However, in the above-described conventional combine, a garage manipulator for changing the garage of the traveling vehicle by operating both of the garage-height adjusting hydraulic cylinders, and a tilting manipulator for manipulating the hydraulic cylinders to change the tilting attitude of the traveling vehicle, (For example, a steering lever, a steering wheel, etc.) disposed in front of a driver's seat in the vehicle. Therefore, the operator sitting on the driver's seat needs to manually release the parking lot or the tilt operation port by releasing his / her hand from the steering operation port or extending his / her hand greatly, and there is a problem in handling that these operators are cumbersome there was.
Further, in the above-mentioned prior art, when the traveling gas is moved up and down by the expansion and contraction operation of both the height control hydraulic cylinders, or when the traveling gas is inclined forward and backward by the expanding and contracting operation of both front and rear hydraulic cylinders, The load applied to the left and right garage-height adjusting hydraulic cylinders or the right and left garage-adjusting hydraulic cylinders is large in the left and right sides, and the hydraulic cylinder having the larger load is hardly elongated and shortened. For this reason, there is a problem that it is difficult to keep the left and right tilting angles of the traveling vehicle constant during the lifting operation of the traveling vehicle or the back and forth tilting operation due to the speed difference occurring in the stretching and driving of the left and right garage height adjusting hydraulic cylinders or the right and left rear- there was.
Further, in the above-mentioned prior art, in order to maintain the horizontal posture with respect to the ground surface of the running vehicle, during the execution of the inclination control for changing the inclined posture in the front, rear, left and right directions, inclination of the wrapping surface, There are cases where the posture changes sharply or the inclination angle detecting sensor is excessively detected. If the inclination control is continued in such a state, there is a problem that the running vehicle excessively changes posture (hunting operation) in the longitudinal direction or the lateral direction, and the ride feeling of the running vehicle is deteriorated.
The present invention has been made in view of the above circumstances and provides a traveling vehicle which is improved.
The invention according to claim 1 is characterized in that the vehicle includes a running vehicle supported by left and right running parts, a rolling actuator for changing the tilted posture in the lateral direction of the running vehicle, and a pitching actuator for changing the tilt posture in the forward and backward directions of the running vehicle As a vehicle, there is provided a garage operating member for changing a garage of the traveling vehicle on either one of a steering operation opening disposed in front of a driving seat on the traveling vehicle and a steering column for supporting the steering opening, And a tilt operation port for changing the tilt posture of the traveling vehicle is provided.
According to a second aspect of the present invention, in the traveling vehicle according to the first aspect of the invention, the garage operating member is provided so as to be operable in two directions on a cover portion of the steering circular handle as the steering operating member, The operator is provided so as to be operable in the cross direction so that the garage operating member and the tilting operation member are located on the opposite sides when viewed from the operator seated in the driver's seat.
According to a third aspect of the present invention, in the traveling vehicle according to the first or second aspect of the invention, the elevating operation of the traveling vehicle by the garage elevating mechanism is prioritized over the tilting operation of the traveling vehicle by the slanting manipulating opening.
According to a fourth aspect of the present invention, in the traveling vehicle according to the second aspect, the traveling vehicle is inclined to the left by the upward operation of the inclined operating lever, the traveling vehicle is inclined to the right by the downward operation, The traveling body is tilted forward by the operation and the traveling body is tilted backward by the rearward operation.
According to a fifth aspect of the invention, there is provided a traveling vehicle according to the first aspect, further comprising a controller for controlling the driving of each of the actuators, wherein the controller is provided with a pair of postures And the controller determines whether or not the attitude change of the traveling vehicle by each of the actuators is based on the both attitude data.
According to a sixth aspect of the present invention, in the traveling vehicle according to the fifth aspect of the present invention, the attitude data defines a normal range, which is a range of attitudes that can be adopted usually, and a limiting range that is a forward / backward inclination range, And the controller determines whether or not the posture of the traveling vehicle can be changed by combining the limited range of the both posture data.
According to a seventh aspect of the present invention, in the traveling vehicle according to the sixth aspect of the present invention, in the vehicle body of the steering circular handle serving as the steering operating handle disposed on the front of the driving seat on the traveling vehicle, And a tilting operation port for changing the tilt posture of the traveling gas is provided on a steering column for supporting the steering circular handle, When it is prohibited to change the posture of the traveling vehicle in the direction indicated by the arrow.
According to an eighth aspect of the present invention, in the traveling vehicle according to the first aspect, each of the rolling actuator and the pitching actuator is provided with a pair of left and right height sensors for detecting the left and right heights of the traveling vehicle, The vehicle according to claim 1, further comprising a left and right pitching sensor for detecting an angle of back and forth tilting in each of left and right directions. When the absolute value of the difference between the difference between the left and right height sensor values exceeds a predetermined first rising reference value, the rolling actuator on the side which has first moved in the moving direction is stopped and the driving of the other rolling actuator is continued .
According to a ninth aspect of the present invention, in the traveling vehicle according to the eighth aspect, when the absolute value of the difference exceeds the second lift reference value smaller than the first lift reference value after the one rolling actuator is stopped, the one rolling actuator And to restart it.
According to a tenth aspect of the present invention, in the traveling vehicle according to the eighth or ninth aspect, when the height sensor value corresponding to the other rolling actuator reaches the limit value after the one rolling actuator is stopped, the one rolling actuator And to restart it.
According to an eleventh aspect of the present invention, in the traveling vehicle according to the eighth aspect, when the forward and backward inclination angles of the traveling vehicle are changed by manual operation, the difference between the current pitching sensor values and the difference between the left and right pitching sensor values When the absolute value of the difference between the differences of the pitching sensor values exceeds a preset first inclination reference value, the pitching actuator on the side which has first traveled in the moving direction is stopped and the driving of the other pitching actuator is continued It is.
According to a twelfth aspect of the present invention, in the traveling vehicle according to the eleventh aspect, when the absolute value of the difference exceeds the second inclination reference value, which is smaller than the first inclination reference value after the one of the pitching actuators is stopped, And to restart it.
According to a thirteenth aspect of the present invention, in the traveling vehicle according to the eleventh or twelfth aspect, when the pitching sensor value corresponding to the other pitching actuator reaches the limit value after the one pitching actuator is stopped, the one pitching actuator And to restart it.
According to a fourteenth aspect of the invention, there is provided a traveling vehicle according to the first aspect, wherein each of the rolling actuator and the pitching actuator is provided with a pair of left and right inclination sensors for detecting a tilting angle of the traveling vehicle in the left- The control device according to claim 1, further comprising a longitudinal tilt sensor for detecting an inclination angle in the longitudinal direction, wherein during the execution of the tilt control for changing the tilt angle of the tilt of the running vehicle, the difference between the current tilt sensor value and the tilt sensor value When the absolute value of the left-right inclination control value exceeds a predetermined right-left inclination threshold value.
According to a fifteenth aspect of the present invention, in the traveling vehicle according to the fourteenth aspect, when the absolute value of the difference once exceeds the right-left inclination threshold value and the absolute value of the difference is less than the right- The control unit returns to the execution state of the left-right tilt control.
According to a 16th aspect of the present invention, in the traveling vehicle according to the 14th or 15th aspect of the present invention, during execution of the forward / backward inclination control for changing the forward / backward inclination posture of the traveling vehicle, the absolute value of the difference between the current forward / And when the value exceeds a preset forward / backward slope threshold value, the forward / backward slope control is prohibited.
According to a seventeenth aspect of the present invention, in the traveling vehicle according to the sixteenth aspect of the present invention, when the absolute value of the difference exceeds the forward / backward inclination threshold once and then the absolute value of the difference is less than the back / The tilt control is returned to the execution state of the forward / backward tilt control.
According to the invention of claim 18, in the working vehicle described in claim 14, the left-right tilt control is prohibited when the traveling vehicle is turned backward.
[Effects of the Invention]
According to the present invention, there is provided a traveling vehicle comprising: a traveling vehicle supported by left and right traveling parts; a rolling actuator for changing a tilted posture in the traveling direction of the traveling vehicle; and a pitching actuator for changing a tilted posture in the traveling vehicle longitudinal direction There is provided a garage operating means for changing a garage of the traveling vehicle to either one of a steering operating member disposed in front of a driving seat on the traveling vehicle and a steering column supporting the steering operating member, The tilt operation port for changing the tilt posture of the traveling vehicle is provided on the side of the slant operation port, so that the garage operation port can be operated with one hand and the tilt operation port can be operated with the other hand. That is, since the garage manipulation tool and the inclination manipulation tool can be operated by using both hands (dividedly), the operability when manually changing the attitude of the traveling vehicle is improved.
Particularly when the invention of Claim 3 is employed, since the elevating movement of the traveling vehicle by the garage elevator causes the inclination of the traveling vehicle by the inclination operating means to be prioritized, the elevating and lowering operation of the rolling actuator is performed first , The slope operation of the rolling actuator or the pitching actuator is performed after the garage of the traveling vehicle is maintained at a predetermined height. For example, in the combine, it is possible to prevent the front portion of the cutting device from being inserted into the soil such as a package or a ridge. In addition, since the sudden increase / decrease of the operating oil to / from the rolling actuator and the sudden increase / decrease of the operating oil to the pitching actuator are performed separately, it is possible to secure the responsiveness of the four actuators while simplifying the hydraulic system, The posture control function can be improved. The operating speed of each of the actuators and the like are unlikely to affect each other. In addition, the working pump for each of the actuators is not made large, so that it can be configured at low cost.
In addition, when the invention of claim 4 is employed, the traveling vehicle is inclined to the left by the upward operation of the inclined operating member, the traveling vehicle is inclined to the right by the downward operation, Since the gas is inclined forward and the traveling body is inclined rearwardly by rearward operation, the relationship between the operating direction of the inclined operating member and the inclined operating direction of the traveling gas coincides with each other when viewed from the operator. Therefore, the inclined posture of the running vehicle can be changed smoothly without any discomfort by the manual operation of the inclined operating member.
According to a fifth aspect of the present invention, there is further provided a controller for controlling the driving of each of the actuators, wherein the controller stores a pair of attitude data related to the attitude of each of the traveling parts in the traveling vehicle, The controller determines whether or not the posture of the traveling vehicle can be changed by each of the actuators based on the both posture data, so that it is possible to limit the movable range of each actuator based on the both posture data. Therefore, it is not necessary to operate each of the actuators up to the limit of movement to cause a twist in the running vehicle, or to make the running vehicle extreme, thereby achieving stable attitude control in the running vehicle.
According to the sixth aspect of the present invention, the normal posture range, which is a range of attitude that can be adopted usually, and the limit range that is the forward / backward inclination range at the upper or lower limit of the height are prescribed for each attitude data, The determination of whether or not to change the posture of the traveling vehicle is determined by the combination of the limits, so that the range of movement of each of the actuators, that is, the attitude change of the traveling vehicle, is limited on the basis of the combination of the limiting ranges of the both posture data . Therefore, it is possible to easily and surely prevent the tilting of the running vehicle while securing the responsiveness of each of the actuators, so that the attitude changing operation of the running vehicle can be performed in the maximum stable state.
According to a seventh aspect of the present invention, there is provided a garage lifting mechanism for changing a garage of the traveling vehicle on a part of a steering circular handle as a steering operating handle disposed in front of a driving seat on the traveling vehicle, Wherein a tilting operation port for changing the tilting posture of the traveling vehicle is provided in a steering column for supporting the handle, and the controller controls the tilting posture of the traveling gas in the direction corresponding to the manual operation It is notified when prohibiting the posture change. Therefore, it is possible to positively inform the operator of an operation deviating from a posture range in which the responsiveness of each actuator can be ensured. As a result, it is possible to smoothly drive the actuators within the attitude range in which the responsiveness of each of the actuators can be ensured, so that the attitude changing operation of the traveling vehicle by the manual operation of the height- . ≪ / RTI >
According to an eighth aspect of the present invention, there is provided a control apparatus for a vehicle, comprising: a pair of the rolling actuator and the pitching actuator each having a pair of left and right height sensors for detecting the left and right heights of the running vehicle; And a left / right pitching sensor for detecting an angle. In a case where a garage of the traveling vehicle is raised / lowered manually by a manual operation, a difference between the current left and right height sensor values and a difference between the left and right height sensor values When the absolute value of the difference between the absolute value of the difference of the difference between the absolute value of the difference between the absolute value of the difference between the absolute value of the difference When the garage car is significantly different from the garage at the time of starting the car, And the rolling actuator on the side advancing in the direction of incidence is once stopped. Therefore, the effect of being able to raise and lower the garage of the traveling vehicle in a state in which the left and right tilting angles of the traveling vehicle are kept as constant as possible regardless of the magnitude of the load applied to the pair of rolling actuators.
