KR20010092677A - Attitude controlling device for working vehicle - Google Patents

Abstract

PURPOSE: Provided is a posture control device in a working vehicle which increases a posture change while reducing the movement operation of a main body against the ground part of a moving device and satisfactorily conducts rolling control and pitching control without complicating a control structure. CONSTITUTION: The posture control device in a working vehicle comprises four driving means which changes and adjusting the height against the ground part of the moving device at the left front part, left rear part, right front part, and right rear part of the main body(V). The left front and left rear driving means(C2, C3) or the right front and right rear driving means(C4, C5) are concurrently driven by the same quantity to conduct rolling control. The left front and right front driving means(C2, C4) or the left rear and right rear driving means(C3, C5) are concurrently driven by the same workload to conduct pitching control. One of the rolling control and the pitching control is conducted preferentially to the other, then the other control is conducted.

Description

Posture Control Device for Work Vehicles {ATTITUDE CONTROLLING DEVICE FOR WORKING VEHICLE}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an attitude control apparatus for a work vehicle having a traveling device having a ground portion and a gas body supported by the traveling device. Such a posture control device includes a posture change control mechanism which is free to change the left and right inclination angles and the front and rear inclination angles of the gas body with respect to the ground of the traveling device, a left and right inclination angle detection means for detecting the left and right inclination angles of the gas body, and A forward and backward inclination detection means for detecting a forward and backward inclination angle, a rolling control for controlling the posture change operation mechanism so that the left and right inclination angle of the body main body becomes a set left and right inclination angle based on the detection information of the left and right inclination angle detection means, and the front and rear inclination angle detection A rolling control for controlling the posture change operation mechanism such that the front and rear inclination angles of the body main body become the front and rear inclination angles based on the detection information of the means, and the front and rear inclination angles of the body body based on the detection information of the front and rear inclination angle detection means are set. Pitching to control the posture change control mechanism to be the angle of inclination Further included is a posture control means for executing control.

As the attitude control apparatus for the work vehicle of the above structure, there existed a thing conventionally shown by Unexamined-Japanese-Patent No. 3-61421, for example. In this configuration, the left and right pair of crawler-type traveling devices move up and down in parallel to the gas main body by expanding and contracting the rolling hydraulic cylinder, respectively, so that the left and right tilt angles of the gas main body with respect to the ground of the traveling device can be changed. do. In addition, the left and right traveling apparatuses swing up and down relative to the gas main body around the transverse axis center on all sides by integrally expanding and contracting the single hydraulic cylinder for pitching. The front and rear inclination angles can be changed.

More specifically, in each traveling device, a truck frame supporting a plurality of ground front wheels is pivotally connected freely up and down by a pair of front and rear bell cranks with respect to the support frame on the base side. The front and rear bell cranks are integrally swinged at the connecting portion and swinged in accordance with the expansion and contraction operation of the rolling hydraulic cylinder, so that the truck frame and the traveling device move up and down in parallel with the body. In this configuration, the left and right inclination angles are changed by, for example, moving one side of the left and right traveling apparatuses up and down with the other fixed to the body.

Moreover, each support frame on the base side with respect to the left and right traveling apparatuses is supported freely up and down around the transverse axial center of all sides with respect to the stationary part on the base side. Then, each support frame is vertically swinged up and down using a single pitching hydraulic cylinder, so that the rear side of the body main body swings up and down around the transverse center with respect to the ground of the traveling device so that the front and rear inclination angles are changed. .

In the above-described conventional configuration, when the left and right inclination angles are changed and operated, the left and right traveling apparatuses move up and down in particular with respect to the main body, so that the amount of change in the left and right inclination angles can be sufficiently increased while reducing the amount of each movement operation. For example, the left traveling device is lowered with respect to the main body, and the right running device is raised with respect to the main body (the main body is in the maximum left upward inclination posture), and the left running device is lower with respect to the main body. The left and right inclination angles can be largely changed between the state in which the right side traveling device is lowered with respect to the body body (the body body is in the maximum right upward inclination posture).

However, the above conventional configuration is disadvantageous in that the amount of change cannot be increased when the front and rear inclination angles of the body main body with respect to the ground part of the traveling device are changed. This is because each support frame for supporting the left and right traveling apparatus swings up and down around the transverse axial center of the entire side, thereby changing the front and rear inclination angles. Moreover, the said conventional structure is disadvantageous also in that when the change amount of the front-back inclination-angle is made large, the same amount of shanghai of each support frame must be made large, and therefore the drive mechanism for moving operation needs to be enlarged.

Further, in the above-described conventional configuration, in order to increase the inclination angle in the rear radial direction, it is necessary to increase the vertical distance between the swing point of each support frame and the base body. In this case, however, there are disadvantages in that the ground body height of the main body becomes high in the front and rear horizontal postures, the center of the gas increases, and the steering stability decreases.

The present invention has been made in view of this point, and the object of the present invention is not only to change the left and right inclination angles of the main body of the traveling device but also to change the front and rear inclination angles of the main body, Rolling control and pitching control without complicating the control configuration while making it possible to increase the posture change amount while reducing the movement operation amount of the gas body relative to the grounding portion of the traveling device. It is an object of the present invention to provide a posture control device for a work vehicle that can be improved.

1 is a side view showing the front of the combine;

2 is a side view showing the structure of a traveling device when the body is in the lower limit reference position;

FIG. 3 is a side view showing the lift operation structure of the traveling device when the body is moved from the posture of FIG.

Figure 4 is a side view showing the lifting operation configuration of the traveling device when the body is moved to the foreground position in the posture of Figure 2,

Fig. 5 is a side view showing the lift operation structure of the traveling device when the traveling body changes its posture in the posture of Fig. 2 in the spaced apart direction with respect to the ground portion;

6 is a block diagram showing the overall configuration of the posture control device;

7 is a front view of the switch unit of the posture change operation;

8 is a view showing a set value of the left and right tilt angles;

9 is a perspective view showing a plane holding posture change operation;

10 is a view for explaining a rolling operation state,

11 is a flowchart showing the overall attitude control;

12 is a flowchart showing manual posture control;

13 is a flowchart showing a right bevel process;

14 is a flowchart showing left inclination processing;

15 is a flowchart showing a foreground shooting process;

16 is a flowchart showing a post-tilt process;

17 is a flowchart showing a gas lift process;

18 is a flowchart showing a gas lowering process;

19 is a flowchart showing an automatic rolling control;

20 is a flowchart showing automatic pitching control;

21 is a flowchart showing stroke adjustment, and

22 is a diagram for explaining an operation range setting process.

"Description of Symbols for Major Parts of Drawings"

1R, 1L: Traveling device 18,19,20,21: MV detection means

23: left and right tilt angle detection means 24: front and rear tilt angle detection means

37a, 37b: Left and right inclination command means 38a, 38b: Up and down command means

40a, 40b: forward and backward inclination command means 100: posture change control mechanism

200: attitude control means C2, C3, C4, C5: drive mechanism

V: driving gas

In order to achieve the above object, the attitude control apparatus for a work vehicle according to the present invention is characterized by the configuration described in claim 1.

According to this characteristic configuration, when the rolling control is executed, the attitude control means drives the pair of drive mechanisms located at the front, rear, or right and back at the same time by the same amount, thereby adjusting the left and right tilt angles of the body to the ground of the traveling device. It is configured to change operation.

