JPH02197409A - Rolling control device for work vehicles - Google Patents

Abstract

PURPOSE:To always enable proper rolling control by regulating the operating speed of an actuator to be equal at the time of rising and lowering in a working vehicle including an actuator for rolling operation for elevating the grounding parts of right and left running devices. CONSTITUTION:Right and left crawler running devices of a combined harvester and thresher include movable frames respectively supporting plural idling wheels, and the respective movable frames are elevated by elevating cylinders 19L, 19R for rolling, thereby elevating grounding parts of running devices. In this case, the elevating cylinders 19L, 19R have a flow control valve 20 and a pilot pressure type check valve 21 connected to an oil chamber on the grounding part lowering side. An electric motor M is connected to interlock with the flow control valve 20 through a speed reducer 22, and the electric motor M is controlled by an elevation control device 100 in such a manner that the rising speed of the grounding part is substantially equal to the lowering speed thereof according to the output of a grain sensor S for detecting the storage amount of grain having an effect on the change of load.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention is provided with an actuator for rolling operation that raises and lowers the ground contact portion of at least one of left and right traveling devices provided on a vehicle body, and a horizontal reference a tilt angle detection means for detecting a left-right tilt angle of the vehicle body with respect to a horizontal reference plane or the ground; and a tilt angle detection means for detecting a left-right tilt angle of the vehicle body with respect to a horizontal reference plane or the ground, and in order to maintain the tilt angle, based on detection information of the tilt angle detection means. The present invention relates to a rolling control device for a work vehicle, which is provided with a control means for operating the actuator for rolling operation.

[Conventional technology]

Conventionally, in this type of rolling control device for a work vehicle, when the control device operates the actuator for rolling operation, it applies drive energy to the actuator both when raising and lowering the ground contact part of the traveling gear. It was common to apply them equally to make them work. For example, in a combine harvester, which is an example of a work vehicle, hydraulic oil is equally supplied to the lifting cylinder as an actuator, whether the ground contact part of the crawler traveling device is raised or lowered relative to the vehicle body. This caused the telescopic movement (see Japanese Patent Laid-Open No. 63-209510).

[Problem to be solved by the invention]

In order to appropriately perform rolling control, it is desirable that the ground contact portion of the traveling device be raised and lowered at the same speed.

However, since the weight of the vehicle body is always applied to the left and right traveling devices, conventional rolling control devices that equally apply drive energy to the actuators have the disadvantage that the upward speed is faster than the downward speed.

By the way, if the ascending speed is set to the appropriate speed, the descending speed will be slower than the proper speed, resulting in a control delay, and if the descending speed is set to the proper speed, the ascending speed will be slower than the proper speed. If the speed becomes too fast, hunting may occur, resulting in a disadvantage.

The present invention has been made with these points in mind, and it is an object of the present invention to provide a rolling control device for a working vehicle that can equalize the rising speed and the descending speed of the ground-contacting portion and properly perform rolling control.

[Means to solve the problem]

A first characteristic configuration of the rolling control device for a work vehicle according to the present invention is that a speed changing means for changing the operating speed of the actuator for rolling operation is provided, and the control means includes:
A feature of the present invention is that the speed changing means is configured to adjust the speed changing means so that the rising speed and the falling speed of the ground contact portion are the same or approximately the same.

A second characteristic configuration specifies an improved configuration of the first characteristic configuration, in which weight detection means for detecting the weight of the vehicle body is provided, and the control means controls the elevation speed of the ground contact area. It is characterized in that the speed changing means is configured to adjust the speed changing means based on the detection information of the weight detecting means so as to maintain the speed constant or substantially constant.

[For production]

According to the first feature, the control means adjusts the speed changing means so that the rising speed and the falling speed of the ground contact portion of the traveling device are the same or substantially the same.

According to the second characteristic configuration, in addition to the effects of the first characteristic configuration, the following effects are obtained. The weight detecting means detects the weight of the vehicle body, and the control means adjusts the speed changing means based on this detected information to maintain the vertical speed of the ground-contacting portion of the traveling device at a constant or approximately constant level.

