JPH10226357A - Work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve turning performance, in a work vehicle. SOLUTION: In a work vehicle constituted by providing a pair of right/left running devices in a running machine body and stopping a drive of any one of the right/left running devices so as to execute turn action to be provided with a tilt means 19 right/left tilting the running machine body relating to a virtual plane connecting a grounding location of a pair of the right/left running devices as viewed in the longitudinal direction in this running machine body, the vehicle is provided with a turn action detection means 41 detecting turn action of the running machine body and a control means 101 executing turn attitude control operating the tilt means 9, in order to tilt the running machine body so as to place a turn center side in a lower position relating to the virtual plane, when turn action is detected by this turn action detection means 41.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling machine in which a pair of left and right traveling devices are provided on a traveling body, and the driving of one of the right and left traveling devices is stopped to execute a turning operation. The present invention relates to a work vehicle provided with inclining means for inclining the traveling body to the left and right with respect to an imaginary plane connecting the grounded portions of the pair of left and right traveling devices when viewed in the longitudinal direction of the body.

[0002]

2. Description of the Related Art In such a working vehicle, for example, a combine, conventionally, a left and right inclination angle of a traveling body with respect to a horizontal reference plane is maintained at a set angle (for example, 0 degrees) regardless of straight traveling and turning traveling. The tilting means is automatically operated, and the tilting means is manually operated so that the posture of the traveling body in the left-right direction becomes a desired posture. That is, no special consideration has been given to turning.

[0003]

In such a working vehicle, when turning is performed, for example, the driving of the traveling device on the turning center side is stopped, and the driving device on the opposite side to the turning center is stopped. The vehicle is turned by the driving force. However, in the conventional work vehicle, the traveling body is parallel to the virtual plane during turning,
The traveling body may be inclined so that the side opposite to the turning center side with respect to the virtual plane is lower, but in such a case, the grounding load of the traveling device on the turning center side is small,
There is a problem that the turning performance is reduced because the ground contact portion of the traveling device on the turning center side easily slips on the traveling surface toward the traveling direction of the traveling body and the turning radius increases.

[0004] The present invention has been made in view of the above circumstances, and an object thereof is to improve turning performance.

[0005]

According to the first aspect of the present invention, when the vehicle is turning, the traveling body is inclined with respect to the imaginary plane so that the turning center side is lower. The grounding load of the traveling device on the side increases,
The ground contact portion of the traveling device on the turning center side is unlikely to slide on the traveling surface in the traveling direction of the traveling body. Therefore, the vehicle can be turned with a small turning radius, and the turning performance can be improved.

According to a second aspect of the present invention, when the vehicle is turning, the tilting means operates up to a maximum value in a tiltable range in which the traveling body can be tilted with respect to the virtual plane. Therefore, even if the traveling surface is inclined in the left-right direction, the traveling body can be inclined such that the turning center side is lower than the horizontal plane. Further, since the operation is performed up to the maximum value, the control configuration is simpler than, for example, a configuration in which the operation is selectively performed in any of a plurality of stages in the tiltable range. Therefore,
While being able to improve turning performance,
The control configuration can be simplified as compared with a configuration in which the tilting means is switched and operated in a plurality of stages.

According to a third aspect of the present invention, when the vehicle is turning, the inclination angle detecting means detects the left and right inclination angles in which the turning center of the traveling body is lower than the horizontal reference plane. Since the inclining means is operated, the traveling body can be inclined so that the turning center side is lower than the horizontal plane during turning, regardless of the degree of inclination of the running surface in the left-right direction. Therefore, for example, the following advantage is obtained as compared with the case where the tilting means is operated by a preset amount. For example, the traveling body is inclined so that the turning center side is lower than the horizontal plane, regardless of the degree of inclination of the traveling surface in the left-right direction, as compared with the case where the set amount is set to an intermediate value of the inclination range. Can be done. Alternatively, regardless of the degree of inclination of the traveling surface in the left-right direction, in order to incline the traveling body so that the turning center side is lower than the horizontal plane, the inclination of the inclination means is larger than that in which the set amount is set large. The disadvantage that the operating range becomes unnecessarily large can be prevented.

Further, the tilting means is operated so that the detection angle of the tilting angle detecting means is set at a preset turning angle so that the turning center side of the traveling body is lower than the horizontal reference plane. This makes it possible to stabilize the turning performance and stabilize the posture of the traveling body during turning.