According to the ninth aspect of the present invention, when the absolute value of the difference exceeds the second lift reference value smaller than the first lift reference value after stopping the one rolling actuator, the one rolling actuator is driven again, The right and left tilting angles of the traveling vehicle can be maintained as constant as possible while the influence of the load applied to both rolling actuators can be absorbed smoothly while the garage of the traveling vehicle can be lifted and lowered to stabilize the traveling of the traveling vehicle Effect is obtained.
According to the tenth aspect of the present invention, since the one rolling actuator is restarted when the height sensor value corresponding to the other rolling actuator reaches the limit value after stopping the one rolling actuator, It is possible to drive the both rolling actuators even in an exceptional situation in which the upper limit of the left or right garage reaches the lower limit or the lower limit of the garage without exceeding the lift reference value, thereby achieving the effect of realizing the car lift control .
According to the invention of claim 11, when the forward and backward inclination angles of the running vehicle are changed by manual operation, the difference between the difference between the current left and right pitching sensor values and the difference between the left and right pitching sensor values at the start of the forward and backward inclination When the absolute value exceeds the predetermined first inclination reference value, the pitching actuator on the side which has first proceeded in the moving direction is stopped and the driving of the other pitching actuator is continued. Therefore, When the inclination angle difference is significantly different from the front-rear inclination angle difference at the start of the back-and-forth tilting, the pitching actuator on the side that has first traveled in the moving direction is once stopped. Therefore, the effect of being able to change the angle of inclination of the running vehicle in the forward and backward directions while keeping the right and left tilting angles of the running vehicle as constant as possible, irrespective of the magnitude of the load applied to the pair of pitching actuators.
According to the invention of claim 12, after the one pitching actuator is stopped, if the absolute value of the difference exceeds a second slope reference value smaller than the first slope reference value, the one pitching actuator is driven again, The inclination angles of the running vehicle can be changed and the inclination angles of the running vehicle can be changed while keeping the right and left inclination angles of the running vehicle as constant as possible while absorbing the influences of the load applied to both pitching actuators smoothly, The effect of stabilization is obtained.
According to the invention of claim 13, after the one pitching actuator is stopped, when the pitching sensor value corresponding to the other pitching actuator reaches the limit value, the one pitching actuator is driven again, It is possible to drive the both pitching actuators even in an exceptional situation in which the forward slope limit or the backward slope limit is reached without exceeding the slope reference value, thereby realizing the front / rear slope control that reliably and smoothly copes .
According to the invention of claim 14 or 16, during the execution of the automatic tilt control for changing the tilt posture of the running vehicle, the absolute value of the difference between the current tilt sensor value and the immediately preceding tilt sensor value is set to a preset tilt threshold value The inclination posture of the traveling vehicle is suddenly changed due to, for example, inclination of the packaging surface or vibration of the traveling vehicle while the vehicle is traveling, or when the inclination sensor is excessively detected Even if a change state occurs, the inclination control can be inhibited in conjunction with the occurrence of the rapid change state. As a result, it is possible to prevent the traveling vehicle from excessively changing its attitude (hunting operation) in the front-rear direction, thereby improving the ride comfort of the traveling vehicle.
According to the invention of claim 15 or claim 17, if a state in which the absolute value of the difference exceeds the slope threshold once after the absolute value of the difference exceeds the slope threshold once passes a predetermined set time, When the rapid change state is canceled even after the slope control is prohibited by the occurrence of the rapid change state, the operator can automatically and smoothly perform the slope control It is possible to reduce the burden on the operator.
According to the invention of claim 18, since the left-right tilt control is prohibited when the traveling vehicle is turned backward, even when only one of the traveling parts is tilted backward, for example, The workability of the work vehicle can be improved. When such a configuration is applied to, for example, a combine as a working vehicle, it is possible to improve the workability of the cutting and weaving operation by the combine.
Hereinafter, embodiments of the present invention will be described with reference to the drawings. Fig. 1 is a left side view of the combine, and Fig. 2 is a plan view of the combine. The overall structure of the combine will be described with reference to Figs. 1 and 2. Fig. In the following description, the left side toward the advancing direction of the traveling base 1 is referred to simply as the left side, and the right side toward the advancing direction is also referred to as the right side.
As shown in Figs. 1 and 2, a traveling vehicle 1 supported by a pair of left and right traveling crawlers 2 as a traveling section. A six group preliminary cutting apparatus 3, which collects and cuts a curved road, is raised and lowered around the cutting axis 4a by a single acting type hydraulic cylinder 4 at the front part of the running vehicle 1 And is adjustably mounted. The traveling base 1 is provided with a trolley unit 5 having a feed chain 6 and a grain tank 7 for storing the curled pieces drawn out from the trolley unit 5 in a horizontally lined shape. The grain tank 7 is disposed on the right side in the advancing direction of the traveling base 1, on the left side of the traveling base 1 in the advancing direction. A pouring auger 8 is provided in the rear portion of the traveling base 1 and the grains inside the grain tank 7 are discharged from the rice pouring port 9 of the pouring auger 8 into a load- . A driving cabin (10) is provided on the right side of the cutting device (3) and on the front side of the grain tank (7).
A steering circular handle 11 as a steering operating member, a driving seat 12, a peripheral speed lever 43, an auxiliary speed change switch 44, and a balancing clutch and a cut clutch are connected / And a work clutch lever 45 for blocking operation is disposed. The steering cabin 10 is provided with a step 50 (see Fig. 12) on which the operator rides, a steering column 46 for supporting the steering circular handle 11, 44 and the like are disposed on the left and right sides of the lever column 47. A diesel engine 14 as a power source is disposed on the traveling base 1 below the driving seat 12. [
As shown in Fig. 1, the left and right track frames 21 are disposed on the lower surface side of the traveling base 1. The track frame 21 is provided with a drive sprocket 22 for transmitting the power of the engine 14 to the traveling crawler 2, a tension roller 23 for holding the tension of the traveling crawler 2, A plurality of track rollers 24 for keeping the ground side in a grounded state and an intermediate roller 25 for holding the non-grounded side of the traveling crawler 2 are provided. The front side of the traveling crawler 2 is supported by the drive sprocket 22 and the rear side of the traveling crawler 2 is supported by the tension roller 23. The traveling crawler 2 is supported by the track roller 24, And the intermediate roller 25 supports the non-earthed side of the traveling crawler 2.
As shown in Figs. 1 and 2, below the cut-off frame 221 connected to the cutting axis 4a of the cutting unit 3, there is provided a barricade (not shown) for cutting the base of the non- A cutting device 222 of the type shown in FIG. In the front of the cutting frame 221, a lifting device 223 is provided for raising 6 tanks for raising an uncut tucking space in a package. Between the raising device 223 and the front end of the feed chain 6 (the feed forward end side), a curved conveying device 224 for conveying the cut curved portion cut by the cutting device 222 is disposed. In addition, a six-tiered sieve 225 is provided at the lower front of the elevation device 223 for raising and lowering the sludge. And the non-cut grooves placed in the package by the cutting device 3 are continuously cut while moving in the package.
Next, the structure of the threshing device 5 will be described with reference to Figs. 1 and 2. Fig. As shown in Figs. 1 and 2, the threshing device 5 is provided with a swash plate 227 for sweeping the curled portion 226, a swash plate selecting plate 227 for selecting a swash plate falling downwardly of the swash plate 226, A tug fan 228 and a processing fan 229 for reprocessing the threshing discharge which is drawn out from the rear portion of the ramp 226 and a fan 230 for discharging the back discharge of the rear portion of the swing selection board 227 . The curtain conveyed from the cutting apparatus 3 by the curved conveying apparatus 224 is fed to the feed chain 6 and is carried into the threshing apparatus 5 and is tumbled at the tumbler 226.
As shown in Fig. 1, on the lower side of the oscillating screening unit 227, there are provided a No. 1 conveyor 231 for drawing out the curled pieces (first item) selected by the oscillating screening unit 227, And a second conveyor 232 for taking out the second item of the second conveyer. The shaking motion discrimination panel 227 is configured such that the grains that have flowed down from the water supply chain 237 extending downwardly of the ramp 226 are shaken by the feed fan 238 and the chaff sheave 239 have. The dust particles falling from the swirling screen 227 are removed by the air flow from the tuyeres 228 and fall on the No. 1 conveyor 231. The curl drawn out from the No. 1 conveyor 231 is carried into the grain tank 7 through the grain conveyor 233 and collected in the grain tank 7.
As shown in Fig. 1, the swing selection board 227 is configured to drop the second item such as a curved edge from the chaff sheave 239 into the second conveyor 232 by swinging. And a separating fan 241 for separating the second products falling downward from the chaff sheave 239. The dust and the rice straw scraps in the grain are removed by the separating air from the separating pan 241 and fall on the No. The end portion of the No. 2 conveyor 232 is connected to the upper surface side of the rear portion of the feed fan 238 through the reduction conveyor 236 and the 2nd piece is returned to the upper surface side of the swinging sorting plate 227 for re- .
On the other hand, as shown in Figs. 1 and 2, a waste chain 234 and a waste cutter 235 are disposed on the rear end side (transfer terminating end side) of the feed chain 6. The waste straw (the grain with the grain-loosened straw) which has been transferred from the rear end side of the feed chain 6 to the waste chain 234 is discharged to the rear of the traveling gas 1 in a long state, Is cut to a suitable length by a waste cutter (235) provided at the rear side of the traveling vehicle (1) and then discharged to the rear lower side of the traveling vehicle (1).
Next, the hydraulic circuit structure of the combine will be described with reference to Fig. 3, the hydraulic circuit 250 of the combine includes the hydraulic cylinder 4 for lifting and lowering, a hydraulic cylinder 254 for lifting and lowering the ramp 9 of the discharge auger 8, A left and right garage adjustment hydraulic cylinder 38 as a rolling actuator for raising and lowering the left and right end portions of the traveling vehicle 1 to tilt the traveling vehicle 1 to the left and left and a left and right garage adjusting hydraulic cylinder 38 for raising and lowering the front and rear portions of the traveling vehicle 1, Left and right front and rear hydraulic cylinders 177 as working pitching actuators for tilting forward and backward, and respective working pumps 91a and 91b of a two-stage structure. And the first high-pressure flow path 257 is connected to the discharge side of the one operation pump 91a. And the second high-pressure flow path 258 is connected to the discharge side of the other working pump 91b.
The unloading relief valve 256 for the tank flow path is connected to the clean high lift solenoid valve 260 for operating the hydraulic cylinder 4 for elevation in the first high pressure oil passage 257. A cutting lift electromagnetic valve 260 for moving the cutting device 3 at a relatively high speed, a cutting lift electromagnetic valve 264 for raising the cutting device 3 at a relatively low speed, Descending solenoid valve 265 for operating the elevating hydraulic cylinder 4 at a relatively low speed is connected to the elevating hydraulic cylinder 4. [ Lift electromag- netic valve 264 is switched to raise the cutting apparatus 3 separately from the lifting movement of the cutting apparatus 3 for switching the cut-off lifting solenoid valve 260, And the lowering solenoid valve 265 is switched to lower the cutting apparatus 3. The cutting electromag- netic valve 264 is provided on the upper side of the cut-
The second high pressure fluid passage 258 is provided with a left inclined solenoid valve 261 for operating the left height control hydraulic cylinder 38 and a right inclined solenoid valve 262 for operating the right height control hydraulic cylinder 38, A left forward and backward inclination operation electromagnetic valve 266 for operating the left and right front and rear hydraulic cylinders 177 and a right forward and backward inclination operation electromagnetic valve 267 for operating the right and left rear hydraulic cylinders 177, A curled discharge electromagnetic valve 263 for operating the auger lift hydraulic cylinder 254 is connected. The left inclination solenoid valve 261, the right inclined solenoid valve 262, the left inclination solenoid solenoid valve 266, the right inclination solenoid solenoid valve 267 and the curved discharge solenoid valve 263 Is connected to the second high-pressure flow path 258 through the attitude control solenoid valve 268. The operation of the auger elevation hydraulic cylinder 254 is prioritized by the posture control solenoid valve 268 with respect to the operation of the height control hydraulic cylinder 38 or the forward and backward hydraulic cylinders 177. [ The relief valve 269 is connected in parallel to the solenoid valve 268 for attitude control.