Accordingly, it is possible to sufficiently increase the amount of change in the left and right inclination angles while reducing the amount of movement operation of each drive mechanism. For example, a state in which the gas main body is in a maximum left inclination posture with respect to the ground part. Is controlled so as to be spaced apart from the most grounded portion, see FIG. 10B, and the body is in a maximum right tilt position with respect to the grounded portion (for a pair of drive mechanisms before and after the left side, the body is spaced apart from the most grounded portion). In addition, with respect to the pair of right and left drive mechanisms, the left and right inclination angles can be largely changed between the main body and the state in which the body is closest to the ground part (see Fig. 10A).

On the other hand, when the pitching control is executed, the posture control means drives the pair of drive mechanisms located at all left and right or rear left and right at the same time by the same amount, so as to change the front and rear inclination angles of the body body with respect to the ground of the traveling device. It is. Therefore, it is possible to sufficiently increase the amount of change in the front and rear inclination angles while reducing the amount of movement operation of each drive mechanism. For example, a state in which the main body of the gas main body is in a maximum all tilted position (regarding the front left and right pair of drive mechanisms, the main body of the rear left and right pairs and the rear of the rear left and right pairs of drive mechanisms, Controlled so as to be spaced apart from the ground part, see FIG. 4, and a state in which the body main body is in the maximum rear tilt position (for a pair of front left and right drive mechanisms, so that the body is most spaced apart from the ground part, With respect to the pair of drive mechanisms, the front and rear inclination angles can be largely changed between the main body and the state in which the main body is controlled to be closest to the ground part (see Fig. 3).

In addition, the posture control means is configured to execute one control prior to the other control and then execute the other control when the rolling control and the pitching control are commanded at the same time. Therefore, of the four drive mechanisms, only two drive mechanisms always operate at the same time, and the remaining two drive mechanisms are configured to stop operation. For example, in the case of a configuration in which three drive mechanisms or four drive mechanisms are simultaneously driven, the posture of the main body becomes unstable, and the operation speed of each drive mechanism changes due to the change in the load load on each drive mechanism. There is a fear that smooth movement operation cannot be performed by influencing each other on different drive mechanisms. Therefore, it is necessary to set it as the structure which can change and control the operation speed of each drive mechanism. On the other hand, if the structure of the present invention is the same as that of the present invention, the attitude of the gas main body is not unstable, and the cumbersome control configuration such as adjusting the inclined movement amount, that is, the operation amount by the two drive mechanisms, changing the operation speed, etc. Becomes unnecessary.

As a result, not only when changing the left and right inclination angles of the main body, but also when changing the front and rear inclination angles, the attitude change of the main body is increased even if the amount of movement of the main body to the ground of the traveling device is not increased. It becomes possible. Therefore, in order to increase the attitude change of the gas main body as in the conventional configuration, there is no disadvantage in that the ground height of the gas main body is high and the gas center is high. In addition, it is possible to provide a posture control device for a work vehicle, which makes it possible to perform rolling control and pitching control satisfactorily without complicating the control configuration.

Further, according to the feature structure according to claim 2, the attitude control means stops driving two of the four driving mechanisms, and the heights of the two driving mechanisms of each of the two driving mechanisms of the driving stops. While setting the reference plane including the position, the other two drive mechanisms are driven to drive the same operation amount from the reference plane. In this way, the attitude control means executes the plane holding posture changing operation while maintaining the plane forming at the height positions of the four drive mechanisms. In the case of the posture changing operation as described above, in addition to the above-described rolling operation or pitching operation, each of the two drive mechanisms located in the diagonal direction of the body can be driven and stopped, and the body position can also be changed in the inclined direction. have. In short, the tilt attitude changing operation which performs the rolling operation and the pitching operation at once can also be performed.

In short, the attitude control means is provided in four corners of the front, rear, left, and right sides of the main body to drive and stop any two of the four driving mechanisms of which the height from the ground of the traveling device can be adjusted. Two drive mechanisms are driven to change the inclination angle of the base body relative to the ground of the traveling device.

Thus, for example, first, any two drive mechanisms are driven to the maximum ascending position, the gas body is changed to the upper limit height, and then, the two drive mechanisms for driving operation are replaced, and the two drive mechanisms are replaced with the previous drive. By driving to the maximum descending position opposite to the two drive mechanisms, the main body can be changed to the lower limit height and the maximum inclined position can be taken to one side. On the contrary, one driving the two driving mechanisms driven to the maximum rising position to the maximum falling position, and driving the two driving mechanisms driving the maximum falling position to the maximum rising position, takes the maximum inclination attitude toward the other side. It is possible. In short, between the maximum inclination posture to the side and the maximum inclination posture to the other side, it is possible to greatly change the posture of the body. This makes it possible to sufficiently increase the amount of change in any of the left and right inclination angles and the front and rear inclination angles of the body main body, while reducing the amount of movement of each drive mechanism relative to the ground of the traveling device. If the driving directions of the two driving mechanisms to be driven first and the two driving mechanisms to be driven later are the same, the traveling gas can be moved from the initial posture. In this case, compared with the structure which drives four drive mechanisms simultaneously, the remaining of operation becomes large, but a control structure becomes simple as mentioned above.

Further, the attitude control means, when driving the other two drive mechanisms in the state in which the two drive mechanisms are driven and stopped, to change the inclination angle of the gas main body, the height of each of the four drive mechanisms relative to the ground of the traveling device. In position, the state forming the plane is maintained. Therefore, even if the load distribution applied to the gas main body is uneven, the gas main body is kept in a flat state without being twisted, and there is no fear that an excessive force acts on the gas main body.

Moreover, according to the characteristic structure of Claim 3, since a posture control apparatus gives priority to rolling control, at the time of a work, it becomes possible to perform a work, making a working apparatus follow the ground and follow. For example, if the work vehicle is provided with a harvesting unit or a ground work device for cutting a planted stem as a work device, the work device may contact the ground at a portion located below the inclined side when the aircraft is inclined left and right. It is difficult to produce problems such as poor work on the ground. However, such a problem is less likely to occur by performing rolling control first.

Further, according to the feature configuration of claim 4, when the rolling control or the pitching control is executed, all the strokes of the drive mechanism required for bringing the main body into the target posture (the posture with the set left and right tilt angles or the set tilt angles before and after the set) are a pair of drive mechanisms. It is obtained in advance about each of. The attitude control means compares the ratio of the actual operation stroke detected by the operation amount detection means with respect to the previous stroke between the pair of drive mechanisms, and performs drive control so that they are the same.

For example, if the drive mechanism is a hydraulic cylinder, this ratio W is the difference between the current cylinder position and the reference position. The operating range of each drive mechanism (that is, the entire stroke from the upper limit position to the lower limit position) (ST Percentage divided by This can be represented by the following formula.

Cylinder extension amount (W) = [(cylinder position-reference position) / ST] × 100

When driving a pair of drive mechanisms simultaneously, since the drive load which acts on each drive mechanism differs, the operation amount per unit time may differ slightly. If the driving operation is continued in such a state, there is a fear that the operation cannot be performed smoothly by checking the operation with each other. However, in the present invention, since the ratio is controlled to be the same, it is possible to perform smooth operation without employing a complicated control structure such as controlling the operation speed of the drive mechanism.

Thus, in order to make the said ratio the same between a pair of drive mechanisms, the characteristic structure of Claim 5 is preferable, for example. According to this structure, when driving a pair of said drive mechanisms simultaneously, the operation amount per unit time in each drive mechanism is calculated | required first. If the operation amount per unit time is larger in one drive mechanism, and the ratio is larger, it can be determined that the operation amount of the drive mechanism on the light load side is excessive. In this case, therefore, the driving of the driving mechanism is stopped until the ratio is smaller than that of the other driving mechanism.