〔Effect of the invention〕

According to the first characteristic configuration, the rising speed and the descending speed of the ground contact portion of the traveling device are the same or approximately the same, so that rolling control can be performed appropriately without causing control delay or hunting.

According to the second characteristic configuration, the lifting speed of the ground contact portion of the traveling device is maintained constant or substantially constant based on the information from the weight detection means, so that rolling control can be performed appropriately even if the weight of the vehicle body changes.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

What is shown in FIG. 3 is a combine harvester, which is an example of a work vehicle. This combine harvester consists of a pulling device (1) that raises the planted shell culm at the front, a reaping device (2) that reaps the raised shell culm, and a rear section that transports the cut shell culm toward the rear threshing device (3). A reaping pretreatment device (5) having a conveyance device (4) etc. is connected to a pair of left and right crawler traveling devices (6L),
(6R) A hydraulic lifting cylinder (28
) so that it can swing vertically around the horizontal support shaft (X).

A grain tank (T) for storing threshed grains is provided on the side of the threshing device (3). Inside this grain tank (T), as shown in Figure 1,
In order to detect the level of stored grains, a plurality of pressure-sensitive grain sensors (S) (corresponding to the weight detection means in the claims) are provided at predetermined intervals above and below.

Next, the mounting structure of the left and right crawler traveling devices (6L) and (6R) to the traveling body (7) will be explained.

As shown in Fig. 2, a plurality of horizontal frames (lO) are installed below the main frame (9) at predetermined intervals along the front and back direction, and left and right tracks are installed at both ends of these horizontal frames (10), respectively. The frames (11) are connected and fixed, respectively, and together constitute the frame portion of the traveling body (7). A drive sprocket (12) that provides driving force to the crawler (8) and a tension sprocket (13) that provides tension are provided at the front and rear of each of these track frames (11). The track frame (11) is formed in the shape of a downwardly open channel, and within the open space there are a pair of front and rear movable frames (15A) that pivotally support a plurality of free wheel bodies (14).

(15B) is attached so that it can be moved in parallel. However, the front and rear movable frames (15A) and (15B) are connected to form one frame. A large-diameter idler wheel (16) that is vertically swingable with respect to the track frame (11) is supported at an intermediate position of the group of idler wheels (14).

In addition, the front and rear movable frames (15A), (15B)
Each has a front and rear bell crank (17A) pivotally supported on the track frame (11) so as to be able to swing vertically.

(17B) are connected to each other, and the upper parts of these front and rear bell cranks (17A) and (17B) are connected to the connecting rod (17B).
8). Rear bell crank (17B)
At the upper end of the is a lifting cylinder (19L) for rolling.
, (19R) are connected.

As shown in FIG. 1, the lifting cylinder (19L).

(19R) A flow control valve (20) and a pilot pressure type check valve (21) are connected to the oil chamber to which pressure oil is supplied when lowering each grounding part, and these valves (20), (
21) for control via a three-position solenoid valve (
VL), (VR) is the lifting cylinder (19L).

Elevation control device (100) connected to (19R) and unitized with these three-position switching type electromagnetic valves (VL) and (VR) as a microcomputer (corresponding to the control means in the claims) The operation is controlled by In addition, each flow control valve (20)
is connected to an electric motor (M) via a speed reducer (22), and this electric motor (M) is connected to an elevator control device (1).
The operation is controlled by 00). A volume type flow rate sensor (30) that detects the opening degree of the flow rate control valve (29) is attached to the output part of the speed reducer (22), and the output signal of this flow rate sensor (30) is used to control the elevation. It is configured to be output to the device (100). Further, the output signal of the grain sensor (S) is transmitted to the elevator control device (10).
0). In the figure, (P
) is the hydraulic pump, (E) is the engine, and (MC) is the transmission case. In this example, the flow control valve (
20), the electric motor (M), and the flow rate sensor (30) constitute the speed changing means (50) in the claims.