Next, a structure for adjusting the inclination angle of the traveling base 1 in the left-right direction will be described with reference to Figs. 4 to 8. Fig. 4 to 8, a pair of left and right rolling point frames 26 provided on the lower surface side of the running vehicle 1, a pair of left and right front side bearing bodies 27, And a rear side bearing body (28). A pair of left and right front side bearing bodies 27 are disposed on the front end side of the rolling point frame 26 fixed to the lower side of the running vehicle 1. [ And a pair of right and left rear side bearing bodies 28 are disposed on the rear end side of a pair of left and right rolling point frames 26. A pair of right and left rear rolling point shafts 29 are respectively passed through the left and right front side bearing bodies 27 and a pair of right and left rear rolling point shafts 30 are passed through the left and right rear side bearing bodies 28, I have to. The drive sprocket 22 (the mission case 88) is disposed on the lower surface side of the traveling base 1 through the traveling chassis 1a. The rear side of the mission case 88 is fastened to the front portion of the traveling base 1.
A pair of right and left front side rolling arms 31 extending in the left-right direction and a pair of left and right front side rolling arms 29 extending in the up-and-down direction are integrally fixed to one end side. On the other end side of a pair of left and right front portion rolling spindles 29, the base ends of a pair of left and right lower front rolling arms 33 extending in the front-rear direction are integrally fixed. That is, a pair of left and right upper front rolling arms 31 and a pair of left and right lower front rolling arms 33 pivot integrally around a pair of right and left front rolling point shafts 29, respectively. Further, the front portion of the track frame 21 is connected to the front end side of the lower front rolling arm 33 via the connecting shaft member 40.
A pair of left and right upper rear rolling arms 32 are rotatably supported on the base end side of the rear rolling point shaft 30 extending in the left-right direction. As shown in Fig. 6, a pair of left and right front and rear connecting rolling frames 36 with stretchable adjustable turn buckles is provided. The front and rear connecting rolling frames 36 of a long rod shape extend in the front and rear direction in parallel with the traveling base 1 at a position lower than the upper surface of the traveling base 1. The front end side of the front and rear connecting rolling frame 36 is connected to the front end side of a pair of left and right upper front rolling arms 31 via a shaft 35. And the rear end side of the front and rear connecting rolling frame 36 is connected to the upper end side of the upper rear rolling arm 32 via the shaft member 37. [
As shown in Figs. 4 to 8, a pair of left and right height control hydraulic cylinders 38 for changing the inclination angle of the traveling base 1 in the left-right direction are provided. A pair of left and right cylinder supporting brackets 39 are provided on the traveling base 1. A pair of left and right height control hydraulic cylinders 38 are connected to a pair of left and right cylinder supporting brackets 39 via base axle 48, respectively. The piston rods 41 of a pair of left and right height control hydraulic cylinders 38 are connected to the upper ends of a pair of left and right upper rear rolling arms 32 via the front end shaft bodies 42, respectively.
On the other end side of a pair of right and left rear rolling point shafts 30, a pair of left and right lower rear rolling arms 34 are integrally fixed to the base end side. That is, a pair of left and right rear rolling point shafts 30 and a pair of left and right lower rear rolling arms 34 integrally rotate about the axes of a pair of left and right rear rolling shafts 30, . The one end side of the driven link member 175 is connected to the leading end side of the lower rear portion rolling arm 34 via the connecting shaft member 174. [ And the rear portion of the track frame 21 is connected to the other end side of the driven link member 175 via the connecting shaft member 179.
As shown in Figs. 4 to 8, the front and rear light oil cylinders 177 for changing the tilt angle of the traveling base 1 in the front-rear direction are provided. A pair of left and right pair of pitching arms 176 are fixed to the base ends of one pair of right and left rear rolling point shafts 30. A pair of left and right pair of pitching arms 176 and a pair of left and right lower rear rolling arms 34 are integrally rotated around the axes of a pair of right and left rear rolling point shafts 30 respectively. A pair of right and left front and rear hydraulic cylinders 177 are connected to the pair of left and right upper rear rolling arms 32 via the connecting shaft 180. The tip end side of the pitching arm 176 is connected to the piston rod 178 of the hydraulic cylinder 177 through the connecting shaft 181.
As shown in Figs. 4 and 5, a pair of left and right height control hydraulic cylinders 38 and front and rear hydraulic cylinders 177 are arranged in a row in front and rear as viewed from the side or viewed from the plane. A pair of left and right front side rolling link mechanisms R1 for changing the tilting angle of the traveling base 1 in the left and right direction by the operation of a pair of left and right height control hydraulic cylinders 38 are provided on the upper front rolling arm A lower rear rolling arm (front side arm) 33, a lower rear side rolling arm (rear side arm) 34, and an upper rear rolling arm A front and rear connecting rolling frame 36, and a driven link (pitching link) The upper front rolling arm 31 and the lower front rolling arm 33 are integrally rotated about the front rolling point shaft 29 when the height control hydraulic cylinder 38 is operated, The rolling arm 32, the lower rear rolling arm 34, the pitching arm 176 and the front and rear light hydraulic cylinders 177 rotate integrally around the rear rolling point shaft 30.
7, when the vehicle body 1 and the track frame 21 are inclined with respect to the track frame 21 while maintaining the inclination angle of the running body 1 in the forward and backward directions with respect to the track frame 21 when the vehicle height control hydraulic cylinder 38 is operated, . When the running vehicle 1 is tilted to the left or right due to a change in the amount of settlement of the left and right traveling crawlers 2 or when the operator wants to tilt the traveling vehicle 1 left and right, The inclination angle of the running vehicle 1 with respect to the ground in the lateral direction of the running vehicle 1 can be maintained at the setting angle (substantially horizontal posture) by changing the inclination angle of the running vehicle 1 by the automatic control or the manual control.
A pair of right and left rear side pitching link mechanisms P1 for changing the inclination angle in the forward and backward direction of the running vehicle 1 by the operation of a pair of left and right front and rear hydraulic cylinders 177 are provided on the lower rear rolling arm Arm) 34, a driven link member (pitching link) 175, and a pitching arm (forward and backward tilting operation arm) 176. The lower rear rolling arm 34 and the pitching arm 176 are integrally rotated around the rear rolling point shaft 30 when the forward and backward hydraulic cylinders 177 are operated, Thereby turning the track frame 21 about the front part rolling point shaft 29.
That is, as shown in Fig. 8, when the front and rear light hydraulic cylinders 177 are operated, the forward and backward movement of the traveling body 1 relative to the track frame 21 while maintaining the inclination angle with respect to the left- Change the direction tilt angle. When the running road surface on which the left and right traveling crawlers 2 are moved is a slope of an ascending slope or a descending slope or a settlement amount of the front portion (or rear portion) of the left and right traveling crawlers 2 changes, When the operator tilts forward or backward or when the operator wishes to tilt the running vehicle 1 back and forth, the forward and backward inclination angles of the running vehicle 1 are changed by automatic control or manual control of the front and rear driving hydraulic cylinders 177 So that the tilting angle of the traveling base 1 with respect to the front-rear direction of the ground can be maintained at a set angle (substantially horizontal posture).
The intermediate roller 25 for holding the non-earthed side of the traveling crawler 2 is rotatably supported on a roller shaft 25a projecting from the traveling base 1 in the transverse direction. That is, the non-ground side of the traveling crawler 2 between the drive sprocket 22 and the intermediate roller 25 is moved in the left-right direction of the traveling base 1 by the height control hydraulic cylinder 38 or the front- Or even if the inclination angle in the longitudinal direction is changed, the distance from the lower surface of the traveling base 1 is always kept substantially constant.
7, either or both of a pair of left and right height adjustment hydraulic cylinders 38 are actuated so that one or both of the left and right height adjustment hydraulic cylinders 38, Either one or both of the left and right pair of track frames 21 move downward and push down one or both of the left and right pair of traveling crawlers 2 to push the traveling body 1 The left or right side or both sides of the garage are raised.
4, either or both of the left and right height adjustment hydraulic cylinders 38 are operated to move the piston rods 41 of either one or both of the left and right height adjustment hydraulic cylinders 38 Either one or both of the left and right pair of track frames 21 are equal to each other and one or both of the pair of left and right traveling crawlers 2 are pushed up so that the traveling body 1 The left or right side, or both garages are lowered. That is, by operating the pair of left and right height control hydraulic cylinders 38 respectively to change the height of the ground surface of the left and right traveling crawlers 2 with respect to the running vehicle 1, the inclination angle of the running vehicle 1 in the left- So that the traveling base 1 is supported substantially horizontally (left and right inclination angle of 0 degrees).
As shown in Fig. 8, the front and rear light oil cylinders 177 are operated in a state in which the piston rod 41 is in the advanced state (or in the state in which the low-height piston rod 41 is retracted) When the piston rod 178 of the cylinder 177 is retracted, the left and right pair of the pitching arms 176 respectively operate to push down the left and right driven pair links 175 downward, Both of the rear end sides of the track frame 21 of the left-hand side are simultaneously moved downward.
As a result, the parallel posture of the lower rear rolling arm 34 is changed with respect to the lower front rolling arm 33, so that the ground side of the pair of left and right pair of the traveling crawlers 2 is pressed down, The height of the rear end of the traveling body 1 is increased so that the traveling body 1 is inclined forwardly. That is, the rear end side of the running vehicle 1 is tilted about the front rolling point shaft 29 so that the rear end side of the running vehicle 1 is inclined in a forward inclined posture (a downward inclined posture) So as to operate. As a result, the inclination of the running vehicle 1 in the front-rear direction can be kept substantially horizontal when the traveling road surface inclined forwardly is moved.
In addition, the piston rods 178 of the pair of left and right front and rear hydraulic cylinders 177 are retracted respectively so that both the rear ends of the left and right pair of track frames 21 are simultaneously equal to each other, It is needless to say that the vehicle body 1 is inclined rearward.
As is apparent from the above description and FIGS. 4 to 8, the traveling vehicle 1 having the traveling crawler 2 as the traveling portion on the right and left sides, the garage 1 serving as the rolling actuator for correcting the tilt posture in the lateral direction of the traveling vehicle 1, And a front and rear light hydraulic cylinder 177 serving as a pitching actuator for correcting the inclination postures in the forward and backward directions of the traveling gas. In the working vehicle, the height control hydraulic cylinder 38, the front and rear light hydraulic cylinders 38, (Connecting support length) of the front and rear light hydraulic cylinders 177 can be made shorter than that of the prior art, and the front and rear light hydraulic cylinders 177 177 can be reduced and the durability can be improved. Further, it is possible to form a space on the lower surface side of the traveling base 1 between the left and right traveling crawlers 2, thereby making it possible to reduce accumulation of mud on the lower side of the traveling base 1, . Further, it is possible to prevent the upper surface side structure of the traveling base 1 or the supporting position of the front and rear traveling hydraulic cylinders 177 from being mutually limited, and thus the traveling base 1 and the like can be simply configured.
As is apparent from the above description and Figs. 4 to 8, the lower front rolling arm 33 (front side arm) and the lower rear rolling arm 34 (front side arm) of the parallel link shape operated by the height control hydraulic cylinder 38 And the pitching arm 176 is connected to either the lower front rolling arm 33 or the lower rear rolling arm 34. Therefore, The running vehicle 1 can be operated to be inclined forward and backward while maintaining the height of the vehicle 1. The front and rear light hydraulic cylinders 177 capable of maintaining the control performance of the height control hydraulic cylinder 38 for correcting the inclination postures in the lateral direction of the traveling vehicle 1 and correcting the inclination postures in the forward and backward directions of the traveling vehicle 1, It is possible to improve the control performance of the vehicle.
As is apparent from the above description and FIGS. 4 to 8, the traveling vehicle 1 having the left and right traveling crawlers 2 (running portion), the height adjusting hydraulic cylinder 38 (rolling actuator) The left and right track frames 21 are provided with hydraulic cylinders 177 (pitching actuators) so that the traveling vehicle 1 can be lifted and lowered via the left and right link mechanisms R1 and P1. The link mechanisms R1 and P1 are constituted by a lower front side rolling arm 33 (front side arm) of a parallel link shape and a lower front side rolling arm 33 And a lower rear rolling arm 34 (rear side arm), and the track frame 21 is provided with a lower front rolling arm 33 or a lower rear rolling arm 33 via a driven link member 175 (pitching link) (34).
Therefore, the running vehicle 1 can be tilted rightward and leftward by the action of the lower front rolling arm 33 and the lower rear rolling arm 34 of the parallel link shape (control of the height adjustment hydraulic cylinder 38) The front or rear side of the track frame 21 is lifted up through either the lower front side rolling arm 33 or the lower rear side rolling arm 34 and the driven link member 175 Control of Hydraulic Cylinder 177 to be Used] The traveling base 1 can be operated to be inclined forward and backward. The running vehicle 1 can be operated to be inclined forward and backward in a state in which the garage of the running vehicle 1 in the right and left inclined posture is maintained (the state in which the control of the height control hydraulic cylinder 38 is stopped). The connection structure of the traveling base 1 and the track frame 21 can be easily configured or the control of the front and rear light hydraulic cylinders 177 can be simply performed. The pitching structure for changing the inclined attitude in the forward and backward directions of the traveling vehicle 1 can be mounted at a low cost or the pitching control function for changing the inclined attitude in the forward and backward directions of the traveling vehicle 1 can be improved.