In this way, the necessary control is only simple on / off control which simply repeats the driving state (on state) and the stop state (off state) with the same operation force. Therefore, it is not necessary to perform relatively troublesome control such as speed control so that the operation speed of the drive mechanism becomes the target value.

By the way, as mentioned above, in the structure which performs rolling control or pitching control using two drive mechanisms, when the operable range of each drive mechanism is not restrict | limited, it mutually affects pitching control and rolling control repeatedly. There is concern to be implemented. For example, the above control is executed, and the left and right inclination angles of the main body become the set left and right inclination angles, and the front and rear inclination angles of the main body become the inclination angles before and after the set, and then the left and right inclination angles of the main body change due to the left and right inclination of the ground. In one case, when the rolling control is executed again, this may affect the front and rear inclination angles, so that the inclination angle before and after setting may not be maintained.

Therefore, according to the feature configuration of claim 6, the left and right inclination angles of the main body become the set left and right inclination angles, and after the front and rear inclination angles of the main body become the inclination angle before and after the setting, the respective manipulated values are executed to perform rolling control while maintaining the inclination angle before and after the setting. On the basis of the detection information of the detection means, the operation range of the pair of drive mechanisms when the rolling control is executed is regulated. Therefore, good posture control can be performed while influencing each other and avoiding the separation point that the pitching control and the rolling control are repeatedly executed.

Other features and effects of the present invention will be understood by reading the following description with reference to the accompanying drawings.

(Embodiment of invention)

EMBODIMENT OF THE INVENTION Hereinafter, embodiment of this invention is described based on drawing. Hereinafter, the combine as an harvesting harvester is demonstrated as an example of a working vehicle as an example.

In the combine shown in FIG. 1, the threshing apparatus 3 which threshes the harvesting grain stem to one pair of crawler traveling apparatuses 1R, 1L (an example of a traveling apparatus), and threshed grain (grain) The traveling body V (an example of the body main body) provided with the grain tank 4, the boarding part 2, etc. which store the grain of this is supported. With respect to this traveling body V, the harvesting | removing part 10 which harvests planted grain stems, such as rice and barley, and supplies them to the threshing apparatus 3 is provided with the lifting control.

The harvesting section 10 cuts the abutment lower part 5 which pulls up the planted grain stem which was planted by the branch planter 6 installed in the tip part, the planted grain stem which was divided into the branch planter 6, and the abandoned bottom of the grain planted. It consists of a cutting blade 7 of a barbering machine type and a vertical conveying device 8 for conveying to the rear side while gradually changing the cutting blade to the side lying down laterally. Around the shim P1, it is freely swinging up and down by the hydraulic mowing cylinder C1.

An ultrasonic mowing height sensor 9 which detects the height of the mowing section 10 with respect to the ground is provided at the rear part of the dividing port 6. Although not described above, the cutting height sensor 9 is configured to be non-contact so as to detect the height of the cutting unit 10 with respect to the ground by measuring the time from transmitting the ultrasonic wave toward the downward side.

In this combine, a posture change control mechanism 100 is provided which is free to change the left and right tilt angles and the front and rear tilt angles of the traveling body with respect to the ground portions of the crawler traveling apparatuses on the left and right sides. The configuration will be described below.

First, the attachment structure to the traveling body V of the crawler traveling apparatuses 1R and 1L on either side is demonstrated. In addition, since the left and right crawler traveling apparatuses 1R and 1L have the same structure, the left crawler traveling apparatus 1L is demonstrated below, and the description of the right crawler traveling apparatus 1R is abbreviate | omitted.

As shown in FIG. 2, the drive sprocket 13 is freely supported on the front end side of the support frame 12 fixed to the main frame 11 of the front-rear posture constituting the traveling body V. The truck frame 16 which pivotally supports the plurality of dielectric wheel bodies 14 in a state of being placed side by side in the front-rear direction, and supports the tension wheel body 15 at the rear end thereof is movable up and down with respect to the support frame 12. It is installed. And the crawler belt B which is an endless rotating body is wound over the drive sprocket 13, the tension wheel body 15, and each dielectric wheel body 14. As shown in FIG.

On the front part side of the support frame 12, the front bell crank 17a which consists of substantially L shape from the side to be rotatable around the horizontal axis P2 is pivotally supported. On the rear side of the support frame 12, the bell crank 17b is pivotally supported in a substantially L-shape as viewed from the side so as to be rotatable around the horizontal axis P3. Then, the lower end of the front crank 17a is pivotally connected to the entire side of the truck frame 16, and the lower end of the rear crank 17b is connected to the truck through the stroke absorption auxiliary link 17b1. It is pivotally connected to the back part of the frame 16. As shown in FIG.

On the other hand, the cylinder rods of the hydraulic cylinders (an example of the drive mechanism) C2, C3 are interlockedly connected to both ends of the front and rear bell cranks 17a and 17b, respectively. The cylinder body side of each of the hydraulic cylinders (C2, C3) is pivotally connected to the side frame portion of the main frame (11), and each of the hydraulic cylinders (C2, C3) are each composed of a double-acting hydraulic cylinder have.

Then, the hydraulic cylinder C2 (hereinafter referred to as the left front cylinder) corresponding to the front bell crank 17a is most extended, and the hydraulic cylinder C3 corresponding to the rear bell crank 17b (hereinafter, the left rear cylinder) 2), the truck frame 16 is supported and supported by the support frame 12, and the truck frame 16 is in a state substantially parallel to the main frame 11, as shown in FIG. do. This state is called a lower limit posture.

When the left front cylinder C2 is short-actuated while the left rear cylinder C3 is kept intact from the state in the lower limit reference posture, as shown in FIG. The posture is changed in the direction away from (i.e., the front elevation operation).

When the left rear cylinder C3 is extended and operated while the left front cylinder C2 is kept intact from the state in the lower limit reference position, as shown in FIG. 4, the rear side of the traveling gas V is connected to the ground portion. The posture is changed in the direction away from the back (rear rising operation).

In addition, when the left front cylinder C2 is shortened and the left rear cylinder C3 is extended and operated from the state of the lower limit reference posture, as shown in FIG. The posture is changed (rising operation) in the direction away from the parallel children.

Similarly, in the crawler traveling apparatus 1R on the right side, as shown in Fig. 6, the right cylinder (an example of the driving mechanism) C4 located on the front side of the body and the right rear cylinder (located on the rear side of the body) One example of the drive mechanism) C5 is provided, respectively, and performs the same operation as that of the crawler traveling device 1L on the left side.

The front and rear inclination angles of the traveling body V are changed with respect to the ground portions of the right and left crawler traveling devices 1R and 1L by using the four gas posture changing cylinders C2, C3, C4 and C5. Pitching operation can be performed.

In other words, when the left front cylinder C2 and the right cylinder C4 are simultaneously short-actuated while the left rear cylinder C3 and the right rear cylinder C5 are kept intact from the lower limit reference posture shown in Fig. 2, the traveling gas V ), The whole side rises by approximately the same amount with respect to the ground portions of the left and right crawler traveling devices 1R and 1L, thereby changing the posture in the post-incline position. On the contrary, if the left rear cylinder C3 and the right rear cylinder C5 are extended and operated simultaneously while maintaining the left front cylinder C2 and the right cylinder C4 from the lower limit main posture, the rear part of the traveling body V The side rises by approximately the same amount with respect to each of the ground portions of the left and right crawler traveling apparatuses 1R and 1L to change the posture in the full inclined position. In this way, the pitching operation of inclining the traveling body V in the front-back direction with respect to the ground portion can be performed.