With this configuration, when a lift command is issued from the lift control device (100) to the control valves (VL), (VR) and the lift cylinders (19L), (19R) operate to extend or contract, the front and rear bell cranks (17A), (17B) swing together, the front and rear movable frames (15A) and (15B) move up and down by the same amount in the same direction, and the left and right crawler traveling devices (
The heights of 6L) and 6R relative to the traveling body (7) are changed. Further, an operation command is issued from the lift control device (100) to the electric motor (M), and the electric motor (M) is driven to control the flow rate control valve (20), thereby controlling the lift cylinders (19L), (19R). ) so that the actual speed of expansion and contraction changes.

The weight of the traveling body (7) is a lifting cylinder (19L).

(19R), so when the lifting cylinders (19L) and (19R) are contracted, in other words, the crawler traveling device (6L) and (6R) are
), the contraction speed will be faster than the appropriate speed, and the lifting cylinder (19L),
When (19R) is extended, that is, when the ground contact portions of the crawler traveling devices (6L) and (6R) are lowered, a phenomenon occurs in which the extension speed becomes slower than the appropriate speed. Moreover, this phenomenon tends to become more pronounced as the weight of the traveling aircraft (7) increases.

Therefore, when contracting the lifting cylinders (19L) and (19R) to raise the ground contact area, reverse the electric motor (M) and close the flow control valve (2o) a little more than the initial setting. to maintain the lifting operation speed of the ground contact part at an appropriate speed. At that time, the upper grain sensor (
When the output signal from S) is input and it is determined that the weight has increased, the flow I control valve (20) is further closed to maintain the rising speed at an appropriate speed.

In addition, when extending the lifting cylinders (19L) and (19R) to lower the ground contact area, the electric motor (M)
is rotated in the normal direction to open the flow control valve (20) a little more than the initial setting opening degree, thereby maintaining the lowering operation speed of the grounding part at an appropriate speed. At this time, if an output signal from the upper grain sensor (S) is input and it is determined that the weight has increased, the flow rate control valve (20) is further opened to maintain the set speed.

In this way, the ascending and descending speeds of the ground-contacting part are controlled to be the same or at the same distance, and furthermore, the ascending and descending speed of the ground-contacting part is controlled to be constant or approximately constant regardless of the amount of stored grains. It is carried out. FIG. 4 shows the relationship between the information detected by the grain sensor (S) and the flow rate of the flow rate control valve (20) required to maintain the speed and rate at the set speed during the ascending and descending operations. is shown, and this relationship is the elevation control device (1
00) is stored in advance. That is, the elevation control device (100) calculates the opening correction amount of the flow rate control valve based on the lifting operation information and weight information of the grounded part, and corrects the opening based on the opening correction amount. Electric motor (M)
will be activated.

As shown in FIG. 5, the operating section of the traveling body (7) includes a mode changeover switch (SW) for switching between manual mode and automatic mode, and a lift control device (100) for lifting and lowering the ground contact area. Cross lever (23) for issuing commands
) etc. are provided. The cross lever (23) is swingable back and forth, left and right, and is biased to return to the neutral position, as shown in FIG. 6. As shown in FIG. ), down switch (2
3b), a left-tilt switch (23c), and a right-tilt switch (23d) are operated to issue a lift command. In other words, in the neutral position, all switches (23
If the lift switch (23a) is operated by moving forward from the neutral position and the lift switch (23a) is operated, the lift control device (100) will raise both ground contact parts and move the traveling aircraft (7). It enters the descending command state where a descending operation command is issued, and the descending switch (
23b), the lift control device (100) will be placed in a lift instruction state in which a command is given to lower both ground contact parts and raise the traveling body (7), and by operating it to the left from the neutral position, the left tilting switch will be activated. If you operate (23c), the traveling aircraft (
7) to the left, and if the right tilt switch (23d) is operated from the neutral position to the right, the vehicle enters a right tilt instruction state in which the traveling body (7) is tilted to the right.

As shown in Figures 2 and 6, the front and rear bell cranks (1
Limit switches (LSWI) and (LSW2) are provided at both swing end positions of 7A) and (17B), and the rear bell crank (17B) and the rolling lifting cylinders (19L) and (19R) are at the movable stroke end. The purpose is to detect whether this has been reached. Here, a crawler traveling device (6L) is provided for the traveling body (7).