As is apparent from the foregoing description and Figs. 4 to 8, both the lower front rolling arm 33 and the lower rear rolling arm 34 are connected to the height control hydraulic cylinder 38, and the driven link member 175 The hydraulic cylinder 177 is connected to either the lower rear part rolling arm 34 or the lower front part rolling arm 33 which is connected to the front and rear rollers. Therefore, the front and rear lightweight hydraulic cylinders 177 can be mounted compactly in proximity to the height control hydraulic cylinder 38. Further, it is possible to prevent the rolling function, which changes the tilt posture in the lateral direction of the traveling vehicle 1, from being complicated, and to improve the pitching function of changing the tilt posture in the forward and backward direction of the traveling vehicle 1. [
As is apparent from the above description and Figs. 4 to 8, the transmission case 1 has a structure in which the transmission case 88 is disposed in the front portion thereof. The lower rear rolling arm 34 is provided with a hydraulic cylinder 177 And the lower rear rolling arm 34 is connected to the track frame 21 via the driven link member 175. [ Therefore, by providing the front portion of the track frame 21 in close proximity to the support portion of the transmission case 88, when the oblique posture of the traveling base 1 is changed, the lower side of the traveling base 1 and the traveling crawler 2 Can be prevented from interfering with each other. The front and rear lightweight hydraulic cylinders 177 can be compactly mounted close to the vehicle height control hydraulic cylinders 38 in a row at substantially the same height position at the middle or rear portion of the track frame 21. For example, it is possible to simplify the securing of the inclination changing range in the forward / backward direction of the traveling base 1 or the simplification of the connecting structure of the traveling base 1 and the track frame 21. [
4 to 8, the upper rear rolling arm 32 connected to the height control hydraulic cylinder 38 and the pitching arm 176 connected to the front and rear driving hydraulic cylinders 177 The front and rear hydraulic cylinders 177 are disposed on the upper rear rolling arm 32 connected to the height adjustment hydraulic cylinder 38 while being disposed on the same point shaft 30 (rear rolling point shaft) The height control hydraulic cylinder 38 and the forward and backward hydraulic cylinders 177 are arranged in a line in front and rear directions. Therefore, the running vehicle 1 of the same specification can be easily shared with the specifications for installing the front-rear and rear-end hydraulic cylinders 177 and the not-installed specifications. The space between the left and right traveling crawlers 2 on the lower surface side of the traveling base 1 is formed to be wider so that the traveling crawler 2 can be easily operated such as wetting or the like, It is possible to improve the serviceability of the openings of the pavement or the like in which the clay is largely raised.
As shown in Fig. 4, the frontmost lowest stopper 185 is fixed to the running chassis 1a. The one end side of the front-side lowermost stopper 185 is extended to the upper surface side of the lower front rolling arm 33. [ 4 or 6), that is, when the front side of the traveling base 1 and the track frame 21 are closest to each other, the lower front side rolling arm 33 is positioned at the lowest position The lower surface of the lowest stopper 185 on the front side is in contact with the upper surface of the traveling base body 1 so that the front side of the traveling base body 1 is supported at the lowest position. The front upper surface of the traveling crawler 2 is prevented from interfering with the front lower surface of the traveling base 1 by the contact between the lower front rolling arm 33 and the frontmost bottom stopper 185. [
Further, the rear-side lowest stopper 186 is fixed to the lower surface of the rear-side bearing body 28. The receiver 187 is fixed to the track frame 21. When the rear side of the traveling base 1 is in the lowest state (the state shown in FIG. 4 or 6), that is, when the rear side of the traveling base 1 is closest to the track frame 21, The lower surface of the rear-most lowermost stopper 186 contacts and the rear side of the traveling base 1 is supported at the lowest position. The rear surface of the traveling crawler 2 is prevented from interfering with the rear lower surface of the traveling base 1 due to the contact between the receiver 187 and the rearmost lowermost stopper 186. [
9 shows the crawler attitude maps ML and MR as posture data representing the relationship between the height of the traveling base 1 with respect to the ground and the inclination angles of the front and rear sides of the traveling vehicle 1 (posture range on the left and right traveling crawler 2) )to be. The crawler attitude map ML and MR are common to both ML corresponding to the left traveling crawler 2 side and MR corresponding to the right traveling crawler 2 side. The crawler attitude maps ML and MR are previously stored in a work controller 371 described later. 9, the height of the left and right traveling crawlers 2 on the traveling base 1 is taken as the vertical axis and the back and forth inclination angle of the traveling base is taken as the horizontal axis. The attitude data is not limited to the map form as in the embodiment, and may be, for example, a function table or set data (data table). In the left and right crawler attitude maps ML and MR, the normal ranges AR2 and AR4, which are generally acceptable ranges of attitude, and the limiting ranges AR1, AR3 and AR5 to AR7, which are the inclination ranges in the upper and lower limits of the garage, are defined. The range enclosed by the bold solid line in Fig. 9 is the sum of the normal ranges AR2 and AR4.
In the embodiment, the height adjustment hydraulic cylinder 38 (see FIG. 9) is arranged on the basis of detection results of the left and right height sensors 375 and 376, the front and rear inclination sensors 381 and the like within a range surrounded by a bold solid line ) Is operated to extend and retract to allow the height adjustment operation by the height adjustment hydraulic cylinder 38 to be maintained within a predetermined range and then to perform the tilt operation by the height adjustment hydraulic cylinder 38 or the front and rear light hydraulic cylinders 177 .
For example, a height C of about 60% (about 2/3) with respect to the maximum height E and a height C of about 10% with respect to the maximum height E (left and right tilt operation) of the respective height control hydraulic cylinders 38 (About 1/10) of the front and rear driving hydraulic cylinders 177 in the range of 0 ° to the maximum forward inclination angle F (for example, about 5 °) The forward tilting operation is performed so that the traveling base 1 is supported in a forward inclined posture (a downward inclined posture). Between the height D and the height C of about 95% with respect to the maximum height E, the forward and backward inclination angles F1 of the front and rear light hydraulic cylinders 177 in the range of the forward inclination angle F1 of about 80% (about 4/5) A forward tilting operation is performed. When the height is equal to or less than the height A, the forward tilting operation of the forward and backward use hydraulic cylinders 177 is performed in the range of the forward tilting angle F2 of about 60% (about 2/3) with respect to the maximum forward tilting angle F.
When the height of each traveling crawler 2 side is equal to or greater than the height C, the forward tilting operation of each traveling crawler 2 side is restricted to a forward tilting angle F1 of about 80% (about 4/5) with respect to the maximum forward tilting angle F It is possible to prevent the front end side of the cutting device 3 from being supported at a low level. In this case, even when the cutting apparatus 3 is raised to the non-working position (high position) by the lifting hydraulic cylinder 4, the traveling base 1 can be properly tilted forward. Even if the traveling vehicle 1 is moved to a posture that is inclined so that the front side is lowered at the time of an operation such as loading or unloading in a package or loading or unloading to a track platform, the front end side of the cutting device 3 Can be prevented.
On the other hand, between the height D of about 95% with respect to the highest height E and the height B with respect to the maximum height E of about 20% of the height adjustment operation (left and right tilt operation) of each height control hydraulic cylinder 38, Of the forward and backward hydraulic cylinders 177 is executed in the range from 0 ° to the maximum backward slope angle R (for example, about 3 °), so that the traveling vehicle 1 is moved rearward And is supported in an inclined posture (inclined posture in which the rearward is inclined downward). The backward tilting operation of the front and rear driving hydraulic cylinders 177 is performed in a range of the rear tilting angle R3 of about 25% (about 1/4) with respect to the maximum rear tilting angle R. [
When the height of each traveling crawler 2 side is equal to or greater than the height B, the traveling base 1 can be inclined rearwardly to the maximum backward inclination angle R, so that the lifting hydraulic cylinder 4 can move the cutting apparatus 3 to the non- (High position), the running vehicle 1 can be smoothly rearwardly inclined to further raise the cutting apparatus 3, so that the cutting apparatus 3 can be steadily avoided with respect to the obstacle upward .
Further, in the case of low heights A and B of about 20% (about 1/5) or less with respect to the maximum height E, the rearward inclination of the running vehicle 1 is smaller than the height A at which the forward inclination of the running vehicle 1 is restricted (Height A < height B). The forward inclination angle F2 of about 60% (about 2/3) with respect to the maximum backward angle of inclination R (for example, about 3 degrees) and the maximum forward angle of inclination F are set to be substantially the same. That is, the maximum rear inclination angle R is set to be equal to the inclination angle size of about 60% with respect to the maximum forward inclination angle F.
By setting the maximum forward inclination angle F to be large with respect to the maximum rearward inclination angle R as in the embodiment, the traveling crawler 2 is largely depressed in the ultra superpowers so that the garage of the traveling vehicle 1 is heightened, It is possible to lower the height of the running vehicle 1 and increase the running resistance without lowering the cutting device 3 to allow the running vehicle 1 to move forward without inserting the cutting device 222 or the like into the soil It becomes possible to tilt. Therefore, it is possible to cut the bottom of the uncut portion by a cutting device 222 at a predetermined height.
In the embodiment, by the combination of the limiting ranges AR1, AR3 and AR5 to AR7 of the two crawler attitude maps ML and MR, the posture changing operation of the traveling base 1, that is, the posture changing operation of the height control hydraulic cylinder 38, The height adjustment operation and the tilting operation by the tilting mechanism 177 are limited. The table shown in Fig. 10 is an operation rule table (T) relating to the combination of the restriction ranges AR1, AR3, and AR5 to AR7. Like the crawler attitude maps ML and MR, the operation rule table T is also stored in advance in the job controller 371 described later.
The table of X in the operation rule table (T) of Fig. For example, when the attitude range (height and inclination angle with respect to the ground) of the left traveling crawler 2 is in the limiting range AR1 and the attitude range on the side of the right traveling crawler 2 is in the limiting range AR3, The right side inclination and the front side inclination operation of the traveling base 1 are inhibited even when the right side inclination or the front side inclination operation of the traveling base 1 is requested during the execution of the right and left inclination control and the back and forth inclination control. That is, even when there is a rightward tilt operation request of the traveling base 1, the extension operation of the left height adjustment hydraulic cylinder 38 and the shortening operation of the right height adjustment hydraulic cylinder 38 are prohibited. Further, even when the forward tilting operation of the traveling base 1 is requested, the extending operation of the front and rear light hydraulic cylinders 177 is prohibited. As can be seen from the operation rule table T in Fig. 10, the posture changing operation of the traveling vehicle 1 (the garage 1) is performed by the combination of the limiting ranges AR1, AR3, AR5 to AR7 of both the crawler attitude maps ML, The height adjustment operation and the slant operation by the control hydraulic cylinder 38 and the front and rear hydraulic cylinders 177 are determined.
Next, referring to Figs. 11 to 13, a light switch mechanism 54 and a vehicle switch mechanism 55 for operating the vehicle height control hydraulic cylinder 38, the front and rear light hydraulic cylinders 177, An attitude control lever 56 serving as a slanting operation lever for operating the control lever 54 and a garage button 57 serving as a garage operation mechanism for operating the garage switch mechanism 55 will be described.
As shown in Figs. 11 and 12, the posture manipulation lever 56 is projected from the left and right side surfaces (the right side surface in the embodiment) of the steering column 46 toward the outside. The posture manipulation lever 56 is located on the lower right side of the steering circular handle 11 as the steering manipulation opening. The operator holding the driver's seat 12 grasps the steering circular handle 11 with his left hand and the operator grasps the handle 56a of the posture control lever 56 with his right hand and moves the posture control lever 56 up, As shown in FIG.
As shown in Figs. 11 and 12, a light switch mechanism 54 is provided at the base end of the posture control lever 56. Fig. The light switch mechanism 54 has a left inclination switch 61, a right inclination switch 62, a forward recursion switch 63 and a backward recursion switch 64 (see FIG. 14). The right tilting switch 62, the forward tilting switch 63 or the backward tilting switch 64 by selectively operating the left tilting switch 61, the right tilting switch 62, the forward tilting switch 63 or the backward tilting switch 64 by the hardness manipulation of the posture control lever 56 in the up- . That is, by manually operating the posture manipulation lever 56, the traveling body 1 is tilted leftward, rightward, forward, or rearward so that the inclined posture of the traveling body 1 is changed.