In addition, the four gas position changing cylinders C2, C3, C4 and C5 are used to change the left and right inclination angles of the traveling body V with respect to the ground portions of the right and left crawler traveling devices 1R and 1L. The rolling operation can be performed.

That is, from the lower limit reference posture shown in FIG. 2, in the crawler traveling device on the left side, when the left front cylinder C2 is shortened and the left rear cylinder C3 is extended and operated, as shown in FIG. 11A. In other words, the traveling body V changes in a left-up rising posture with respect to the ground portion. Conversely, in the crawler traveling device on the right side from the lower limit reference posture, when the right cylinder C4 is shortened and the right cylinder C5 is extended, the traveling gas V is brought into contact with each other as shown in Fig. 11B. It will change with the upward rise slope with respect to the branch. In this way, the rolling operation which inclines the traveling body V to the left-right direction with respect to a ground part can be performed.

Therefore, the posture changing operation mechanism 100 is constituted by these four gas posture changing cylinders C2 to C5.

In addition, as shown in FIG. 6, the positions corresponding to the pivot point portions of the bell cranks 17a and 17b in the left and right crawler traveling devices 1R and 1L are based on the rotational amount, respectively. Potentiometer-type stroke sensors 18, 19, 20, 21 for detecting the stroke amount (that is, the stroke amount that has been stretched) by C3, C4, C5 are installed. have.

In addition, the traveling body V includes a gravity-type left and right inclination angle sensor (one example of left and right inclination angle detecting means) 23 that detects the left and right inclination angle with respect to the horizontal reference plane of the traveling body V, and the horizontal reference plane of the traveling body V. A front and rear inclination angle sensor (an example of the front and rear inclination angle detecting means) 24 for gravitational angle detection is provided.

6, the control apparatus 22 using a microcomputer is provided. The detection information of each of the stroke sensors 18 to 21, the cutting height sensor 9, the left and right tilt angle sensor 23, and the front and rear tilt angle sensor 24 is input to the control device 22.

In addition, the operation panel of the boarding driver 2 is provided with a posture change switch unit SU (see Fig. 7), a front lift switch 40a and a rear lift switch 40b, and their information is supplied to the control device 22. Is entered. When the front lift switch 40a is turned on, the gas front lift operation (rear tilt operation) is commanded. When the rear lift switch 40b is turned on, the aircraft back lift operation (front tilt operation) is commanded. In other words, a manual operation front and rear inclination command means for generating a foreground slope command and a rear slope command of the traveling body V is constituted by the front rise switch 40a and the rear rise switch 40b.

The posture change switch unit SU includes a left and right inclination angle setter 25 for setting a left and right inclination angle with respect to the horizontal reference plane of the traveling body V, and a horizontal automatic switch 26 for turning on and off horizontal control (automatic rolling operation described later). A horizontal lamp 26a indicating an on state of horizontal control, an automatic switch 27 before and after turning on and off control (automatic pitching operation described later), a front and rear lamp 27a displaying an on state of front and rear control, and A rising reference switch 35 for converting the operation modes of the horizontal control and the front / rear control to the upper limit reference mode and the lower limit reference mode, and a rising reference lamp 35a indicating that the upper limit reference mode is provided. Moreover, the right rising switch 37a, the left rising switch 37b, the gas rising switch 38a, and the gas lowering switch 38b which operate with the cross lever type operation tool 36 are also provided. In addition, the posture control by manual operation mentioned later is performed in the lower limit reference mode.

When the operating tool 36 is knocked down to the left, the right ascending switch 37a is turned on to operate the right ascending operation (left tilt operation), and when the operating tool 36 is knocked to the right, the left upward switch 37b ) Is on and the left ascent operation (right tilt operation) is commanded. In short, the right ascending switch 37a and the left ascending switch 37b constitute a manual operation left and right inclination command means for generating a left inclination command and a right inclination command of the traveling gas V. As shown in FIG. In addition, when the operation tool 36 is knocked down to the rear side, the gas lift switch 38a is turned on to command the gas lift operation, and when the operation tool 36 is pushed to the front side, the gas lower switch 38b is turned on. On operation, the lowering operation is commanded. That is, the manual operation type up / down command means which issues the rising instruction | command and the descending instruction | command of the traveling body V with the gas rise switch 38a and the gas fall switch 38b is comprised.

The left and right inclination-angle setter 25 is equipped with the horizontal switch 25a, the left inclination switch 25b, and the right inclination switch 25c. When the horizontal switch is pressed, the inclination angle corresponding to the horizontal state is set as the left and right inclination angle, and when the left inclination switch 36b is pressed, the currently set left and right inclination angle is corrected in the left inclination direction by the set angle, and the right inclination switch 25c is When pressed, the currently set left and right tilt angles are corrected in the right tilt direction by the set angles. Then, it is displayed on a display device (not shown) provided on the front side of the boarding and driving unit 2, which is involved in the left and right inclination angles set by the left and right inclination angle setters 25. FIG. In the display device, as shown in Fig. 8, any one of steps 1 to 7 (step 4 of angle 0 indicates a horizontal state, positive angles indicate a right inclination direction, and negative angles indicate a left inclination direction, respectively) Is displayed. Further, the tilt angle 0 (horizontal state) is set in advance with respect to the front and rear tilt angles.

In addition, the operation panel of the boarding driver 2 has a volume-type cutting height setter 39 and a cutting unit 10 for setting the height of the cutting unit 10 with respect to the traveling body V, that is, the cutting height. In accordance with the operation of the mowing hoisting lever 28 for commanding the rising command and the descending command of), a rising switch SW1 for commanding the mowing section rise, a lowering switch SW2 for commanding the mowing load drop, and the like are provided. These pieces of information are also input to the control device 22.

On the other hand, from the control device 22, the solenoid valves 29, 30, 31, 32 for hydraulic control for hydraulically controlling the mowing cylinder C1 and the four hydraulic cylinders C2 to C5 for changing the gas attitude. The driving signals for 33 are respectively output.

Further, during the mowing operation, the control device 22 controls the mowing height to operate the mowing cylinder C1 such that the detection value of the mowing height sensor 9 is maintained at the set mowing height set by the mowing height setter 27. Run

Using the control device 22, the posture control means 200 for controlling the operation of the posture change control mechanism 100 is configured.

First, the attitude control means 200 first stops two of the four hydraulic cylinders C2 to C5, and the angles of the cylinders of the traveling devices 1R and 1L of the cylinders that have stopped the driving. Set the reference plane KH including the height position. Next, the attitude control means 200 drives the remaining two hydraulic cylinders so that each operation amount (stretching amount of stretch operation) from the reference plane KH is the same. As a result, the plane holding posture changing operation is performed while maintaining the plane formed at each height position with respect to the ground portions of the traveling devices 1R and 1L of the four hydraulic cylinders C2 to C5.

Hereinafter, with respect to the setting of the reference plane KH, the right-side cylinder C4 and the right-side cylinder (located on the right side of the body) are stopped while driving the left left cylinder C2 and the left-side cylinder C3 located on the left side of the body. A case of rolling operation for driving operation C5) will be described as an example.

As shown in FIG. 9, the plane shown by the oblique line is formed by each height position of the said four hydraulic cylinders C2-C5, and each height position of the left front part and the left rear part in that plane is respectively LF1 and LR1 are indicated. In addition, the height changing operation range (corresponding to the driving operation range of each hydraulic cylinder C2 to C5) at the left front, left rear, right front, and right rear by four hydraulic cylinders C2 to C5. The lower limit positions of are denoted by LF0, LR0, RF0, and RR0, respectively, and the upper limit positions are indicated by LF2, LR2, RF2, and RR2, respectively.