According to a fourth aspect of the present invention, there is provided running surface state input means for inputting a soft surface state in which the running surface on which the running device runs is soft, and the running surface state input means provides the soft surface state. Only when the surface state is entered,
The turning posture control is executed. That is, when traveling on the ground, as the ground becomes softer, the traveling device on the turning center side is more likely to slip, so that the turning radius tends to increase. In a dry field where the ground is hard, the ground contact portion of the traveling device is relatively hard to slip, and the turning performance is not a problem, but in a wet field etc., as the ground becomes softer, the turning performance is significantly reduced. . Therefore, according to the characteristic configuration of the fourth aspect, the turning posture control is executed only when traveling on a running surface such as a wetland where the ground is soft and deterioration in turning performance is a problem. When traveling on a traveling surface where performance is not a problem, it is possible to prevent unnecessary execution of the turning posture control.

According to a fifth aspect of the present invention, there is provided a weight balance detecting means for detecting a lateral weight balance of the traveling body, the weight balance detecting means detecting a weight imbalance state, and turning. The turning posture control is executed only when the operation detecting means detects the turning operation in which the lighter side in the weight imbalance state is the turning center side. In other words, when the weight balance in the left-right direction of the traveling aircraft is balanced, or in a weight imbalance state where the center of gravity is offset toward the turning center,
Since the load applied to the traveling device on the turning center side is large, the vehicle can be turned with a small turning radius.On the other hand, in a weight imbalance state in which the center of gravity of the traveling body is offset to the opposite side from the turning center side, the As the degree of weight imbalance increases, the load applied to the traveling device on the turning center side decreases, so that the turning radius increases and the turning performance deteriorates significantly. Therefore, the turning posture control is performed only when turning in a weight unbalance state where the turning center side becomes lighter, in which turning performance deteriorates, so that the left and right weight balance of the traveling aircraft is balanced. In the case of turning in a weight unbalance state where the turning center side becomes heavier, it is possible to avoid unnecessary turning posture control when turning with a small turning radius without executing turning posture control. it can.

According to the sixth aspect of the present invention, as described above, the storage section for storing the object to be acquired acquired by the working device applies the load to a position deviated in the left-right direction with respect to the traveling machine body. In the work vehicle provided to apply the voltage, as the storage amount of the acquisition target stored in the storage unit increases,
The weight balance of the traveling body in the left-right direction becomes unbalanced. Therefore, the storage amount detection means provided for detecting the storage amount of the acquisition target stored in the storage unit is made to function as the weight balance detection means.

As the weight balance detecting means, for example, a plurality of load cells are provided in a distributed manner so as to support the traveling body, and based on the detection information of each load cell,
Although it is conceivable that the weight balance of the traveling machine body can be detected in the left-right direction, the configuration of the weight balance detection means is simpler than such a configuration. In addition, the storage amount detection information can be used for other purposes, for example, to notify an operator.

According to the characteristic configuration of the present invention, the turning posture control is executed only when the weight balance detecting means detects a weight imbalance state equal to or more than the set value. Therefore, depending on the degree of the weight imbalance, it is possible to turn with a small turning radius, and in a case where there is no problem in turning performance, it is possible to turn with a small turning radius without executing turning posture control. In addition, it is possible to avoid as much as possible a problem that the turning posture control is unnecessarily performed.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a combine as a working vehicle will be described below with reference to the drawings. As shown in FIG. 1 and FIG. 2, a combine is provided on a front side of a traveling machine body 2 provided with a crawler traveling device 1 as a pair of left and right traveling devices, as a pre-cutting processing device 3 as a working device for cutting grain culms. Is mounted so as to be able to swing up and down around the horizontal support shaft, and on the rear side of the pre-cutting device 3, the control unit 4 is located on the right side toward the front, and the grain cut by the pre-cutting device 3 is mounted. The threshing device 5 for threshing the culm and sorting the grains is located on the left side as viewed from the front, and
Glen tanks 6 as storage units for storing grains sorted and recovered by the threshing device 5 are located on the right side as viewed from the front and mounted on each. Further, an auger 7 for discharging the grains stored in the Glen tank 6 out of the machine is provided on the rear side of the Glen tank 6 so as to be pivotable and vertically movable.