The left inclination switch 61 (the left inclined solenoid valve 261 or the right inclined solenoid valve 262) is turned on when the attitude manipulation lever 56 is tilted upward in the upward direction, . The right tilt switch 62 (the left tilting solenoid valve 261 or the right tilting solenoid valve 262) is turned on by operating the posture control lever 56 in the downward direction to tilt the traveling vehicle 1 to the right . When the attitude manipulation lever 56 is tilted in the forward direction, the forward reclining switch 63 (the forward and backward inclination solenoid valves 266, 267) is actuated to move the traveling body 1 forward. When the posture manipulation lever 56 is operated in the backward direction, the backward tilt switch 64 (the forward and backward tilt operation solenoid valves 266, 267) is turned on to tilt the traveling body 1 backward.
As shown in Figs. 11 and 13, on a substantially annular cloth portion 51 of the steering circular handle 11, a garage button 57 (serving as a kicking operation port) is provided on the upper surface of one of the left and right grip portions ) Is installed. The garage button 57 is for operating the garage switch mechanism 55 for operating the garage height control hydraulic cylinder 38 and configured to be pressed in two directions forward and rearward. Although the details will be described later, the car hire switch mechanism 55 has a car height up switch 65 and a car height down switch 66 (see Fig. 14). The garage height change switch 65 or the garage lowering switch 66 is selectively turned on by pressing the garage button 57 in the forward and backward directions to change the garage of the running vehicle 1. [
That is, while the garage button 57 is pushed forward, the left inclined solenoid valve 261 and the right inclined solenoid valve 262 are operated so that the garage lowering switch 66 is turned on to lower the traveling base 1, As a result, the height of the running vehicle 1 with respect to the ground becomes lower. Conversely, while the garage button 57 is being pushed backward, the left inclined solenoid valve 261 and the right inclined solenoid valve 262 are operated so that the garage lift-up switch 65 is turned on to raise the traveling base 1, As a result, the height of the running vehicle 1 with respect to the ground becomes higher. When the operator releases the finger from the garage button 57, the garage button 57 returns to the initial position by a biasing spring or the like (not shown) of the spring, and the running vehicle 1 is held at the height relative to the ground at this time .
The height adjustment hydraulic cylinder 38 can be operated only while the garage button 57 is manually operated to support the traveling vehicle 1 at an appropriate ground height. For example, even when the running vehicle 1 is moved in an inclined posture in loading or unloading of a track carrying the present machine (combine) into or out of a package of the present machine, Can be reduced.
As shown in Fig. 11 and Fig. 13, in the embodiment, the garage button 57 is positioned on the left side and the posture control lever 56 is positioned on the right side when viewed from the operator sitting on the driver's seat 12. [ In other words, the garage button 57 and the posture control lever 56 are located on the opposite sides of the operator seat when viewed from the operator sitting on the driver's seat 12. [ The positional relationship between the garage button 57 and the posture control lever 56 may be reversed from the embodiment. With this configuration, the garage button 57 can be operated with one hand (left hand) and the posture control lever 56 can be operated with the other hand (right hand). That is, since the garage button 57 and the posture manipulation lever 56 can be operated by using both hands (divided), the operability when manually changing the posture of the traveling body 1 is good.
In the embodiment, for example, in order to cope with the case where the garage button 57 and the posture control lever 56 are operated simultaneously, the garage height adjustment operation of the garage height control hydraulic cylinder 38 by the garage button 57 1) is configured so as to take precedence over the tilting operation (tilting operation of the traveling base 1) of the height control hydraulic cylinder 38 or the front and rear light hydraulic cylinders 177 by the posture control lever 56 . Therefore, the height adjustment operation of the height adjustment hydraulic cylinder 38 is performed first, and while the height of the driving base 1 is maintained at the predetermined height, the inclination of the height adjustment hydraulic cylinder 38 or the front / rear use hydraulic cylinder 177 The operation is executed and it is possible to prevent the front portion (the front portion of the combine) of the cutting device 3 from being inserted into the soil such as a package or a ridge. Further, since the sudden increase of the hydraulic oil to the vehicle height control hydraulic cylinder 38 and the sudden increase of the hydraulic oil to the front and rear light oil hydraulic cylinders 177 are performed separately, the response of the four hydraulic cylinders 38 and 177 It is possible to secure the stability and the posture control function in the combine can be improved. The operating speed of each of the hydraulic cylinders 38 and 177 and the like are unlikely to affect each other. In addition, the working pump 91b can be configured at low cost without increasing the size.
In the embodiment, the traveling base 1 is tilted to the left by the upward operation of the posture control lever 56, the traveling base 1 is inclined to the right by the downward operation, The operation of the posture control lever 56 and the operation of the traveling body 1 can be performed in the same manner as the operation of the posture control lever 56 when viewed from the operator, So that the relationship in the oblique motion direction coincides. Therefore, the inclination posture of the traveling base 1 can be changed smoothly without any discomfort by the manual operation of the posture control lever 56. [
Next, with reference to Fig. 14, the left-right inclination control, the back-and-forth inclination control of the combine (traveling vehicle 1), and the elevation control of the cutting device 3 will be described. Further, the control of the height adjustment of the combine (traveling vehicle 1) is included in the left-right tilt control. The running vehicle 1 of the combine is equipped with a job controller 371 for performing the above-mentioned various controls. Although not shown in detail, the job controller 371 has a CPU for executing various calculation processes and controls, a ROM for storing a control program, and a RAM for storing various data.
As shown in Fig. 14, the work controller 371 is provided with a crop sensor 372 for detecting a cutaway section cut by the cutter 3, a work switch 373 for detecting the operation of the cutter 3, A pendulum type left and right tilt sensor 374 for detecting tilt angles in the left and right direction of the traveling vehicle 1 and a potentiometer type left height sensor 373 for detecting an interval (height difference) between the traveling vehicle 1 and the left track frame 21 A right side height sensor 376 for detecting a distance between the traveling vehicle 1 and the right track frame 21 and a potentiometer type right side height sensor 376 for detecting a distance between the traveling vehicle 1 and the right track frame 21, And a manual dial switching type potentiometer type left and right tilt adjusting device 377 is connected.
A left inclined solenoid valve 261 and a right inclined solenoid valve 262 are connected to the operation controller 371. [ With this configuration, the left inclination solenoid valve 261 or the right inclination solenoid valve 371 is controlled based on the detected value of the left and right inclination sensor 374, the detected value of the left height sensor 375, The left vehicle height control hydraulic cylinder 38 or the right height control hydraulic cylinder 38 is operated to correct the tilting of the traveling vehicle 1 in the left and right direction so that the traveling vehicle 1 is moved in the left- So as to be horizontal.
The operation controller 371 is provided with a pendulum type longitudinal inclination sensor 381 for detecting the inclination angle of the traveling base 1 in the longitudinal direction and a backward inclination sensor 381 for detecting the inclination angle of the traveling base 1 Left and right pitching sensors 382a and 382b of the potentiometer type for detecting the mechanical inclination angle of the main body 21 in the longitudinal direction of the traveling body 1 and a manual dial switching potentiometer for initially setting the reference value of the inclination angle in the forward / Type inclination setting device 383, and a back-and-forth tilting operation solenoid valve 266 are connected. With this configuration, the forward / backward inclination operation solenoid valve 266 is controlled on the basis of the detection value of the forward / backward inclination sensor 381, the detection values of the pitching sensors 382a and 382b, And the forward and backward hydraulic cylinders 177 are operated to correct the inclination of the traveling body 1 in the longitudinal direction so that the traveling body 1 is automatically controlled to be substantially horizontal in the forward and backward directions.
The right side inclination switch 62, the forward reclining switch 63, the backward reclining switch 64, the garage elevation switch 65, and the garage descent switch 63 are provided on the input side of the job controller 371, A switch 66 is connected. With this configuration, by the manual operation such as the hardness manipulation of the posture manipulation lever 56 in the up-and-down longitudinal direction and the pushing operation of the garage button 57 in the forward and backward directions, the height adjustment hydraulic cylinder 38, The driver 177 is operated to manually control the operator to support the traveling vehicle 1 in a desired inclined posture.
14, the work controller 371 is provided with a vehicle speed sensor 385 for detecting the rotational speed (vehicle speed) of the traveling crawler 2, a potentiometer type sensor 383 for detecting the height of the cutting unit 3 on the ground, A cut-off height sensor 386, a manual dial switching potentiometer type cut height adjuster 387 for initially setting a reference value of the height of the cutting device 3 with respect to the ground, and a cut-off lift electromagnetic valve 260 are connected . With this configuration, the pay lift elevator solenoid valve 260 is switched on the basis of the detected value of the vehicle speed sensor 385, the detected value of the cut height sensor 386, and the set value of the cut height adjuster 387, The elevation hydraulic cylinder 4 is operated to correct the height of the cutting device 3 with respect to the paper surface so as to automatically control the cutting height of the cutting device 3 to be substantially constant.
On the input side of the operation controller 371, there are provided a back switch 391 serving as a straight-ahead detecting means for detecting the forward and backward state of the traveling vehicle 1 (whether the traveling direction of the traveling base 1 is the forward side or the reverse side) Angle sensor 392 as swing detecting means for detecting the swing state (swing direction and swing angle) of the traveling base 1 is electrically connected. The back switch 391 of the embodiment is configured to be turned on by the backward operation (backward tilt operation) of the peripheral speed lever 43 and to be turned off by the forward operation (forward tilt operation) . The octagonal sensor 392 of the embodiment detects the turning state of the traveling base 1 from the turning operation angle of the steering circular handle 11. For example, a rotary encoder or a rotary potentiometer is employed. The linear detection means is not limited to the configuration related to the peripheral speed lever 43 and may be configured to detect the forward and backward state of the traveling base 1 in relation to the power transmission system of the mission case 88. [ The turning detection means is not limited to the structure related to the steering circular handle 11 and may be configured to detect the turning state of the traveling base 1 in relation to the power transmission system of the mission case 88. [
As shown in Figs. 14 and 16, in the embodiment, the running vehicle 1 is manually operated by the manual operation of the posture control lever 56, or the automatic control of the vehicle height control hydraulic cylinder 38 and the front / rear light hydraulic cylinder 177, When shifting to the horizontal posture with respect to the ground surface, the changing operation of the left and right tilting postures of the traveling vehicle 1 or the changing operations of the front and rear tilting postures of the traveling vehicle 1 are temporarily stopped, 390 to the operator. Therefore, it is possible to control the stretching operation of the height adjusting hydraulic cylinder 38 or the front and rear driving hydraulic cylinders 177 without largely deviating the inclined posture of the traveling base 1 from the desired inclination posture (predicted posture) Lt; / RTI > It is possible to prevent the traveling base 1 from being excessively inclined in the front, rear, left and right directions by manual operation of the posture control lever 56. [ It is possible to easily improve the manual control functions of the height control hydraulic cylinder 38 and the forward and backward hydraulic cylinders 177, their automatic control functions, or the manual controllability of the posture control lever 56 and the like.
Next, referring to Figs. 7 to 10 and Figs. 14 to 17, the shape of cutting edge height control of the cutting device 3 and the shape of the inclination control of the combine (the posture control form) will be described. 15, when the engine 14 is started, the value of the crop sensor 372, the value of the left and right tilt sensor 374, the value of the left height sensor 375, the value of the right height sensor 376, The value of the slope setting device 377, the value of the longitudinal slope sensor 381, the value of the left and right pitching sensors 382a and 382b, the value of the slope setting device 383, the value of the vehicle speed sensor 385, The value of the cutting height setting unit 387 is read. During the cutting operation of the operation switch 373, the cutting height control is executed. Further, the left-right tilt control and the back-and-forth tilt control shown in the flowchart of Fig. 16 are executed at any time while the operation switch 373 is on or off.
15, when the crop sensor 372 is turned on during the cut-off operation of the operation switch 373, the value of the vehicle speed sensor 385, the value of the cutting height sensor 386, When it is determined that the cutting height of the cutting device 3 of the cutting device 3 is low based on the value of the setting device 387, the cutting lift electromag- netic valve 260 is switched to actuate the cutting hydraulic cylinder 4, Thereby correcting the height of the cutting device 3 with respect to the ground. On the other hand, when it is determined that the cut-off height of the cutting device 3 is high, the cut-off lifting solenoid valve 260 is switched to operate the cut-off lifting hydraulic cylinder 4 to control the lowering of the cutting device 3, 3) to the ground. The cutting height of the cutting device 3 set by the cutting height adjuster 387 can be automatically maintained by the cutting height control of Fig.