In this example, a straight line LF1-RFl is drawn from the height position LF1 of the left front toward the right front in parallel with the straight line connecting the lower limit position LF0 of the front left and the lower limit position RF0 of the right front. . Further, a straight line LR1-RR1 is drawn from the height position LR1 of the left rear part toward the right rear part in parallel with the straight line connecting the lower limit position LF0 of the front left part and the lower limit position RF0 of the right front part. The reference plane KH is set by the plane LF1-LR1-RR1-RF1 including these straight lines LF1-RF1 and straight lines LR1-RR1.

In the case of performing the plane holding posture changing operation, the attitude control means 200 performs an operation amount per unit time of the hydraulic cylinders C4 and C5 to be driven based on the detection information of each stroke sensor 18 to 21. Find the change. When the amount of operation in the hydraulic cylinder (high speed cylinder) of the larger hydraulic cylinder (high speed cylinder) is larger than the operation amount in the smaller hydraulic cylinder (low speed cylinder) of both hydraulic cylinders, The drive operation of the high speed cylinder is stopped until the operation amount is smaller than the operation amount in the low speed cylinder by the set value. When the operation amount of the high speed cylinder is smaller than the set value of the operation speed of the low speed cylinder, the operation operation of the high speed cylinder is restarted, so that the operation amount from the reference plane KH is the same between both hydraulic cylinders.

That is, when there is a difference in the speed of change of the operation amount (cylinder expansion amount) by the two hydraulic cylinders for driving operation, by driving the cylinder of the slower speed continuously, by turning on / off the driving of the faster cylinder The difference in the operation amount between the two hydraulic cylinders is set within the set value, and the operation amount from the reference plane KH is controlled to be the same.

At this time, first, as shown in Equation 1, the expansion and contraction amount W, which is the operation amount of the cylinder from the reference plane KH, is used to determine the difference between the current cylinder position and the reference position corresponding to the reference plane KH. It is defined as the ratio (percent) divided by the total stroke (ST) from the drive operation possible range, that is, the upper limit position to the lower limit position.

[Equation 1]

Cylinder expansion and contraction (W) = ((cylinder position-reference position) / ST) × (100)

In addition, the said set value is set to 3 percent of all the stroke ST. In short, the difference in the amount of expansion and contraction W between the two hydraulic cylinders to be driven is set to be within 3% of the total stroke ST that can drive the hydraulic cylinders at maximum. When the cylinder expansion and contraction amount W is positive, it indicates that the current cylinder position is located above the reference plane KH, and when negative, the current cylinder position is located below the reference plane KH. It is displayed.

When the rolling control is executed, the attitude control means 200 is a plane holding posture changing operation, and includes two hydraulic cylinders (left front cylinder C2 and left rear cylinder C3) located at the front left and rear left, or In the state in which one of the two hydraulic cylinders (the right cylinder C4 and the right rear cylinder C5) located at the front right side and the right rear side is driven and stopped, the other two hydraulic cylinders are driven.

In addition, the posture control means 200 is a plane holding posture change operation when performing pitching control, and includes two hydraulic cylinders (front left cylinder C2 and right front cylinder C4) located at the front left and the front right. Alternatively, one of the two hydraulic cylinders (left rear cylinder C3 and right rear cylinder C5) located at the rear left and rear right sides is driven and driven while the other two hydraulic cylinders are driven.

As a control form of the attitude control means 200, there exist a case by automatic control and the manual control performed based on a manual operation instruction.

In the case of automatic control, the posture control means 200 performs the automatic rolling operation of maintaining the left and right inclination angles of the traveling body V at the set left and right inclination angles as the rolling operation based on the detection information of the left and right inclination angle sensors 23. And an automatic pitching operation for holding the forward and backward inclination angle of the traveling body V at the inclination angle before and after the setting based on the detection information of the front and rear inclination angle sensor 24 as the pitching operation. In addition, when the execution of the automatic rolling operation and the automatic pitching operation are commanded at the same time, the posture control means 200 is configured to execute the automatic pitching operation after giving priority to the automatic rolling operation. Further, the execution of the automatic rolling operation is instructed when the horizontal automatic switch 26 is ON, and the execution of the automatic pitching operation is instructed when the front and rear automatic switch 27 is ON.

In the case of manual control, the attitude control means 200 rotates the left and right inclination angles of the traveling body V when the left tilt instruction (right lift instruction) is commanded by the right lift switch 37a as the manual rolling operation. Change to the company. On the other hand, when the right tilt command (left lift command) is commanded by the left lift switch 37b, the left and right tilt angles of the traveling body V are changed to the right slope side. In addition, when the attitude control means 200 is a manual pitching operation and the foreground tilt command (post-gas lift command) is commanded by the rear lift switch 40b, the tilt angle of the traveling body V is changed to the foreground slope. At the same time, when the rear tilt instruction (gas front rise instruction) is commanded by the front lift switch 40a, the front and rear tilt angles of the traveling body V are changed to the rear slope side. The posture control means 200 is further configured to perform parallel up and down operation, and when the rising command is commanded by the gas lift switch 38a, the four hydraulic cylinders C2 to C5 are driven to operate simultaneously. In addition to raising the height of the traveling gas V with respect to the ground portions of 1R and 1L, and simultaneously with the lowering command from the gas lowering switch 38b, the four hydraulic cylinders C2 to C5 are simultaneously driven. By operating, the height of the traveling gas V with respect to the ground portions of the traveling devices 1R and 1L is lowered. In addition, the manual rolling operation, the manual pitching operation, and the parallel up and down operation are executed in preference to the automatic rolling operation and the automatic pitching operation.

Next, the rolling operation and the pitching operation in the lower limit reference mode will be described.

That is, in the case of the rolling operation, in the state where the traveling body V is in the lower limit reference position (Fig. 2), the left front cylinder C2 is short-actuated in the crawler traveling device 1L on the left side, and further left and right. When the cylinder C3 is extended and operated, as shown in Fig. 10 (a), the traveling gas V changes to the left ascending tilt position (right tilt position) with respect to the ground portion. On the other hand, in the state where the traveling body V is in the lower limit reference position, the right cylinder C4 is shortened and the right cylinder C5 is extended in the crawler traveling device 1R on the right side. As shown in 10b, the traveling body V changes to the right ascendant attitude (left inclination posture) with respect to the ground portion. In this way, it is possible to carry out a rolling operation of inclining the traveling body V in the left and right directions with respect to the ground portions of the traveling devices 1R and 1L.

On the other hand, in the case of pitching operation, the left front cylinder C3 and the right rear cylinder C5 are respectively maintained as they are, while the traveling body V is in the lower limit reference position (FIG. 2). When both the C2 and the right cylinder C4 are shortened at the same time, all the sides of the traveling gas V rise with respect to the respective ground portions of the crawler traveling apparatuses 1R and 1L on the left and right to change the posture in the rear view posture. . On the other hand, while the traveling body V is in the lower limit reference position, the left rear cylinder C3 and the right rear cylinder C5 are held while maintaining the left front cylinder C2 and the right cylinder C4, respectively. At the same time, when the stretching operation is performed, the rear side of the traveling body V rises with respect to the ground portions of the crawler traveling apparatuses 1R and 1L on the left and right, and changes the posture in the foreground position. In this way, the pitching operation of tilting the traveling body V in the front-back direction with respect to the ground portions of the traveling devices 1R and 1L can be performed.

