explanation of symbols] 6 Traveling device 7 Traveling vehicle 19 Elevating drive means 21 Control device 23 Inclination angle detecting means α2 Horizontal inclination angle α3 Predetermined angle [Procedure correction 2] [Correction target document name] Drawing [Correction target item name ] Figure 1 [Correction method] Change [Correction details] [Figure 1] [Procedure amendment 3] [Document name for amendment] Drawing [Item name for amendment] Figure 4 [Correction method] Change [Content of amendment] [Figure 4] [Procedure Amendment 4] [Amendment Document Name] Drawing [Amendment Item Name] Figure 8 [Amendment Method] Change [Amendment Content] [Figure 8] [Procedure Amendment 5] [Name of Documents to Amend] Drawing [Name of Item to Amend] Fig. 9 [Correction Method] Change [Contents of Amendment] [Fig. 9]

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Shigeo Sato             64 Ishizukitamachi, Sakai City, Osaka Prefecture Kubo Co., Ltd.             Ta Sakai Factory

Claims (1)

What is claimed is: 1. A pair of left and right traveling devices (6) are provided on a traveling machine body (7), and an elevating and lowering drive means (6) for vertically moving the pair of traveling devices (6) with respect to the traveling machine body (7). 19) is provided, and the traveling machine body (7) is detected based on the information of the inclination angle detecting means (23) for detecting the horizontal inclination angle of the traveling machine body (7) with respect to the horizontal reference plane and the inclination angle detecting means (23). ) Is provided with a control device (21) for operating the elevating and lowering drive means (19) so as to maintain the left-right inclination angle of the vehicle body (7) at a predetermined angle, and the left-right inclination angle of the traveling machine body (7) is the predetermined angle. When deviating from the angle, the horizontal inclination angle of the traveling machine body (7) can be returned to the predetermined angle only by vertically moving one traveling device (6) of the pair of traveling devices (6). If possible, raise or lower one travel device (6) It is dynamic, the only one of the traveling device (6) lifting operation of a pair of traveling devices (6), the traveling machine body (7)
If the right and left inclination angle of the traveling device cannot be returned to the predetermined angle, one traveling device (6) is moved up and down to the operation stroke end, and the other traveling device (6) is moved to the one traveling device (6). A work vehicle in which the control device (21) is configured so as to move up and down in a direction opposite to the operation direction of 6).