The flowchart of Fig. 16 shows a specific control form of the left-right tilt control and the back-and-forth tilt control. When the posture control lever 56 or the garage button 57 is not manually operated, the left and right inclination sensor 374, the left garage sensor 375, and the right garage sensor 375 The values of the left and right slope setter 377, the values of the forward and backward slope sensors 381, the values of the pitching sensors 382a and 382b, the values of the forward and backward slope setters 383, The posture ranges AR1 to AR7 of the respective traveling crawlers 2 are calculated. The left slope solenoid valve 261 or the right slope solenoid valve 262 is switched to operate the left garage adjust hydraulic cylinder 38 or the right garage adjust hydraulic cylinder 38 when it is determined that the running vehicle 1 is inclined to the left The left side of the running vehicle 1 is raised or the right side of the running vehicle 1 is lowered (the running vehicle 1 is changed in posture in the right side direction).
On the other hand, when it is determined that the traveling base 1 is inclined to the right side, the left inclined solenoid valve 261 or the right inclined solenoid valve 262 is switched to connect the left garage adjust hydraulic cylinder 38 or the right garage adjust hydraulic cylinder 38 To raise the right side of the traveling base 1 or lower the left side of the traveling base 1 (change the posture of the traveling base 1 in the left side direction).
Therefore, the angle of inclination of the traveling base 1 in the left-right direction is automatically corrected by the right-left inclination control of the combine (traveling vehicle 1) shown in Fig. The inclined attitude in the left and right direction of the traveling base 1 can be maintained on the basis of the value of the left and right inclination setter 377. [ Further, when the operator operates the left and right tilt adjuster 377, the running vehicle 1 is supported in the left and right tilt angles posture (horizontal position with respect to the ground) set by the left and right tilt adjuster 377. [
16, when it is judged that the running body 1 is inclined toward the front side from the attitude ranges AR1 to AR7 of the respective traveling crawlers 2, , It is determined whether or not to allow the posture of the traveling vehicle 1 to change posture in the backward inclination direction. When the posture change is permitted, the front and rear tilt operation electromagnetic valve 266 is switched to operate the left and right front and rear hydraulic cylinders 177 to lower the rear side of the traveling vehicle 1 which is inclined forward. That is, the inclination angle of the running vehicle 1 in the forward direction is automatically corrected by the longitudinal inclination control of the combine (traveling vehicle 1) shown in Fig. The forward and backward inclination angle (horizontal posture with respect to the ground) of the running vehicle 1 coincides with the value of the forward / backward slope setting unit 383.
In this case, when the running body 1 is in a horizontal posture (parallel posture) with respect to the running section with respect to the track frame 21 until the target oblique posture is reached, the rearward tilting operation is once stopped for a predetermined time , The buzzer 390 connected to the job controller 371 is made to ring to notify the operator. Then, the backward tilting operation is automatically resumed when a predetermined time has elapsed from the above-mentioned one-time stop. The operator can easily recognize the horizontal posture with respect to the traveling portion of the traveling vehicle 1 without visually confirming the display portion by the one-end stop and the continuous ringing operation of the buzzer 390. [
On the other hand, when the attitude change in the rearward inclination direction is prohibited, the buzzer 390 is intermittently operated to operate the left garage height adjusting hydraulic cylinder 38 or the right garage height adjusting hydraulic cylinder 38 while notifying the operator, The right or left side of the base 1 is raised and lowered to change the posture range on the side of each traveling crawler 2 into the normal ranges AR2 and AR4, and then the rearward tilting operation is performed continuously. That is, the forward reclining correction control for automatically correcting the forward inclination angle of the running vehicle 1 is executed so that the forward and backward inclination angles (horizontal position with respect to the ground) of the running vehicle 1 coincide with the values of the forward and backward inclination setter 383 .
16, when it is judged that the running body 1 is inclined rearward from the attitude ranges AR1 to AR7 of the respective traveling crawlers 2, It is determined whether or not the posture change in the direction inclining forward of the traveling vehicle 1 is permitted. When the posture change is permitted, the front and rear inclination operation electromagnetic valves 266 are switched to operate the left and right front and rear hydraulic cylinders 177 to raise the rear side of the traveling vehicle 1 inclined rearward. That is, the inclination angle of the traveling base 1 in the backward direction is automatically corrected by the longitudinal inclination control of the combine (traveling vehicle 1) shown in Fig. The forward and backward inclination angle (horizontal posture with respect to the ground) of the running vehicle 1 coincides with the value of the forward / backward slope setting unit 383.
In this case, when the running vehicle 1 is in a horizontal posture (parallel posture) with respect to the running section with respect to the track frame 21 until the target oblique posture is reached, the forward reclining motion is once stopped for a predetermined time , The buzzer 390 connected to the job controller 371 is made to ring to notify the operator. Then, the forward tilting operation is automatically resumed when a predetermined time has elapsed from the above-mentioned one-time stop. The operator can easily recognize the horizontal posture with respect to the traveling portion of the traveling vehicle 1 without visually confirming the display portion by the one-end stop and the continuous ringing operation of the buzzer 390. [
On the other hand, when the attitude change in the forward tilting direction is prohibited, the buzzer 390 is sounded intermittently to notify the operator that the left garage height adjustment hydraulic cylinder 38 or the right garage height adjustment hydraulic cylinder 38 The right or left side of the traveling base 1 is raised or lowered to change the posture range of each traveling crawler 2 to the normal range AR2 or AR4 and then the forward tilting operation is continuously performed. In other words, the rearward slope correction control for automatically correcting the angle of inclination to the rear of the traveling vehicle 1 is executed so that the front-rear inclination angle (horizontal posture with respect to the ground) .
16 and 17, when the posture manipulation lever 56 is manually operated, the posture manipulation lever 56 is tilted in the lateral direction of the running body 1 by the hardness manipulation of the posture manipulation lever 56 in the up- , Or the inclined posture in the longitudinal direction is changed. It is determined whether or not to allow the posture changing lever 56 in the upward tilting direction of the traveling vehicle 1 based on the operation rule table T by hardening the left posture lever 56 in the upward direction do. When the attitude change is permitted, the traveling vehicle 1 is supported in a posture in which the left side is lowered with respect to the right side of the traveling base 1 by operating either one or both of the left and right height control hydraulic cylinders 38. Whether or not the posture changing lever 56 is allowed to change its attitude in the right side oblique direction on the basis of the operation rule table T is discriminated when the posture manipulation lever 56 is subjected to hardness manipulation (right side inclination manipulation) in the downward direction do. When the attitude change is permitted, the traveling vehicle 1 is supported in a posture in which the left and right height control hydraulic cylinders 38 are operated to lower the right side with respect to the left side of the traveling base 1.
Whether or not the posture changing lever 56 is allowed to change its posture in the forward tilting direction of the traveling vehicle 1 based on the operation rule table T when the longitudinal direction is manipulated in the forward direction The left and right front and rear hydraulic cylinders 177 are operated in substantially the same direction and at the same time in the same direction so that the front and rear sides of the traveling vehicle 1 are lowered with respect to the rear side of the traveling vehicle 1 Is supported. In the case where the posture control lever 56 is operated in the backward direction for hardness operation (backward tilting operation), on the basis of the operation rule table T, whether to change the posture in the direction tilting backward of the traveling vehicle 1 The left and right front and rear hydraulic cylinders 177 are operated at substantially the same time by the same amount in the same direction so that the rear side of the traveling vehicle 1 is lowered relative to the front side of the traveling vehicle 1 1) are supported. When prohibiting the posture change, the buzzer 390 of the buzzer 390 notifies the operator of this, for example.
When the running vehicle 1 is in a horizontal posture (parallel posture) with respect to the running section with respect to the track frame 21 during manual operation of the posture control lever 56, the above posture changing operation is temporarily stopped for a predetermined time , The buzzer 390 connected to the job controller 371 is made to ring to notify the operator. When the manually operated operation of the posture manipulation lever 56 is continued after a lapse of a predetermined time from the one-step stop, the aforementioned posture changing operation is automatically resumed. The operator can easily recognize the horizontal posture with respect to the traveling portion of the traveling vehicle 1 by the one-stop and the buzzer operation of the buzzer 390. [
16 and 17, when the operator operates the garage button 57 manually, the garage of the running vehicle 1 is changed by the pressing operation of the garage button 57 in the longitudinal direction. That is, when the garage button 57 is pressed forward, the left and right garage adjustable hydraulic cylinders 38 are operated in substantially the same direction by the same amount on the basis of the output of the garage lowering switch 66, Thereby lowering the height of the traveling base 1 relative to the ground. On the other hand, when the garage button 57 is pressed backward, the left and right garage height adjusting hydraulic cylinders 38 are operated at substantially the same amount in the same direction at the same time on the basis of the output of the garage lift-up switch 65, So that the height of the running vehicle 1 relative to the ground surface is increased. As a result, the garage of the combine is changed to the desired height by the operator while maintaining the forward, backward, left and right inclined positions of the running vehicle 1. [
On the other hand, when the operator releases the finger from the garage button 57, the garage button 57 is returned to its initial position by a biasing spring or the like (not shown) of a spring. At this time, do. It is possible to reduce the damage of the cutting device 3 or the like due to contact with the road surface due to loading and unloading of the track carrying the combine into the load carrier, In addition, even on a steeply traveling road surface such as a tread, it is possible to simply move while preventing the combine from being turned or the like.
As is apparent from the above description and FIGS. 6 to 10, 14, 16 and 17, according to the embodiment, the traveling vehicle 1 supported by the right and left traveling sections 2, the traveling vehicle 1 A pitching actuator 177 for changing the inclined postures in the forward and backward directions of the traveling vehicle 1 and a control unit for controlling the driving of the actuators 38 and 177 The controller 371 is provided with a pair of attitude data ML and MR relating to the attitude of each of the traveling parts 2 on the traveling vehicle 1 And the controller 371 determines whether or not the attitude of the traveling vehicle 1 can be changed by the actuators 38 and 177 based on the attitude data ML and MR, Limits the movable ranges of the actuators (38, 177) based on the data (ML, MR) . Therefore, it is no longer necessary to operate the actuators 38, 177 up to the limit of movement to cause twisting in the traveling vehicle 1, or to make the traveling vehicle 1 in an extreme posture, Attitude control can be realized.
In the attitude data ML and MR, the normal ranges AR2 and AR4 which are the attitude ranges which can be adopted normally and the limiting ranges AR1, AR3 and AR5 to AR7 which are the forward and backward inclination ranges on the upper and lower sides of the car are prescribed And the controller 371 determines whether or not the posture of the traveling vehicle 1 is changed by the combination of the limiting ranges AR1, AR3 and AR5 to AR7 of the two posture data ML and MR, It is possible to limit the range of movement of the actuators 38 and 177 and further the change of the attitude of the traveling vehicle 1 based on the combination of the limiting ranges AR1, AR3 and AR5 to AR7 of the actuators ML and MR . Therefore, it is possible to easily and surely prevent the tilting of the traveling base 1 while securing the responsiveness of the respective actuators 38 and 177, and to perform the posture changing operation of the traveling base 1 in the maximally stable state You can.
The vehicle body 1 is provided with a cover portion 51 of the steering circular handle 11 disposed on the front side of the driving seat 12 on the traveling base 1 for changing the height of the traveling vehicle 1, And a tilting operation port 56 for changing the tilt posture of the traveling vehicle 1 is provided in the steering column 46 for supporting the steering circular handle 11. The controller 371 Is notified when the operation of each of the operating members 56, 57 is prohibited when changing the attitude of the traveling vehicle 1 in the direction corresponding to the manual operation in the manual operation, the actuators 38, 177 ) Can be actively informed to the operator. As a result, the actuators 38 and 177 can be smoothly driven within a posture range in which the responsiveness of the actuators 38 and 177 can be ensured, The posture changing operation of the traveling base 1 by the manual operation of the sphere 56 can be realized in the maximum stable state.
The flowchart of Fig. 18 shows a specific control form of the elevator elevation operation (the elevation elevation operation and the elevation descent operation of Fig. 17) when the elevator button 57 is manually operated. In this case, the difference ΔHo = HRo-HLo between the values HLo and HRo of the left and right height sensors 375 and 376 at the time of starting the elevation is calculated (S01) and the left and right height adjustment hydraulic cylinders 38 are simultaneously driven in the same direction ). Subsequently, the values HLx and HRx of the left and right height sensors 375 and 376 are read again and updated (S03), and the difference ΔHx = HRx-HLx between the values HLx and HRx of the left and right height sensors 375 and 376 after the update is calculated ). Then, it is determined whether or not the absolute value of the difference? Hx -? Ho | between the difference ΔHx after the update and the difference? Ho at the start of the elevation is greater than or equal to the preset first lift reference value C1 (S05). Here, the first lift reference value C1 is set to 20 mm, for example. The first lift reference value C1 itself may be included on the lower side or on the upper side. The embodiment is the case where it is included in the upper side. If the absolute value | Hx -? Ho | is equal to or greater than the first lift reference value C1 (S05: yes), the height adjustment hydraulic cylinder 38 on the side which has advanced in the moving direction is stopped (S06). If it is less than the first lift reference value C1 (S05: no), the process proceeds to step S11 described later.