In addition, the description about the rolling operation and pitching operation in an upper limit reference mode is abbreviate | omitted, but the traveling body V is spaced most apart as it is in a parallel position with respect to the ground part in the crawler driving apparatus 1R, 1L on either side. From the posture state (refer to FIG. 5), the operation direction of each cylinder C2 to C5 is performed by operating in the direction opposite to the operation direction in the rolling operation and pitching operation in the said lower limit reference mode.

Next, the attitude control operation by the control device 22 will be described based on the flowcharts of FIGS. 11 to 21.

As shown in Fig. 11, first, the control device 22 judges whether or not a manual operation command (left and right inclination, front and rear slope, up and down) has been issued, and in the case of a manual operation command, a manual posture control process. Run

If the manual operation command is not given, the state of the horizontal automatic switch 26 and the front and rear automatic switches 27 is checked. When only the horizontal automatic switch 26 is turned on, only the automatic rolling operation is performed. If so, the automatic rolling operation is given priority first, followed by the automatic pitching operation.

In the manual posture control process (FIG. 12), the control device 22 executes a right tilt process when the left ascending command is commanded by the left upward switch 37b as the left and right tilt command, and the right upward switch 37a. If the right upward command is given, the left inclined process is executed. As the forward and backward inclination command, if backward ascension is instructed by the rear elevation switch 40b, the foreground inclination processing is executed, and when forward ascension is instructed by the forward elevation switch 40a, the rear inclination processing is executed. If the gas rising command is commanded by the gas rising switch 38a as the rising / lowering command, the gas rising processing is executed, and when the gas falling command is given by the gas falling switch 38b, the gas falling processing is executed.

In the right inclination process (Fig. 13), which of the right cylinder C4 and the right rear cylinder C5 is operated at the lower limit position based on the detection information of the respective stroke sensors 20 and 21 before and after the right side of the body. If it is judged whether or not both are operated at the lower limit position, the right cylinder C4 is extended and operated while the stroke adjustment processing described below is performed until either of the cylinders C4 and C5 reaches the lower limit position. At the same time, shorten the right cylinder C5. If any of the right front cylinder C4 and the right rear cylinder C5 is operated at the lower limit position, the following stroke adjustment processing is performed until either of the left front cylinder C2 and the left rear cylinder C3 reaches the upper limit position. The left front cylinder C2 is shortened and the left rear cylinder C3 is extended.

In the left inclination process (FIG. 14), which of the left front cylinder C2 and the left rear cylinder C3 is operated at the lower limit position based on the detection information of the respective stroke sensors 18 and 19 before and after the left side of the body. If it is judged whether all of them are operated at the lower limit position, the left-hand cylinder C2 is extended and operated while the stroke adjustment processing described below is performed until either of the cylinders C2 and C3 reaches the lower limit position. At the same time, shorten the left and right cylinders (C3). If either of the left front cylinder C2 and the left rear cylinder C3 is operated at the lower limit position, the stroke adjustment processing described below is executed while either the right front cylinder C4 and the right rear cylinder C5 reach the upper limit position. The right cylinder C4 is shortened and the right cylinder C5 is extended.

In the foreground shot processing (FIG. 15), which of the left front cylinder C2 and the right front cylinder C4 is operated at the lower limit position based on the detection information of the stroke sensors 18 and 20 on the left and right sides of the front side of the body. If it is judged whether or not both are operated at the lower limit position, the left-hand cylinder C2 and the right cylinder C4 are executed while the following stroke adjustment processing is performed until either of the cylinders C2 and C4 reaches the lower limit position. ) Stretch operation. If any of the left front cylinder C2 and the right front cylinder C4 is operated at the lower limit position, the stroke adjustment processing described below is executed while either the left rear cylinder C3 or the right rear cylinder C5 reaches the upper limit position. The left rear cylinder C3 and the right rear cylinder C5 are extended.

In the rear tilt process (FIG. 16), which of the left rear cylinder C3 and the right rear cylinder C5 is operated at the lower limit position on the basis of the detection information of the stroke sensors 19 and 21 on the left and right sides of the gas rear side. If it is judged whether all of them are operated at the lower limit position, the left and right cylinders C3 and the rear cylinder are executed while the following stroke adjustment processing is performed until either of the cylinders C3 and C5 reaches the lower limit position. Shorten (C5). When either of the left rear cylinder C3 and the right rear cylinder C5 is operated at the lower limit position, the stroke adjustment processing as described later is executed while either the left front cylinder C2 or the right cylinder C4 reaches the upper limit position. Then, the left front cylinder C2 and the right cylinder C4 are shortened.

In the gas ascending process (FIG. 17), it is judged whether or not the left cylinder C2 is operated at the upper limit position on the basis of the detection information of the stroke sensor 18 located at the front left position of the gas. If not, the left-hand cylinder C2 is shortened to the upper limit position.

Based on the detection information of the stroke sensor 19 located at the rear left of the body, it is determined whether the left rear cylinder C3 is operated at the upper limit position, and if it is not operated at the upper limit position, until the upper limit position is reached. Extend left and right cylinder (C3).

Based on the detection information of the stroke sensor 20 located in the gas superior part, it is determined whether the right cylinder C4 is operated at the upper limit position, and if it is not operated at the upper limit position, until the upper limit position is reached, Shorten the cylinder (C4).

Based on the detection information of the stroke sensor 21 located at the rear of the body, it is determined whether the rear cylinder C5 is operated at the upper limit position, and if it is not operated at the upper limit position, until it reaches the upper limit position, The cylinder C5 is extended and then operated.

In the gas lowering process (FIG. 18), it is judged whether or not the left front cylinder C2 is operated at the lower limit position on the basis of the detection information of the stroke sensor 18 located at the front left position of the gas. If not, the left front cylinder C2 is extended until it reaches the lower limit position.

On the basis of the detection information of the stroke sensor 19 located at the rear left of the body, it is determined whether the left rear cylinder C3 is operated at the lower limit position, and if it is not operated at the lower limit position, until it reaches the lower limit position, Shorten left and right cylinder (C3).

On the basis of the detection information of the stroke sensor 20 located in the gas engine compartment, it is determined whether the cylinder cylinder C4 is operated at the lower limit position, and if it is not operated at the lower limit position, Extend the cylinder C4.

On the basis of the detection information of the stroke sensor 21 located at the rear right side of the body, it is determined whether the right rear cylinder C5 is operated at the lower limit position, and if it is not operated at the lower limit position, until it reaches the lower limit position, Rightly shorten the cylinder (C5).

In the automatic rolling operation (FIG. 19), first, by the rising reference switch 35, it is judged which of the upper limit reference mode and the lower limit reference mode is switched, and in the upper limit reference mode, " automatic rolling operation by the upper limit reference " In the lower limit reference mode, the following processing ("automatic rolling operation by the lower limit reference") is executed.

In the " automatic rolling operation based on the lower limit standard ", the detected value of the left and right tilt angle sensors 23 and the set left and right tilt angles set by the left and right tilt angle setters 25 are compared. If the angular deviation is not in the dead zone and the traveling body V is inclined in the left direction, the right cylinder C4 is based on the detection information of the respective stroke sensors 20 and 21 located before and after the right side of the body. ) And the right cylinder C5 are judged whether they are operated at the lower limit position. If both cylinders C4 and C5 are not operated at the lower limit position, the right cylinder C4 is moved while executing the following stroke adjustment process until either of the cylinders C4 and C5 reaches the lower limit position. At the same time as extending operation, shorten the right cylinder (C5). When either of the right front cylinder C4 and the right rear cylinder C5 is operated to the lower limit position, the following stroke adjustment processing is executed until either the left front cylinder C2 or the left rear cylinder C3 reaches the upper limit position. The left front cylinder C2 is shortened and the left rear cylinder C3 is extended.