The limit switch that detects the state in which (6R) comes to the farthest position is called the upper limit switch (LSWI), and the limit switch that detects the state in which it comes to the closest position is called the lower limit switch (LSW2). ).

The detection result by (LSW2) is the elevator control device (100)
It is now entered into

As shown in FIG. 6, inclination angle detection means (24) for detecting the left and right inclination angles of the traveling body (7) is provided. This inclination angle detection means (24) is mainly composed of a weight that can swing left and right and a potentiometer that detects the swing position of the weight, and the detected information is transmitted to the elevation control device (
100). Further, as shown in FIG. 5, a tilt setting device (25) using a volume is provided to set a target tilt angle of the traveling body (7), and this setting information is input to the elevation control device (100). It has become so.

Therefore, in the automatic mode, the elevation control device (100) controls the inclination setting device (25) based on the inclination angle detection information.
It functions as an elevation control means that instructs an elevation command to maintain the target inclination angle set in . However, even in the manual mode, this elevation control device (100) instructs the elevation command based on the instruction information of the cross lever (23), and also in the automatic mode, it instructs the elevation control device (100) to tilt the cross lever (23) to the left. It also functions as a control means for manual operation that instructs a lift command based on the instruction information and the right tilt instruction information.

Here, we will add an explanation of the elevation control in automatic mode.

Elevation control in automatic mode basically involves determining the difference (declination angle) between the detected value of the inclination angle detection means (22) and the target inclination angle (hereinafter simply referred to as set value) determined by the inclination setting device (25). Then, perform rolling control by raising and lowering the ground contact parts of the left and right crawler traveling devices (6L) and (6R) in a direction that reduces this difference.

For this rolling control, left and right crawler traveling devices (6
L), (6R) A descending reference lift control state (hereinafter referred to as lower limit reference mode) that brings each ground contact part closer to the traveling aircraft side, and a lower limit reference mode (hereinafter referred to as lower limit reference mode), and a
), (6R) There is an upper limit reference elevation control state (hereinafter referred to as upper limit reference mode) in which each ground contact part is separated from the traveling aircraft (7), and this mode switching is as follows:
This is done using the cross lever (23).

That is, in the automatic mode, if the cross lever (23) is operated forward, the lower limit reference mode will be selected, and if it is operated backward from the neutral position, the upper limit reference mode will be selected.

In the lower limit reference mode, when the left and right inclination angle of the traveling aircraft (7) is within the dead zone relative to the target inclination angle, it operates to bring the ground contact parts of the left and right crawler traveling devices (6L) and (6R) closer to the traveling aircraft side. In the upper limit reference mode, when the left and right inclination angle of the traveling body (7) is within the dead zone with respect to the target inclination angle, the left and right crawler traveling devices (6L)
, (6R) will be operated so as to separate it from the traveling body (7). In other words, in the lower limit reference mode, rolling control is performed while keeping the height of the traveling aircraft (7) as low as possible from the ground, and in the upper limit reference mode, the height of the traveling aircraft (7) above the ground is made as high as possible. However, rolling control will be performed. Note that detailed control operations in each of the lower limit reference mode and upper limit reference mode will be described later.

Incidentally, the elevation control device (100) also has a function of controlling the elevation of the pre-reaping treatment device (5) in order to maintain the cutting height at a set height. That is, as shown in FIGS. 3 and 6, an ultrasonic height above ground sensor (27) is provided near the lifting frame.
) by controlling the control valve (28A) of the lifting cylinder (28) based on the detected value of the reaping pre-treatment device (5).
Set the height above the ground (cutting height relative to the culm) using the cutting height setting device (
29) to maintain the cutting height at the set height.

(26) in FIG. 6 is a fine adjustment volume that outputs information for correcting installation error of the tilt angle detection means (24) to the traveling aircraft (7), and as described later, the volume is used for fine adjustment. The target inclination angle is set using output information as well.