That is, the Glen tank 6 is provided so as to apply a load to the traveling body 2 at a position deviated in the left-right direction. Since the weight balance of the traveling body 2 is balanced in the left-right direction in a state where the grains are not stored in the Glen tank 6, the weight balance of the traveling body 2 in the left-right direction is An unbalanced state in which the right side becomes heavier as the amount of stored particles increases. A storage level sensor 24 is provided in the Glen tank 6 as storage amount detection means for detecting that grains having a size of approximately half or more of the maximum storage amount have been stored. A weight balance detecting means B for detecting the weight balance of the body 2 in the left-right direction is configured.

A structure for mounting the pair of right and left crawler traveling devices 1 to the traveling body 2 will be described. As shown in FIGS. 3 and 4, a horizontal frame 10 is connected to a lower part of a main frame 9 in a front-rear posture constituting the traveling body 2, and the left and right track frames 11 are connected and fixed by the horizontal frame 10. A drive sprocket 12 and a tension sprocket 13 are supported at front and rear ends of the track frame 11, respectively. A movable frame 15 pivotally supporting a plurality of idler wheels 14 is mounted on the track frame 11 so as to be relatively vertically movable. A movable idler wheel 16 is supported on the track frame 11 at an intermediate position of the idler wheel group 14 so as to be vertically swingable.

The movable frame 15 has lower ends of front and rear bell cranks 17A and 17B pivotally supported on the track frame 11 in a vertically swingable manner, and the front and rear bell cranks 17A and 17B are connected by a connecting rod 18. A hydraulic rolling lift cylinder 19 for driving the crawler traveling device 1 to move up and down the grounding portion of the crawler traveling device 1 with respect to the traveling machine body 2 is connected to the upper end of the rear bell crank 17B. The right and left crawlers 1 are configured to be able to move up and down by the same amount in the direction with respect to the traveling machine body 2 respectively.
When the lower ends of the front and rear bell cranks 17 </ b> A and 17 </ b> B swing downward, the movable frame 15 moves forward with respect to the track frame 11. The weight balance of the traveling body 2 with respect to the pair of left and right crawler traveling devices 1 moves toward the rear of the vehicle body as the traveling body 2 moves from the approach side position to the separation side position. Here, a pair of left and right rolling elevating cylinders 19 constitutes tilting means for tilting the traveling machine body 2 left and right with respect to an imaginary plane connecting the ground contact portions of the pair of left and right crawler traveling devices 1.

As shown in FIG. 3, limit switches 20 and 22 are provided at both swinging end positions of the left and right rear bell cranks 17B, and the rear bell crank 17B and, consequently, the rolling elevating cylinder 19 reach the movable stroke end. Is detected. That is, the upper limit switch 20 is a switch that detects a state where the left and right crawler traveling devices 1 are located farthest from the traveling body 2, and the lower limit switch 22 is a switch that detects a state where the left and right crawler traveling devices 1 are closest. And

The power transmission system of the combine will be described. As shown in FIG. 5, the driving force of the engine E is transmitted to a continuously variable vehicle speed transmission 34 via a belt transmission,
The output after shifting of the vehicle speed transmission device 34 is transmitted to the transmission case 35, and the drive sprockets 12 of the left and right crawler traveling devices 1 are rotated via a pair of left and right steering clutches 38 provided in the transmission case 35. It is transmitted to make it happen. The output of the vehicle speed change device 34 after the speed change is transmitted to the mowing pre-processing device 3 via a one-way clutch 36 after passing through a transmission case 35. The crawler traveling device 1 is configured to be capable of switching between forward traveling and reverse traveling by a forward / reverse switching clutch (not shown) inside the transmission case 35, and a forward / reverse detection switch 33 for detecting the forward / reverse switching state of the switching clutch. Is installed. In addition, the driving force of the engine E is transmitted through a threshing clutch 37,
A threshing switch 32 that is transmitted to the threshing device 5 and detects the on / off state of the threshing clutch 37 is provided.