On the other hand, if the traveling body V is inclined in the right direction, either the left front cylinder C2 or the left rear cylinder C3 based on the detection information of the stroke sensors 18 and 19 positioned before and after the left side of the body. It is judged whether or not it is operated at the lower limit position. If both cylinders C2 and C3 are not operated at the lower limit position, the left-hand cylinder C2 is executed while the following stroke adjustment processing is performed until either of the cylinders C2 and C3 reaches the lower limit position. ) And extend the left and right cylinder (C3). If either of the left front cylinder C2 and the left rear cylinder C3 is operated to the lower limit position, the stroke adjustment processing described below is executed while either the right front cylinder C4 or the right rear cylinder C5 reaches the upper limit position. The right cylinder C4 is shortened and the right cylinder C5 is extended.

In this way, while the height of the traveling body V is made as low as possible, the automatic rolling operation is executed so that the left and right tilt angles of the traveling body V end within the dead zone of the set left and right tilt angles set by the left and right tilt angle setters 25. will be.

In addition, although the process of the "automatic rolling operation by an upper limit criterion" is not mentioned in detail, basically, in the process of the "automatic rolling operation by a lower limit criterion" mentioned above, it operates so that each cylinder may be located in a lower limit position. Instead, it is operated to be located at the upper limit position. In this way, the automatic rolling operation is performed such that the left and right tilt angle sensors of the travel gas V finish within the dead zone of the set left and right tilt angles set by the left and right tilt angle setters 25 while making the height of the traveling body V as high as possible. do.

In the automatic pitching operation (FIG. 20), first, the rising reference switch 35 determines which of the upper limit reference mode and the lower limit reference mode is converted, and in the upper limit reference mode, " automatic pitching operation by the upper limit reference " In the lower limit reference mode, the following processing ("automatic pitching operation by the lower limit reference") is executed.

In the " automatic pitching operation based on the lower limit standard ", the detected value of the front and rear tilt angle sensor 24 is compared with the front and rear tilt angles of the horizontal state. If the angular deviation is not within the dead zone and the traveling body V is inclined in the forward direction than the horizontal state, the left rear cylinder C3 is based on the detection information of the left and right stroke sensors 19 and 21 located at the rear of the body. ) And the right cylinder C5 are judged to be operated to the lower limit position. If both cylinders C3 and C5 are not operated at the lower limit position, the left and rear cylinders C3 are executed while the following stroke adjustment processing is performed until either of the cylinders C3 and C5 reaches the lower limit position. ) And short cylinder C5. If either of the left rear cylinder C3 and the right rear cylinder C5 is operated at the lower limit position, the stroke adjustment processing described below is executed until either the left front cylinder C2 or the right cylinder C4 reaches the upper limit position. The left front cylinder C2 and the right cylinder C4 are short-actuated.

If the traveling body V is inclined in the rearward direction than the horizontal state, either the left front cylinder C2 or the right front cylinder C4 based on the detection information of the left and right stroke sensors 18 and 20 located in the front of the body. It is judged whether or not it is operated at the lower limit position. If both cylinders C2 and C4 are not operated at the lower limit position, the left front cylinder C2 is executed while the stroke adjustment processing described below is performed until either of the cylinders C2 and C4 reaches the lower limit position. ) And extension cylinder C4. If either the left front cylinder C2 or the right front cylinder C4 is operated at the lower limit position, the stroke adjustment processing as described later is executed until either the left rear cylinder C3 or the right rear cylinder C5 reaches the upper limit position. While extending, the left rear cylinder C3 and the right rear cylinder C5 are extended.

In this way, while the height of the traveling body V is made as low as possible, the automatic pitching operation is performed so that the front and rear tilt angle of the traveling body V is included in the dead zone of the front and rear tilt angle corresponding to the horizontal state.

In addition, although the process of "automatic pitching operation by an upper limit criterion" is not mentioned in detail, basically, in the process of the "automatic pitching operation by a lower limit criterion" mentioned above, it is operated so that each cylinder may be located in a lower limit position. Instead, it is operated to be located at the upper limit position. In this way, while the height of the traveling body V is made as high as possible, the automatic pitching operation is performed so that the front and rear tilt angle of the traveling body V ends within the dead zone of the front and rear tilt angle corresponding to the horizontal state.

Next, with reference to FIG. 21, the stroke adjustment process performed at the time of driving operation of two cylinders is demonstrated.

Here, two cylinders for driving operation are set to C (A) and C (B). If one of both cylinders is not in operation stop, the amount of expansion and contraction (W1, W2) for each cylinder and the unit by each cylinder are based on the detection information of each stroke sensor 18 to 21 based on the detection information of each stroke sensor 18 to 21. The amount of expansion and contraction per hour, that is, the rate of change (V1, V2) of the amount of expansion and contraction of each cylinder is obtained. When one of both cylinders is in operation stop, only the amount of expansion and contraction W1 and W2 for each cylinder is obtained.

And when it is detected that the change speed V1 of one cylinder C (A) is larger than the change speed V2 of the other cylinder C (B), the cylinder C of the side with the small speed is small. While continuously operating (B)), the operation of the cylinder C (A) on the side with the higher speed is turned on and off. In short, the amount of expansion and contraction W1 of the cylinder C (A) on the higher speed side is compared with the amount of expansion and contraction W2 of the cylinder C (B) on the lower speed side, and the cylinder C (A) on the higher speed side is compared. Is greater than the expansion amount W2 of the cylinder C (B) on the small speed side, and the difference is greater than 3 percent of the total stroke, the cylinder C (A) on the large speed side If the operation of)) is stopped and the difference is smaller than 3%, the operation of the cylinder C (A) on the side with the higher speed is not stopped. On the other hand, the amount of expansion and contraction W1 of the cylinder C (A) on the higher speed side is smaller than the amount of expansion and contraction W2 of the cylinder C (B) on the lower speed side, and the difference is greater than 3 percent of the total stroke. When large, the operation | movement of the cylinder C (A) of the side with the high speed to stop is started.

In contrast, when it is detected that the change speed V1 of the expansion amount W1 of the cylinder C (A) is smaller than the change speed V2 of the expansion amount W2 of the cylinder C (B), The cylinder on the side with the lower speed is used as the cylinder C (A), and the cylinder C (B) on the side with the higher speed is turned on and off while continuously operating the cylinder C (A) on the side with the lower speed. To do the same thing.

Finally, with reference to FIG. 22, the operation range setting process is demonstrated based on a specific example.

For example, when the traveling body V inclines to the left and inclines backward, rolling control is performed by operating the left front cylinder C2 and the left rear cylinder C3, and then the left rear cylinder C3 and the right rear. As a result of performing pitching control by operating the cylinder C5, as shown in Fig. 22A, if the control is stopped in a different operation state for each cylinder, the right cylinder C4 maintains the lower limit position at this time. . In addition, in the figure, in order to make it easy to understand, it expresses with the lifting amount with respect to the ground part of the traveling body V by each cylinder.

Then, when the rolling control is executed, the following setting process is performed. For example, when operating the right cylinder C4 and the right cylinder C5 simultaneously, since the operable range of the right cylinder C5 is a range from a current value to an upper limit, it replaces a present value with a new lower limit. (See Fig. 22B). In accordance with the operation range, the right cylinder C4 also sets a value displaced by the same operation amount from the current value (lower limit value) as a new upper limit value (see Fig. 22C). Then, rolling control is executed within these new operation ranges.

[Other Embodiments]

Next, another embodiment is listed.