The rolling control will be described in detail below while explaining the operation of the elevation control device (100) based on a flowchart. However, although the elevation control device (100) also performs processing for elevation control for setting the cutting height as described above, only rolling control will be described below.

In addition, in the figure, the # sign is also written for the number meaning the step number.

What is shown in FIG. 7 is the main flow of rolling control. First, after starting, initialize the timer and various flags. Then, for a predetermined period of time (approximately 10m5Ec)
), perform output control to write the contents of various flags to the output port, and clear the output flags. Furthermore, the output signal of the grain sensor (S) is read, and the target flow rate during the upward operation of the ground contact portion and the target flow rate during the downward operation are calculated accordingly (see FIG. 4). When the calculation is completed, output values from sensors such as the inclination sensor (24) and inclination setting device (25) are read. Next, a target inclination angle (target angle) is calculated. After the calculation is completed, output evaluation processing is executed and the process returns to step 2 (steps 1 to 10).

What is shown in FIG. 8 is a subroutine for target angle calculation processing executed in step 9. Fine adjustment volume (
A correction value is obtained from the output value of 26), and the set value of the inclination setter (25) is corrected using this correction value to set the target angle (steps 91, 92). Note that the fine adjustment volume (26) is already at the set temperature at the time of shipment.

What is shown in FIG. 9 (() and (0) is the subroutine of the output evaluation process executed in step 7. However, in the following description, each of the upper left, lower left, upper right, and lower right means the vertical running direction of the left side or right side of the traveling body (7).

The cross lever (23) is not operated to the left or right, the automatic mode is selected with the mode changeover switch (SW), the threshing switch is turned on, and the cross lever (23) is operated backwards. If so, the upper limit reference mode is set, and if the cross lever (23) has been operated before, the lower limit reference mode is set (steps 101 to 108).

In other words, the cross lever (23) used in manual mode,
In automatic mode, it is used as a switching tool for upper and lower limit reference modes.

However, if the cross lever (23) is operated to the left or right in step 11, the mode will be temporarily switched to manual mode (
Step 110). Also, whether the mode changeover switch (SW) is set to manual mode in step 103,
Alternatively, if the threshing switch is turned off in step 104, the lower limit reference mode is set and the mode is switched to manual mode (steps 109 and 110), and the process proceeds to step 161.

Illustrated in FIG. 1O is the manual mode subroutine executed in step 19. If the cross lever (23) is operated forward, the left lower solenoid output flag is set and the right lower solenoid output flag is set (steps 111 and 112), thereby lowering the vehicle height of the traveling body (7). If the cross lever (23) is operated later,
Step 113: Set the left-up solenoid output flag and set the right-up solenoid output flag.
゜114), the vehicle height of the traveling body (7) is raised. If the cross lever (23) is operated to the left, the lower left solenoid output flag is set and the upper right solenoid output flag is set (steps 115 and 116), and the traveling body (7) is tilted to the left. If the cross lever (23) is operated to the right, the left up solenoid output flag is set and the right down solenoid output flag is set (steps 117 and 118), tilting the traveling device (7) to the right.

In the automatic mode, when the lower limit reference mode or the upper limit reference mode is set, first, the declination angle is calculated by subtracting the inclination angle detected by the inclination angle detection means (24) from the target angle set in step 92 (step 119).

In the lower limit reference mode, when the polarity of the deviation is positive and rising to the left and the declination is outside the dead band, the declination is extremely large and the left lower limit switch (L
If SW2) is OFF, after executing the rising speed control program described later (step 125), the output flag of the left lower solenoid is set and the process proceeds to step 161 (steps 120 to 126). However, step 123
If it is determined that the declination angle is small and that the left lower limit switch (LSW2) is ON (step 127), or if it is determined that the left lower limit switch (LSW2) is ON in step 124. If it is determined that this is the case, after executing a descending speed control program to be described later (step 128), the output flag of the right-up solenoid is set (step 129), and the process proceeds to step 161. Further, if it is determined in step 126 that the left lower limit switch (LSW2) is OFF, the process proceeds to step 161.