After the step S06 in which the height control hydraulic cylinder 38 on the side which has advanced in the moving direction is stopped, the values HLx and HRx of the left and right height sensors 375 and 376 are read and updated again (S07) (375, 376) The difference ΔHx = HRx-HLx between the values HLx and HRx is calculated (S08). Then, it is determined whether or not the absolute value of the difference between the difference ΔHx after re-updating and the difference ΔHo at the start of elevation is larger than a second lift reference value C2 smaller than the first lift reference value C1 (S09). In the embodiment, the second lift reference value C2 is set to 10 mm, for example. The second lift reference value C2 itself may be included in the lower side or may be included in the upper side. The embodiment is the case where it is included in the upper side. When the absolute value | Hx -? Ho | is equal to or greater than the second lift reference value C2 (S09: yes), the control unit 11 resumes driving of the vehicle height control hydraulic cylinder 38 during stoppage (S10). Then, if manual operation of the garage button 57 is completed (S11: yes), both the left and right garage height adjustment hydraulic cylinders 38 are stopped (S12). If manual operation is being continued (S11: no), the flow returns to step S03.
On the other hand, returning to step S09, when the absolute value | Hx -? Ho | is less than the second lift reference value C2 (S09: no), the values of the height sensors 375 and 376 corresponding to the height- (S13: yes), the routine goes to step S10 to restart the stoppage of the stoppage of the stoppage of the vehicle. If the threshold value has not been reached (S13: no), it is determined whether manual operation of the garage button 57 has been completed (S14). If the manual operation is ended (S14: YES), the process proceeds to step S12 to stop the left and right height adjustment hydraulic cylinders 38 at both ends. If manual operation is being continued (S14: no), the flow returns to step S07.
Figs. 19 (a) to 19 (d) schematically show the ascending and descending operations when the load on the left traveling crawler 2 side is large. 19A shows a case where the absolute value | Hx -? Ho | is equal to or more than the first lift reference value C1 during the lifting operation. Here, first, the right garage height-regulating hydraulic cylinder 38 corresponding to the side advancing in the moving direction, that is, the height side is stopped, and the left garage height-regulating hydraulic cylinder 38 continues the extension operation (see steps S05 and S06) . 19 (b) shows a case where the absolute value | Hx -? Ho | becomes equal to or greater than the second lift reference value C2 after stopping the right height adjustment hydraulic cylinder 38. Since the height of the left traveling crawler 2 side of the running vehicle 1 is excessively high compared to the height of the right traveling crawler 2 side by the left garage height regulating hydraulic cylinder 38 during the driving, The right garage height regulating hydraulic cylinder 38 is again driven to extend the two garage height regulating hydraulic cylinders 38 (see steps S09 and S10).
19 (c) shows a case where the absolute value | Hx -? Ho | is equal to or more than the first lift reference value C1 during the down operation. Here, first, the left garage height regulating hydraulic cylinder 38 corresponding to the side advancing in the moving direction, that is, the lower height side is stopped, and the right garage height regulating hydraulic cylinder 38 continues the shortening operation (see steps S05 and S06) . 19 (d) shows a case where the absolute value | Hx -? Ho | becomes equal to or greater than the second lift reference value C2 after the left garage height adjustment hydraulic cylinder 38 is stopped. Since the height of the right traveling crawler 2 side of the running vehicle 1 is excessively lower than the height of the left traveling crawler 2 side by the right side height control hydraulic cylinder 38 in which driving is continued The left garage-height control hydraulic cylinder 38 is restarted to short-operate both the height control hydraulic cylinders 38 (see steps S09 and S10).
18 and 19, according to the embodiment, the traveling vehicle 1 supported by the right and left traveling sections 2, and the traveling vehicle 1 which changes the tilted postures in the lateral direction of the traveling vehicle 1 A pair of rolling actuators 38, a pair of pitching actuators 177 for changing the tilted postures in the forward and backward directions of the traveling vehicle 1, And the left and right pitching sensors 382a and 382b for detecting the back and forth tilting angles in the left and right sides of the traveling vehicle 1, The absolute value of the difference between the difference ΔHx of the values of the left and right height sensors 375 and 376 at present and the difference ΔHo between the values of the left and right height sensors 375 and 376 at the time of starting the elevation | DELTA Hx - DELTA Ho | exceeds the preset first lift reference value C1 The rolling actuator 38 on the side which has first traveled in the moving direction is stopped and the driving of the other one of the rolling actuators 38 is continued so that the left and right garages of the traveling vehicle 1 are lifted The rolling actuator 38 on the side which has first traveled in the moving direction is once stopped. Therefore, regardless of the magnitude of the load applied to the pair of rolling actuators 38, the height of the running vehicle 1 is raised and lowered while maintaining the left and right tilting angles of the running vehicle 1 as constant as possible .
If the absolute value of the difference | [Delta] Hx - [Delta] Ho | exceeds the second lift reference value C2 that is smaller than the first lift reference value C1 after stopping the one of the rolling actuators 38, So that the right and left tilting angles of the traveling vehicle 1 can be maintained as constant as possible while absorbing the influences of the magnitude of the load applied to the both rolling actuators 38 smoothly, 1 can be raised and lowered, so that the effect of stabilizing the elevating operation of the traveling vehicle 1 is obtained.
When the value HLx, HRx of the height sensors 375, 376 corresponding to the other rolling actuator 38 reaches the limit value after the one rolling actuator 38 is stopped, the one rolling actuator 38), it is possible to drive the both rolling actuators 38 even in an exceptional situation in which the vehicle does not exceed the second lift reference value C2 and reaches the left or right upper garage upper limit or the lower garage lower limit, So that it is possible to realize the elevation control of the garage smoothly coped with.
The flow chart of Fig. 20 shows a specific control state of the forward and backward inclination operation (the forward inclination operation and the backward inclination operation of Fig. 17) when the posture control lever 56 is operated in the longitudinal direction in the longitudinal direction. In this case, the difference ?? o =? Ro-? Lo between the values? Lo and? Ro of the left and right pitching sensors 382a and 382b at the start of the forward and backward inclination is calculated (S21), and the difference? After the zero point correction is executed (S22), the left and right front and rear hydraulic cylinders 177 are simultaneously driven in the same direction (S23). Subsequently, the values? Lx and? Rx of the left and right pitching sensors 382a and 382b are read again and updated (S24), and the difference ?? x =? Rx-? Lx between the values? Lx and? Rx of the left and right pitching sensors 382a and 382b after the update is calculated ). Then, it is determined whether or not the absolute value of the difference between the difference Δθx after the update and the difference Δθo at the start of the forward and backward inclination is greater than or equal to a preset first tilting reference value φ1 (S26). Here, the first inclination reference value 1 is set to 3 degrees, for example. The first inclination reference value? 1 itself may be included on the lower side or on the upper side. The embodiment is the case where it is included in the upper side. If the absolute value [Delta] [theta] x - [Delta] [theta] o is equal to or greater than the first slope reference value [phi] 1 (S26: yes), the front and rear driving hydraulic cylinders 177 in the moving direction are stopped (S27). If it is less than the first tilt reference value 1 (S26: no), the process proceeds to a step S32 described later.
After the step S27 in which the front and rear driving hydraulic cylinders 177 on the side which has advanced in the moving direction is stopped, the values? Lx and? Rx of the left and right pitching sensors 382a and 382b are read and updated (S28) The difference ?? x =? Rx-? Lx between the values? Lx and? Rx of the sensors 382a and 382b is calculated (S29). Then, it is determined whether or not the absolute value of the difference DELTA [theta] x after re-updating and the difference DELTA [theta] o at the start of the longitudinal slope is greater than or equal to the second slant reference value [phi] 2 smaller than the first slant reference value 1 (S30). In the embodiment, the second inclination reference value 2 is set to 2 degrees, for example. The second inclination reference value? 2 itself may be included in the lower side or may be included in the upper side. The embodiment is the case where it is included in the upper side. If the absolute value [Delta] [theta] x - [Delta] [theta] o is equal to or greater than the second slant reference value [phi] 2 (S30: yes), the front and rear light hydraulic cylinders 177 are restarted (S31). Then, if the manual operation of the posture manipulation lever 56 is completed (S32: yes), both the left and right front and rear use hydraulic cylinders 177 are stopped (S33). If manual operation is to be continued (S32: no), the flow returns to step S24.
On the other hand, if it is determined in step S30 that the values of the pitching sensors 382a and 382b corresponding to the driven and driven hydraulic cylinders 177 during driving are not equal to the threshold value < RTI ID = 0.0 & (S34: YES), the routine proceeds to step S31 to restart the stopping hydraulic cylinders 177 in the stopped state. If the threshold has not been reached (S34: NO), it is determined whether manual operation of the posture manipulation lever 56 has been completed (S35). If the manual operation is completed (S35: yes), the process proceeds to step S33, and both the left and right front and rear hydraulic cylinders 177 are stopped. If the manual operation is being continued (S35: no), the flow returns to step S28.
Figs. 21 (a) to 21 (d) schematically show the back and forth tilting operation when the load on the left traveling crawler 2 side is large. 21 (a) shows a case in which the absolute value | ?? x-?? o | during the forward tilting operation is equal to or greater than the first tilting reference value? 1. In this case, first, the right and left front and rear hydraulic cylinders 177 corresponding to the side advancing in the moving direction, that is, the side having the larger forward inclination angle are stopped, and the left and right rear hydraulic cylinders 177 continue the extension operation S26, S27). 21 (b) shows a case in which the absolute value [Delta] [theta] x - [Delta] [theta] o becomes equal to or greater than the second slope reference value [phi] 2 after stopping the right front and rear driving hydraulic cylinder 177. [ Here, the forward tilting angle of the left traveling crawler 2 side of the running vehicle 1 by the left and right front and rear hydraulic cylinders 177, which is being driven continuously, is in excess of the forward tilting angle of the right traveling crawler 2 side The front right and rear hydraulic cylinders 177 are restarted to extend the both front and rear hydraulic cylinders 177 (see steps S30 and S31).
21 (c) shows a case in which the absolute value | ?? x-?? o | is greater than or equal to the first tilting reference value? 1 during the backward tilting operation. In this case, first, the left and right front and rear hydraulic cylinders 177 corresponding to the side advancing in the moving direction, that is, the side having the larger rear inclination angle, are stopped, and the right front and rear driving hydraulic cylinders 177 continue the shortening operation S26, S27). 21 (d) shows a case in which the absolute value [[Delta] xx - [Delta] [theta] o) becomes equal to or greater than the second slope reference value [phi] 2 after the left front and rear driving hydraulic cylinder 177 is stopped. Here, the backward inclination angle of the right traveling crawler 2 side of the running vehicle 1 by the right front and rear driving hydraulic cylinders 177, which is being driven continuously, is far exceeded by the backward inclination angle of the left traveling crawler 2 side The rear left and right rear hydraulic cylinders 177 are driven again to short-circuit both front and rear hydraulic cylinders 177 (see steps S30 and S31).
As is apparent from the above description and Figs. 20 and 21, according to the embodiment, when the forward and backward inclination angles of the traveling base 1 are changed by manual operation, the values of the left and right pitching sensors 382a and 382b Of the difference between the difference DELTA [theta] x of the left and right pitching sensors 382a and 382b at the start of the front and rear tilt exceeds the preset first slant reference value 1, The pitching actuator 177 on one side is stopped and the driving of the other pitching actuator 177 is continued. Therefore, the difference between the front-rear inclination angles in the running vehicle 1 is smaller than the difference between the front- The pitching actuator 177 on the side which has first traveled in the moving direction is once stopped. Therefore, regardless of the magnitude of the load applied to the pair of pitching actuators 177, the inclination angles of the running vehicle 1 are kept as constant as possible, Can be changed.
If the absolute value of the difference | [Delta] xx - [Delta] [theta] o | exceeds the second slant reference value [phi] 2 smaller than the first slant reference value [phi] 1 after stopping the pitching actuator 177, the one pitching actuator 177 The tilting angle of the running vehicle 1 is kept as constant as possible while absorbing the influence of the load applied to the both-pitching actuators 177 smoothly while the driving vehicle 1 The inclination angle of the front and rear of the traveling vehicle 1 can be changed, and the effect of stabilizing the forward and backward inclination of the traveling vehicle 1 is obtained.