As shown in FIG. 6, each steering clutch 38
Are configured to be intermittently operated by hydraulic cylinders 39, respectively, and the hydraulic control of each hydraulic cylinder 39 is performed by a switching operation of the electromagnetic control valve 40. As shown in FIG. 1, a turning lever 8 is provided on the control unit 4 so as to be swingable in the left-right direction and urged to return to a neutral position, and as shown in FIG. A pair of left and right steering switches 41 are provided which are turned on in accordance with the rocking operation of either of the right and left directions. When any of the steering switches 41 is turned on, the control device 21 controls the electromagnetic control valve 40 so that the steering clutch 38 on the side corresponding to the turned on steering switch 41 is disengaged. Thus, the vehicle is configured to perform turning travel. Therefore, a pair of left and right steering switches 4
1, a turning operation detecting means for detecting the turning operation and the turning direction of the traveling body 2 is configured. That is, when the turning lever 8 is in the neutral state and both the left and right steering switches 41 are off, the straight running operation is performed. When the turning lever 8 is swung to the left and the left steering switch 41 is turned on, the left turning is performed. The turning operation is configured such that when the turning lever 8 is swung rightward and the right steering switch 41 is turned on, the right turning operation is detected.

As shown in FIG. 6, a control device 21 using a microcomputer is provided.
A gravity type inclination sensor 23 as an inclination angle detecting means for detecting an inclination angle of the traveling body 2 with respect to a horizontal reference plane, the respective limit switches 20 and 22, the forward / reverse detection switch 33, the left / right pair of steering switches 41, Detection information of the storage level sensor 24 and the threshing switch 32 is input.

As shown in FIG. 7, a tilt angle setting device 28 for setting a horizontal tilt angle with respect to a horizontal reference plane of the traveling body 2 on a control panel of a cockpit, and a horizontal switch for selecting ON / OFF of a horizontal control operation. An auto switch 26, an upper / lower limit mode changeover switch 25 for switching the operation mode of horizontal control between an upper limit reference mode and a lower limit reference mode, and a wetland switch which is turned on when the traveling surface on which the crawler traveling device 1 travels is in a wetland state. 27 is provided, and information of each switch is input to the control device 21. Here, the wetland switch 27 corresponds to running surface state input means for inputting that the running surface is in a soft surface state.

A horizontal manual switch 31 for manually performing a horizontal operation when the operation of the horizontal control is off is provided, and operation information from the horizontal manual switch 31 is input to the control device 21. . The manual operation information includes information on an upper right operation for raising the right of the traveling body 2, an upper left operation for raising the left, a lowering operation for lowering the traveling body 2 to the lowermost position, and an raising operation for raising the traveling body 2 to the uppermost position.

On the other hand, from the control device 21, a control valve 2 for operating the rolling lifting cylinder 19 is provided.
9 and a drive signal for an electromagnetic control valve 40 for intermittently operating the steering clutch 38.

The control device 21 maintains the left and right inclination angles of the traveling body 2 at a set inclination angle (set angle of the inclination setting device 28) based on the information of the gravity type inclination sensor 23. A lower limit reference mode in which the rolling elevator 19 is operated, and the rolling elevator 19 is operated so that the ground contact portions of the pair of left and right crawler traveling devices 1 approach the traveling body 2 side; The crawler traveling device 1 is configured to switch to the upper limit reference mode in which the rolling elevating cylinder 19 is operated so as to separate the ground contact portion from the traveling machine body 2.

That is, the control device 21 operates the rolling lift cylinder 19 in a direction to eliminate the difference (that is, the declination) between the information of the gravity type inclination sensor 23 and the set value of the inclination setting device 28, so that the traveling body is controlled. 2 is maintained at the set inclination angle, but in the upper limit reference mode, the contact portion of one crawler traveling device 1 is moved to the lowest position, and the contact portion of the other crawler traveling device 1 is moved to the lowest position. Activate the rolling lift cylinder 19 to move in the direction to eliminate the declination, and in the lower limit reference mode, move the ground contact portion of one crawler traveling device 1 to the highest position, and use the other crawler traveling device. The rolling elevator cylinder 19 is operated to move the ground contact portion 1 in a direction to eliminate the declination.

Therefore, for example, when the traveling body 2 is tilted rightward to set the declination to "0" in the upper limit reference mode, the left crawler traveling device 1 is first operated toward the upper limit position, and If the declination does not become “0” even after the limit switch 20 is actuated, the right crawler traveling device 1 is operated toward the lower limit position to adjust the left-right inclination angle to the set inclination angle. When the traveling body 2 is tilted to the left, an operation in which the left-right relationship is reversed from that in the above case is performed. Further, in the lower limit reference mode, an operation may be performed in which the upper and lower relations are reversed with respect to the case of the upper limit reference mode.