(1) In the above embodiment, the rolling control is executed prior to the pitching control, and then the pitching control is configured. However, the present invention is not limited to this configuration, and the rolling control is performed after the pitching control is executed in preference to the rolling control. It may be configured to execute.

(2) In the above embodiment, after the rolling control and the pitching control are respectively executed, the operation range of the pair of drive mechanisms at the time of executing the rolling control is regulated. However, the configuration may be omitted.

(3) In the above embodiment, when the operation amount per unit time by a pair of drive mechanisms is obtained, and the ratio of the operation stroke to all strokes in the drive mechanism whose value is larger than the other one becomes larger than the other one, The drive state is controlled by stopping the drive of the drive mechanism so that the ratio is the same in each of the pair of drive mechanisms. However, the configuration is not limited to such a configuration. The set amount may be adjusted alternately every unit time, or the stroke may be adjusted, and the operation amount may be adjusted while the on / off operation is appropriately performed, such as stopping the long side if a certain amount becomes longer than a predetermined amount.

(4) In the above embodiment, the traveling device is constituted by a pair of right and left crawler traveling devices 1R and 1L, which is not limited to this, and may be, for example, a single travel device and is not a crawler type. A wheeled traveling device may be used. Moreover, in the said embodiment, each of the harvesting | reaping part lifting means, the front side gas raising means, and the rear side gas raising means was comprised by the hydraulic cylinder, It is not limited to this, Others, such as an electric motor and a screw feed mechanism, You may comprise with a drive mechanism.

(5) Although the combine was illustrated as a working vehicle in the said embodiment, it is not limited to a combine, but other agricultural work vehicles, such as a mother transplanter and a tractor, may be sufficient, It is not limited to an agricultural work vehicle, For construction work vehicles and civil engineering It may be work car of.

According to the present invention, when the rolling control is executed, the attitude control means drives the pair of drive mechanisms positioned before and after the left and right sides at the same time by the same amount, thereby changing the left and right tilt angles of the body of the body to the ground of the traveling device. It is configured to operate.

Accordingly, it is possible to sufficiently increase the amount of change in the left and right inclination angles while reducing the amount of movement operation of each drive mechanism.

On the other hand, when the pitching control is executed, the posture control means drives the pair of drive mechanisms located at all left and right or rear left and right at the same time by the same amount, so as to change the front and rear inclination angles of the body body with respect to the ground of the traveling device. It is. Therefore, it is possible to sufficiently increase the amount of change in the front and rear inclination angles while reducing the amount of movement operation of each drive mechanism.

According to the present invention, the posture control means drives the other two drive mechanisms in a state in which the two drive mechanisms are driven to stop, thereby changing the inclination angle of the gas main body to the ground portion of the traveling device of the four drive mechanisms. At each height position with respect to the plane, the plane is formed, so even if the load distribution applied to the body is uneven, the main body remains in a flat state without being twisted, so that an excessive force acts on the body. There is no.

According to the present invention, since the posture control device preferentially executes the rolling control, it is possible to perform the work device while making the work device follow the ground as much as possible.

Further, according to the present invention, the posture control means compares the ratio of the actual operation stroke detected by the manipulated variable detection means with respect to the previous stroke between the pair of drive mechanisms, and performs drive control so that they are the same. Therefore, it is possible to perform smooth operation without adopting a complicated control structure such as controlling the operation speed of the drive mechanism.

According to the present invention, the left and right inclination angles of the gas main body become the set left and right inclination angles, and after the forward and backward inclination angles of the gas main body become the inclination angle before and after the setting, the detection of each manipulated variable detecting means to execute rolling control while maintaining the inclination angle before and after the setting. Since the operation range of a pair of drive mechanisms is regulated at the time of performing the said rolling control based on the information, it is favorable to avoid the separation point that a pitching control and a rolling control are performed repeatedly by affecting each other. Attitude control can be performed.

Claims (6)

An attitude control device for a work vehicle having a traveling device having a ground portion and a gas body supported by the traveling device, wherein the attitude control device changes the left and right inclination angles and the front and rear inclination angles of the body body V with respect to the ground portion. A posture change operation mechanism 100 operable; Left and right tilt detection means (23) for detecting the left and right tilt angles; Front and rear inclination angle detection means (24) for detecting the front and rear inclination angles; And On the basis of the detection information of the left and right inclination angle detecting means 23, by controlling the posture change control mechanism 100, rolling control for setting the left and right inclination angle to the set left and right inclination angle and the detection information of the front and rear inclination angle detecting means 24. A posture control means (200) for performing pitching control for setting the front and rear inclination angles to be the front and rear inclination angles by controlling the posture change manipulation mechanism (100) based on the above; In the attitude control apparatus of the work vehicle provided with, Four posture changing operation mechanisms 100 are located on the front left, left rear, right front and right rear of the main body V, and the four driving freely change the height from the ground of the main body V. Consisting of mechanisms C2, C3, C4, C5, The posture control means 200, The rolling control is executed by simultaneously driving the pair of drive mechanisms C2 and C3 located at the front left and the rear left or the pair of drive mechanisms C4 and C5 located at the right front and the right rear at the same time, respectively. The pitching control is executed by simultaneously driving the pair of drive mechanisms C2 and C4 located at the front left and the right front side or the pair of drive mechanisms C3 and C5 located at the left rear and right rear at the same time. , And when the rolling control and the pitching control are commanded at the same time, one control is executed in preference to the other control, and then the other control is executed. 2. The posture control means (200) according to claim 1, wherein the posture control means (200) includes a pair of drive mechanisms (C2, C5) located at the front left and the right front, or a pair of the drive mechanisms (C3, C4) located at the left rear and right front By operating the same amount by the same amount at the same time, the rolling control and the pitching control can be executed at the same time, When the posture control means 200 executes the rolling control, the pitching control, or both of them, the posture control means 200 stops driving two of the four drive mechanisms C2, C3, C4, and C5. And setting the reference planes KH including the respective height positions with respect to the ground portion of each of the drive stops driven, and driving the remaining pair of drive mechanisms by the same amount from the reference planes, thereby driving the four drives. And a plane holding posture changing operation for changing the posture of the gas main body (V) while maintaining a state in which a mechanism forms a plane at each height position. The method according to claim 1, wherein when the rolling control and the pitching control are commanded at the same time, And the attitude control means (200) is configured to execute the pitching control after the rolling control is executed in preference to the pitching control. 4. The manipulated variable detection means (18, 19, 20, 21) according to any one of claims 1 to 3, for detecting an operation stroke of each of said drive mechanisms (C2, C3, C4, C5), When the posture control means 200 executes the rolling control or the pitching control or both based on the detection information of the respective manipulated variable detecting means, the posture control means 200 must operate between the pair of drive mechanisms. And the attitude control means of the work vehicle, characterized in that the ratio of the operation stroke based on the detection information to the previous stroke is equal. 5. The method according to claim 4, wherein in order to equalize the ratio between the pair of drive mechanisms, the attitude control means 200 obtains an operation amount per unit time by each drive mechanism, and the operation amount and the ratio at one drive mechanism. And a larger than that of the other drive mechanism, wherein the one drive mechanism is driven to stop until the ratio is smaller than that of the other drive mechanism. The rolling control and the pitching control are respectively performed so that the left and right inclination angles of the gas body V become the set left and right inclination angles, and the front and rear inclination angles of the gas body become the inclination angles before and after the setting. When the rolling control is executed while maintaining the set tilt angle before and after the setting, the posture control means 200 performs the rolling control based on the detection information of the respective manipulated variable detecting means 18, 19, 20, 21. And a controllable range of the pair of drive mechanisms (C2, C3) or (C4, C5) at the time of execution.