When the value? Lx,? Rx of the pitching sensors 382a, 382b corresponding to the other pitching actuator 177 reaches the limit value after the one pitching actuator 177 is stopped, the one pitching actuator 177 So that it is possible to drive the both pitching actuators 177 even in an exceptional situation in which the forward inclination limit or the backward inclination limit is reached without exceeding the second inclination reference value 2 Thereby achieving the effect of realizing the front-back tilt control to reliably and smoothly cope with.
The flowchart of Fig. 22 shows a concrete control state when the value of the left and right tilt sensor 374 suddenly changes in the left and right tilt control (the left tilt operation and the right tilt operation in Fig. 17). It is assumed that a slope operation prohibition flag F to be described later is set to a reset state (F = 0) at the start of execution of the slope control. When the back switch 391 is in the ON state (S41: yes) and the octagonal sensor 392 detects that the steering circular handle 11 is deviated from the neutral state in which the steering circular handle 11 is hardly operated (S42: YES) The operation of changing the right and left inclined posture of the running vehicle 1 by the automatic control of the height control hydraulic cylinder 38, that is, the right and left inclination control is prohibited (S43) because the base 1 is turning back to either side, . When the back switch 391 is in the off state (S41: no) or the steering circular handle 11 is in the neutral state (S42: no), the process proceeds to the step S44, . Further, in the embodiment, the angular range of the neutral state of the steering circular handle 11 is set to be about 15 degrees (a total of 30 degrees) left and right across the neutral position. The pivotable range of the steering circular handle 11 is set to be about 135 degrees in the right and left directions with the neutral position in between.
In step S44, the value? (X) of the left and right tilt sensor 374 is appropriately read every short time. Next, the absolute value |? (1) -? (2) | of the difference between the value of the left and right tilt sensor 374 read first and the value of the left and right tilt sensor 374 read out later It is determined whether or not it is equal to or greater than the set left-right inclination threshold value Λ (S45). The left-right inclination threshold value Λ of the embodiment is set at, for example, 3.5 °. In addition, the left-right inclination threshold value? Itself may be included in the lower side or the upper side. The embodiment is included in the upper side.
If the absolute value |? (1) -? (2) | is equal to or greater than the left-right tilt threshold value? (S45: yes), the right-left inclined posture of the running vehicle 1 is suddenly changed, It is interpreted that the left and right tilt sensor 374 is excessively detected, and if the left and right tilt control is continued in this way, the ride feeling of the traveling vehicle 1 is deteriorated due to the posture change (hunting operation) I think. Therefore, when the slope prohibition flag F is in the reset state (F = 0) (S46: yes), the operation of changing the left and right tilt postures of the traveling vehicle 1 by the automatic control of the height- (S47). The slope operation prohibition flag F is for judging whether or not the slope operation of the traveling body 1 is forcibly prohibited during the tilt control so far. After prohibiting the left-right tilt operation, the tilt operation prohibition flag F is set to the set state (F = 1), and then the process returns to step S44. When the tilt operation prohibition flag F is set (F = 1) in step S46 (S46: no), the process returns to step S44.
When the slope operation prohibition flag F is in the reset state (F = 0) (S49: NO) when the absolute value |? (1) -? (2) | is less than the left- yes) The left or right height control hydraulic cylinder 38 is operated to change the posture of the traveling vehicle 1 in the left or right side inclination direction (S50). In this case, when the running vehicle 1 is in the right tilted state, the left or right garage height adjusting hydraulic cylinder 38 is operated to raise the right side of the running vehicle 1 or lower the left side of the running vehicle 1, (1) in the left-side oblique direction. The left or right garage height adjusting hydraulic cylinder 38 is operated to lower the right side of the traveling vehicle 1 or to raise the left side of the traveling vehicle 1 so that the traveling vehicle 1 can be raised, The posture is changed in the right oblique direction. The running vehicle 1 is supported in a right-left inclined angle attitude (horizontal attitude with respect to the ground) set by the left-right inclination setter 377. [
If the tilt operation prohibition flag F is in the set state (F = 1) (S49: no) in step S49, the transient time T is not being counted (S51: no). When the transient time T has elapsed for the first predetermined time T1 or more (S53: yes), the left and right tilting motions are once inhibited. However, the left and right tilting motions of the running vehicle 1 have been gradually changed for a relatively long time, It is interpreted that the value of the inclination sensor 374 is stably detected for a relatively long period of time. Therefore, the inclination prohibition flag F is set to the reset state (F = 0) (S54) (Returns from the prohibited state). If the transient time T is less than the first set time T1 (S53: no), the flow returns to step S44. The set time To itself used in step S53 may be included in the lower side or in the upper side. But is included in the upper side in the embodiment.
22, according to the embodiment, there are provided a traveling vehicle 1 supported by the left and right traveling portions 2, and a pair of left and right traveling vehicles 1, A pair of pitching actuators 177 for changing the inclination postures in the forward and backward directions of the traveling vehicle 1 and right and left inclination sensors 374 for detecting the inclination angle of the traveling vehicle 1 in the left- And a forward / backward inclination sensor 381 for detecting an inclination angle in the forward / backward direction of the traveling base 1, wherein the working vehicle 1 is a working vehicle, (1) -? (2) | of the difference between the current value of the left and right tilt sensor 374? (2) and the value of the right and left tilt sensor 374 immediately before it is? (1) Is configured to inhibit the left-right tilt control when the threshold value? The left and right inclination posture of the running vehicle 1 is suddenly changed due to inclination of the packaging surface or the vibration of the traveling vehicle 1 while the vehicle is traveling, It is possible to inhibit the right-left inclination control in conjunction with the occurrence of the abrupt change state. Therefore, it is possible to suppress the attitude change (hunting operation) of the traveling vehicle 1 excessively in the lateral direction, thereby improving the ride comfort of the traveling vehicle 1.
The absolute value of the difference |? (1) -? (2) | after the absolute value of the difference |? (1) -? (2) | once exceeds the left and right tilt threshold? (See steps S50 to S53), the left / right tilt control is performed by the occurrence of the steep changing state, so that the left / right tilt control is performed The operator can return to the left and right tilting control automatically and smoothly without wasting unnecessary labor (operation) when the rapid change state is canceled even after the prohibition is made, thereby reducing the burden on the operator.
In addition, while allowing the execution of the left-right tilting control at the time of forward and reverse advancing including the left-right turning of the running vehicle 1, while allowing the right-left tilting control at the time of turning back of the running vehicle 1 (See steps S41 to S43), the left and right inclined postures of the traveling vehicle 1 can be held horizontally with respect to the ground even when only the traveling section 2 on one side is raised during backward movement, for example, The workability in the vehicle can be improved. When the above-described structure is applied to, for example, a combine as a working vehicle, it is possible to improve the workability of the slitting work by the combine. Further, since the control of the left and right tilt is prohibited when the traveling vehicle 1 is turned backward, there is no possibility that the behavior of the traveling vehicle 1 becomes unstable at the time of the backward turning.
However, in the embodiment, in the case where the value of the forward / backward inclination sensor 381 abruptly changes in the forward / backward inclination control (the forward inclination operation and the backward inclination operation in Fig. 17) It is also possible to control the forward / backward inclination control to be prohibited for preventing the hunting operation in the forward / backward direction of the vehicle. The flow chart of Fig. 23 shows a concrete control state when the value of the forward / backward inclination sensor 381 abruptly changes in the forward / backward inclination control (forward inclination operation and backward inclination operation of Fig. 17). When the back switch 391 is turned on (S61: yes) and the octagonal sensor 392 detects that the steering circular handle 11 is deviated from the neutral state in which the steering circular handle 11 is hardly operated (S62: yes) The forward / backward inclination control of the running vehicle 1 by the automatic control of the forward / rearward use hydraulic cylinder 177 is prohibited since the base 1 is being turned to either the left or the right while being backward (S63 ). When the back switch 391 is in the off state (S61: no) or the steering circular handle 11 is in the neutral state (S62: no), the process proceeds to step S64, .
In step S64, the value? (X) of the forward / backward inclination sensor 381 is read appropriately every short time. Next, the absolute value |? (1) -η (2) | of the difference between the value? (1) of the front and rear inclination sensor 381 read first and the value? (2) It is determined whether or not it is equal to or greater than the set front / rear slope threshold value H (S65). The forward and backward inclination threshold values H of the embodiment are set at, for example, 3.5 degrees. Further, the front-rear inclination threshold value H itself may be included in the lower side or in the upper side. The embodiment is included in the upper side.
If the absolute value |? (1) -? (2) | is equal to or greater than the forward / backward slope threshold value H (S65: yes), the front / rear inclined posture of the running vehicle 1 is suddenly changed, or due to the vibration of the traveling base 1 It is interpreted that the forward / backward inclination sensor 381 is excessively detected, and if the forward / backward inclination control is continued in this way, the running vehicle 1 is excessively changed in posture direction (hunting operation) I think. Therefore, when the inclination prohibition flag F is in the reset state (F = 0) (S66: yes), the changing operation of the inclination posture of the running vehicle 1 by the automatic control of the hydraulic cylinders 177 before and after, The control is prohibited (S67). After the forward / backward tilting operation is inhibited, the tilting operation prohibition flag F is set to the set state (F = 1) and the processing returns to step S64. If the tilt operation prohibition flag F is set (F = 1) in step S66 (S66: no), the process returns to step S64.
When the slope operation prohibition flag F is in the reset state (F = 0) (S69: No) when the absolute value |? (1) -? (2) | is less than the forward / yes), the left and right front and rear hydraulic cylinders 177 are operated to change the attitude of the traveling base 1 in the forward or backward inclination direction (S70). That is, the rear side of the running vehicle 1 inclined rearward is raised, or the rear side of the running vehicle 1 inclined forward is lowered. The traveling base 1 is supported by a forward and backward inclination setter 383 in a forward and backward inclined angle attitude (horizontal attitude with respect to the ground).
If the tilt operation prohibition flag F is not set (F = 1) (S69: no) in step S69, the transient time T is not being counted (S71: no). If the transient time T has elapsed more than the preset second set time T2 (S73: yes), the forward and backward inclination operation is prohibited. However, if the forward and backward inclination posture of the running vehicle 1 has changed slowly for a relatively long time, It is interpreted that the value of the forward / backward inclination sensor 381 is stably detected for a relatively long time. Therefore, the inclination prohibition flag F is set to the reset state (F = 0) (S74) (Returns from the prohibited state). If the transient time T is less than the second set time T2 (S73: no), the process returns to step S64.
As is clear from the above description and Fig. 23, during the execution of the forward / backward inclination control for changing the forward / backward inclination posture of the traveling vehicle 1, the present value of forward / backward inclination sensor 381 (2) The inclination control is prohibited when the absolute value of the difference between the sensor 381 value eta (1) | eta (1) - eta (2) | exceeds the preset forward / backward inclination threshold value H (steps S65 to S67 The inclination posture of the running vehicle 1 is suddenly changed due to, for example, the inclination of the packaging surface or the vibration of the traveling vehicle 1 while the vehicle is running, or the overturning sensor 381 is excessively detected The forward / backward tilt control can be prohibited in conjunction with the occurrence of the rapid change state. Therefore, it is possible to suppress the attitude change (hunting operation) of the traveling vehicle 1 excessively in the front-rear direction, thereby improving the ride comfort of the traveling vehicle 1.
The absolute value of the difference |? (1) -η (2) | after the absolute value of the difference |? (1) -? (2) | exceeds the back- H is returned to the execution state of the forward / backward tilt control when a preset second set time T2 has elapsed (see steps S70 to S73), the forward / backward tilt control is performed The operator can return to the forward / backward slope control automatically and smoothly without wasting unnecessary labor (operation) when the rapid change state is canceled even after the prohibition is made, thereby reducing the burden on the operator.
In addition, when the vehicle travels forward and backward including the left and right turns of the traveling vehicle 1, execution of the forward / backward tilting control is permitted, while at the time of backward turning of the traveling vehicle 1, (See steps S61 to S63), even when only one of the traveling sections 2 on one side, for example, in the backward direction during the backward movement, is able to keep the front and rear inclined posture of the traveling base 1 horizontal with respect to the ground The workability of the work vehicle can be improved. When such a structure is applied to, for example, a combine as a working vehicle, it is possible to improve the workability of the slicing and weaving operation by the combine. Further, since the forward / backward inclination control is prohibited when the traveling vehicle 1 is turned backward, there is no possibility that the behavior of the traveling vehicle 1 becomes unstable at the time of the backward turning.