When the traveling surface is in the wetland state, that is, in the soft surface state, based on the input information of the wetland switch 27, the control device 21 switches to the lower limit reference mode in the forward traveling state, and In the reverse running state, the mode is switched to the upper limit reference mode.

Further, based on the input information of the wetland switch 27, the control device 21 determines whether or not the traveling surface is in the wetland state, that is, in the soft surface state, by using the forward / reverse detection switch 33.
, A left turn is detected by a pair of left and right steering switches 41, and more than half of the maximum storage amount of grains is stored in the Glen tank 6 by the storage level sensor 24. Is detected, the ground contact portion of the right crawler traveling device 1 is moved to the lower limit position,
The turning position control is executed by moving the ground contacting portion of the left crawler traveling device 1 to the upper limit position and inclining the traveling body 2 to the maximum in the inclining range in which the traveling body 2 can be inclined with respect to the virtual plane. It is configured as follows.

That is, if the storage amount of the Glen tank 6 is more than half of the maximum storage amount when the vehicle is traveling forward in the wet field and the vehicle turns left, the left and right sides of the traveling machine 2 become lighter in weight. Since the degree of balance becomes such that the turning radius becomes large and it is not possible to turn properly, at that time,
By executing the turning attitude control, the turning radius is reduced so that the turning can be performed appropriately.

Therefore, when the turning operation is detected by the pair of left and right steering switches 41 using the control device 21, the turning center side of the traveling body 2 is lower than the virtual plane. Control means 101 for executing a turning posture control for operating the pair of left and right rolling elevating cylinders 19 so as to incline so as to be inclined. Further, the control means 101 operates the pair of left and right rolling elevating cylinders 19 up to a maximum value in a tiltable range in which the traveling body 2 can be tilted with respect to the virtual plane. It is configured to execute attitude control. Further, the control means 101 is configured to execute the turning posture control when the soft surface state is input by the wetland switch 27. Further, the control means 101
When the storage level sensor 24 detects a weight imbalance state and the pair of left and right steering switches 41 detects a turning operation in which the lighter side in the weight imbalance state is the turning center side, It is configured to execute the turning posture control. Further, the control means 101 is configured to execute the turning posture control when the storage level sensor 24 detects a weight imbalance state equal to or greater than a set value.

Next, the elevation control of the crawler traveling device 1 will be described with reference to the flowcharts of FIGS. First, in the main flow (FIG. 8), the states of the horizontal auto switch 26 and the threshing switch 32 are checked, and when either of the switches is off, the horizontal manual switch 31
The user performs a manual posture changing operation based on the input information. on the other hand,
When both the switches are on, the state of the wetland switch 27 is further checked. When the wetland switch 27 is on, the horizontal control in the upper limit reference mode is performed in the reverse traveling state, and the straight traveling is performed in the forward traveling state. When the amount of storage in the Glen tank 6 is less than half of the maximum storage amount even in the right turn and in the left turn, the horizontal control in the lower limit reference mode is performed in the forward running state with the left turn and the Glen tank 6
When the stored amount is more than half of the maximum stored amount, the turning posture control is performed respectively. When the wetland switch 27 is off, horizontal control is performed in the upper reference mode or the lower reference mode selected by the upper / lower mode switch 25.

In the horizontal control (FIG. 9) in the upper limit reference mode, the input of the set angle by the tilt angle setting device 28 and the detection of the right and left tilt angle by the gravity type tilt sensor 23 are performed.
The difference between the set angle and the detection angle, that is, the declination (assuming that the declination can be made zero by tilting the traveling body 2 to the right for + and tilting the traveling body 2 to the left for-) calculate. Then, the magnitude of the argument and the signs (+), (−)
It is determined whether the traveling body 2 is inclined rightward or leftward, and the respective flows a, b, and f are executed.

The horizontal control in the lower limit reference mode (FIG. 1)
In 0), the input of the set angle by the tilt angle setting device 28, the detection of the right and left tilt angle by the gravity type tilt sensor 23, and the calculation of the declination are performed in the same manner as the horizontal control in the upper limit reference mode, and the magnitude of the declination is performed. The flow c, d, and e are executed by determining whether the traveling body 2 is inclined rightward or leftward based on the symbols (+) and (−).

In flow a (FIG. 12) in which the declination is (+) in the upper limit reference mode, the traveling body 2 must be tilted to the right. Therefore, if the left upper limit switch 20 is not turned on, the left rolling is performed. The lifting cylinder 19 is extended. Then, when the left upper limit switch 20 is turned on (that is, the left traveling device 1 is set at the position most lowered from the traveling machine body 2), the right traveling device 1 is moved up and down to the set angle. In this case, when the right upper limit switch 20 is on, and when both the right upper limit switch 20 and the right lower limit switch 22 are off, the right rolling elevator cylinder 19 is contracted. If the right lower limit switch 22 is turned on before the declination becomes zero by the operation of the right rolling elevator cylinder 19, the operation of the right rolling elevator cylinder 19 is stopped.

In the flow b (FIG. 13) in the case where the declination is (-) in the upper limit reference mode, it is necessary to incline the traveling body 2 to the left, and the flow a and the left and right are performed in reverse.

In the flow c (FIG. 14) in the case where the declination is (+) in the lower limit reference mode, it is necessary to incline the traveling body 2 to the right, so the lower right limit switch 22 is set to lower the vehicle height. If it is not turned on, the right rolling lift cylinder 19 is contracted. Then, if the lower right limit switch 22 is turned on (that is, the right traveling device 1
Is set to the position where it is most elevated with respect to the traveling machine body 2), and the left traveling device 1 is moved up and down to the set angle.
In this case, when the left lower limit switch 22 is on, and when both the left lower limit switch 22 and the left upper limit switch 20 are off, the lifting cylinder 19 for left rolling is contracted. If the left upper limit switch 20 is turned on before the deflection angle becomes zero by the operation of the left rolling lift cylinder 19, the operation of the left rolling lift cylinder 19 is stopped.

In the flow d (FIG. 15) in the case where the declination is (-) in the lower limit reference mode, it is necessary to incline the traveling body 2 to the left, and the flow c and the left and right operations are reversed.

In the flow f (right side in FIG. 16) in the case where the magnitude of the declination is zero (same as the set angle) in the upper limit reference mode, the right and left rolling elevating cylinders 19, 19 are extended to operate either the left or right. Upper limit switches 20, 2
When 0 is turned on, the operation of the left and right lifting cylinders 19, 19 is stopped, and the vehicle height of the traveling machine body 2 is set high. Also, the flow e when the magnitude of the declination is zero in the lower limit reference mode
In the case of (left side in FIG. 16), when the left and right lower limit switches 22 and 22 are turned on by contracting the left and right rolling lift cylinders 19 and 19, the operation of the left and right lift cylinders 19 and 19 is stopped. Then, the vehicle height of the traveling body 2 is set low.

In the turning posture control (FIG. 11), the traveling body 2
If the right upper limit switch 20 is not turned on, the right rolling is performed until the right upper limit switch 20 is turned on so that the right upper limit switch 20 is turned on. The lifting cylinder 19 is extended. If the right upper limit switch 20 is turned on and the left lower limit switch 22 is not turned on, the left rolling elevator cylinder 19 is contracted until the left lower limit switch 22 is turned on.

[Another Embodiment] Next, another embodiment will be described. (B) In the above embodiment, the horizontal auto switch 26 and the threshing switch 32 are both turned on, and during the execution of the horizontal control, the running surface is in a soft surface state, and
A configuration in which the turning posture control is executed in a forward running state, in a left turning running state, and in a state in which more than half of the maximum storage amount of grains is stored in the Glen tank 6. However, during the execution of the horizontal control, the state in which the turning posture control is executed can be variously changed. For example, it may be carried out regardless of the hardness of the running surface. Moreover, you may implement also in the case of a reverse running state. In addition, when executing the turning posture control, the storage amount of the grain in the Glen tank 6 is not limited to more than half of the maximum storage amount exemplified in the above embodiment, and the left and right directions of the traveling machine body 2 are not limited. Various changes can be made according to the weight imbalance state.

Further, regardless of the storage amount of the Glen tank 6,
When the weight balance of the traveling vehicle body 2 is configured to be balanced in the left-right direction, the turning posture control may be performed in both the left turning travel and the right turning travel.

(B) In the above embodiment, a case has been described in which the horizontal auto switch 26 and the threshing switch 32 are both turned on, and the turning posture control is executed while the horizontal control is being executed. In addition to this,
When the horizontal auto switch 26 or the threshing switch 32 is off and the horizontal manual switch 31 is performing a manual posture change operation, the pair of left and right steering switches 41
May be configured to execute the turning posture control when the turning operation is detected in.

(C) The control means 101 operates the pair of left and right rolling elevating cylinders 19 so that the gravity type inclination sensor 23 detects the left and right inclination angles where the turning center side of the traveling body 2 is lower. It may be configured to execute the turning posture control. In this case, for example, the information of the gravity type inclination sensor 23 and a set angle for turning stored and set in advance to a predetermined angle such that the turning center side of the traveling body 2 is lower than the horizontal reference plane. By operating the rolling elevating cylinder 19 in a direction that eliminates the difference (i.e., the turning control declination) from the above, it is possible to maintain the left and right inclination angles of the traveling body 2 at the turning set angle. In this case, for example,
Activate the rolling elevator cylinder 19 to move the ground contact portion of one crawler traveling device 1 to the highest position, and move the contact portion of the other crawler traveling device 1 in a direction to eliminate the turning control declination. You may be comprised so that it may be performed. A flowchart in this case is shown in FIG. That is, the input of the turning set angle and the detection of the right and left tilt angle by the gravity type tilt sensor 23 are performed, and the difference between the turning set angle and the detected angle, that is, the turning control declination (in the case of +, the traveling body 2 Is inclined to the right, and in the case of-, the traveling angle can be reduced to zero by inclining the traveling body 2 to the left.)
Is calculated. Then, the magnitude of the argument and the sign (+),
It is determined whether the traveling body 2 is inclined rightward or leftward by (−), and the respective flows c, d, and e are executed.

Alternatively, the rolling portion is moved so that the contact portion of one crawler traveling device 1 is moved to the lowest position, and the contact portion of the other crawler traveling device 1 is moved in a direction to eliminate the turning control declination. The lifting cylinder 19 may be configured to operate.

(D) The weight balance detecting means B is configured to be able to detect large and small pluralities of weight imbalance states, and the set angle for turning corresponds to each of the large and small plural kinds of weight imbalance states. The larger the state, the larger the setting. Then, the control means 101 controls the gravity type inclination sensor 23 based on the detection information of the weight balance detection means B and the detection information of the gravity type inclination sensor 23.
Operates the pair of left and right rolling elevating cylinders 19 so as to detect a set angle for turning corresponding to the weight imbalance state detected by the weight balance detecting means B, thereby executing the turning posture control. You may comprise. As a specific configuration of the weight balance detecting means B in this case, a plurality of storage level sensors may be provided at intervals in the vertical direction of the Glen tank 6 so as to detect a plurality of storage levels. Alternatively, a load cell or the like that detects the weight of the grains stored in the Glen tank 6 may be used.

In this case, regardless of the degree of weight imbalance of the traveling body 2 in the left-right direction, stable turning traveling with a small difference in turning radius is possible.

(E) In the above embodiment, the case where the weight balance detecting means B is configured to detect the weight balance by detecting the storage amount of the grains stored in the Glen tank 6 has been exemplified. However, the specific configuration of the weight balance detecting means B can be variously changed. For example,
Weight detection means for detecting the weight of the worker boarding the traveling body 2 and grain weight detection means for detecting the weight of the grains stored in the Glen tank 6 are provided. The balance may be detected. Alternatively, the traveling body 2 may be configured to be supported by a plurality of load cells distributed in the plane direction, and the weight balance may be detected based on detection information of the plurality of load cells.

(F) In another embodiment shown in FIG. 17, the set angle for turning is set and stored in advance. Instead, the set angle for turning is set arbitrarily. A set angle input means for turning which can be input may be provided.

(G) The specific configuration of the inclining means for tilting the traveling body 2 to the left and right with respect to a virtual plane connecting the grounding portions of the pair of right and left traveling devices 1 is not limited to the configuration exemplified in the above embodiment, but may be various. Configuration is possible. For example, the traveling body 2 is provided so as to be swingable around a swing axis along the front-rear direction, and the traveling body 2 is swingably driven around the swing axis as an inclination means. Can be constituted by an actuator configured to be held at the position.

(H) In the above embodiment, the pair of left and right traveling devices 1 are constituted by crawler traveling devices. However, the invention is not limited to this. For example, wheel-type traveling devices may be used.

(I) In the above embodiment, the work vehicle is configured as a combine, and the work device for ground work on the front side of the fuselage is configured as the pre-cutting device 3 for cutting the culm. However, the working vehicle and the working device are not limited to those described above, and as the working vehicle, for example, other agricultural working vehicles other than the combine, and construction machines such as bulltozers, and the working device, for example, , Equipment for leveling, etc.
Various types can be configured according to the purpose of the work vehicle.

(V) In the above embodiment, the running surface state input means is constituted by the wetland switch 27 for inputting the wetland state. However, the present invention is not limited to this. For example, the running surface is made of sand. For this reason, it may be input that the user is in a weak surface state.

[Brief description of the drawings]

FIG. 1 is a side view showing the overall configuration of a work vehicle.

FIG. 2 is a plan view showing the entire configuration of a work vehicle.

FIG. 3 is a side view showing the traveling device.

FIG. 4 is a longitudinal rear view showing the traveling device.

FIG. 5 is a power system diagram of a work vehicle.

FIG. 6 is a block diagram showing a control configuration.

FIG. 7 is a front view showing an operation panel.

FIG. 8 shows a flowchart of a control operation.

FIG. 9 shows a flowchart of a control operation.

FIG. 10 is a diagram showing a flowchart of a control operation.

FIG. 11 shows a flowchart of a control operation.

FIG. 12 is a diagram showing a flowchart of a control operation.

FIG. 13 is a diagram showing a flowchart of a control operation.

FIG. 14 is a diagram showing a flowchart of a control operation.

FIG. 15 is a diagram showing a flowchart of a control operation.

FIG. 16 is a diagram showing a flowchart of a control operation.

FIG. 17 is a flowchart illustrating a control operation according to another embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling device 2 Traveling body 3 Working device 6 Storage part 19 Inclination means 41 Turning operation detection means 101 Control means 23 Inclination angle detection means 24 Storage amount detection means 27 Running surface state input means B Weight balance detection means

Claims (7)

[Claims] A traveling device is provided with a pair of left and right traveling devices, and is configured to stop driving of one of the left and right traveling devices to execute a turning operation. A work vehicle provided with a tilting means for tilting the traveling body left and right with respect to an imaginary plane connecting the grounding portions of the pair of left and right traveling devices, wherein a turning operation detection for detecting a turning operation of the traveling body is provided. A turning posture for operating the tilting means so as to tilt the traveling body so that a turning center side is lower than the virtual plane when the turning motion detecting means detects the turning motion. A work vehicle provided with control means for performing control. 2. The turning attitude control is performed by operating the tilting means to a maximum value in a tiltable range in which the traveling body can be tilted with respect to the virtual plane. The work vehicle according to claim 1, wherein the work vehicle is configured as follows. 3. A tilt angle detecting means for detecting a right-left tilt angle of the traveling body with respect to a horizontal reference plane, wherein the control means includes: a left-right tilt wherein the turning center side of the traveling body is lower. The work vehicle according to claim 1, wherein the turning posture control is executed by operating the tilting means so as to detect an angle. 4. A traveling surface state input means for inputting a weak surface state in which a traveling surface on which the traveling device travels is weak is provided, and the control means inputs the soft surface state by the traveling surface state input means. The working vehicle according to any one of claims 1 to 3, wherein the turning posture control is performed when the turning is performed. 5. A weight balance detecting means for detecting a left-right weight balance of the traveling body, wherein the control means detects the weight imbalance state by the weight balance detecting means, and detects the turning operation. 5. The control device according to claim 1, wherein the control unit is configured to execute the turning posture control when the unit detects a turning operation in which the lighter side in the weight unbalance state is the turning center side.
The work vehicle according to any one of the preceding claims. 6. A working device for acquiring an object to be acquired as the vehicle travels, a storage unit for storing the acquired object acquired by the working device, and an acquisition object stored in the storage unit. Storage amount detection means for detecting the storage amount of the object is provided, the storage portion is provided to apply a load to the traveling body at a position deviated in the left-right direction, the weight balance detection means 6. The work vehicle according to claim 5, wherein said work vehicle is constituted by said storage amount detecting means. 7. The control device according to claim 5, wherein the control unit is configured to execute the turning posture control when the weight balance detecting unit detects a weight imbalance state equal to or greater than a set value. Working vehicle.