In the lower limit reference mode, the polarity of the declination angle is positive and rising to the left, but if the declination angle is within the dead zone and both the left and right lower limit switches (LSW2) are OFF, the rising speed control program described below After executing the descending speed control program, set the right lower solenoid output flag and the left lower solenoid output flag and proceed to step 161. Also, if either the left or right lower limit switch (LSW2) is ON, The process directly proceeds to step 161 (steps 120-122, 130-132).

In the lower limit reference mode, when the polarity of the declination angle is negative and is rising to the right, and the declination angle is outside the dead band, even if the declination angle is significantly large and the right lower limit switch (LSW2) is OFF. For example, after executing the descending speed control program described later, set the output flag of the right lower solenoid and proceed to step 161 (step 120
．． 121°133-137). However, if it is determined in step 134 that the declination is small and it is determined that the right lower limit switch (LSW2) is OFF (step 138), or if it is determined in step 135 that the right lower limit switch (LSW2) is OFF. ) is ON, a descending speed control program to be described later is executed (step 139), and then the output flag of the left upward solenoid is set (step 140), and the process proceeds to step 161. If it is determined in step 138 that the right lower limit switch (LSW2) is OFF, the process proceeds to step 161.

In the upper limit reference mode, the declination angle is rising to the left with positive polarity, but when the declination angle is outside the dead band, the declination angle is significantly larger and the right upper limit switch (
LSWI) is ON, after executing the rising speed control program described later, the left lower solenoid output flag is set and the process proceeds to step 161 (step 120.14).
1-146).

However, it is determined in step 143 that the declination angle is small,
And the right upper limit switch (LSWI) is OFF.
(step 147), or if the right upper limit switch (LSWI) is
If it is determined that is OFF, after executing the descending speed control program described later (step 148), the output flag of the right up solenoid is set to step 1.
49), proceed to step 161. Also, step 147
If it is determined that the right upper limit switch (LSWI) is ON, the process advances to step 161.

In the upper limit reference mode, the polarity of the declination angle is positive and rising to the left, but when the declination angle is within the dead zone, both the left and right upper limit switches (LSWI) are turned OFF.
If F, after executing the descending speed control program, set the right up solenoid output flag and the left up solenoid output flag and proceed to step 161, and either the left or right lower limit switch (LSW2) is ON. If so, proceed directly to step 161 (step 120
．． 141.142.150.151.152).

In the upper limit reference mode, when the polarity of the declination angle is negative and rising to the right, and the declination angle is outside the dead band, the declination angle is extremely large and the left upper limit switch (L
SWI') is ON, after executing the rising speed control program, the output flag of the right lower solenoid is set and the process proceeds to step 161 (steps 120, 141.
153-157).

However, it is determined in step 154 that the declination angle is small;
And the left upper limit switch (LSWI) is OFF.
(step 158), or if the left upper limit switch (LSW
If it is determined that I) is OFF, after executing the descending speed control program (step 159), the output flag of the left up solenoid is set to step 16.
0), proceed to step 161. Further, if it is determined in step 158 that the left upper limit switch (LSWI) is ON, the process proceeds to step 161.

Next, as shown in Fig. 9 (b), if the left lower limit switch (LSW2) is ON, the left lower solenoid output flag is cleared and the output goes on, and if it is OFF, the left lower solenoid output is output. Leave the flag as is and proceed to the next (
Steps 161.162).

If the lower right limit switch (LSW2) is ON, clear the lower right solenoid output flag and proceed to the next step, OF
If it is F, the right-down solenoid output flag is left unchanged and the process proceeds to the next step (steps 163 and 164). If the left upper limit switch (LSWI) is ON, clear the left upper solenoid output flag and proceed to the next step; if it is OFF, leave the left upper solenoid output flag as is and proceed to the next step (
Steps 165 and 166). Right upper limit switch (
If LSWI) is ON, clear the right-up solenoid output flag and proceed to the next step; if OFF, leave the right-up solenoid output flag as is and return to the main flow (steps 167, 168).

Shown in FIG. 11 are steps 125 and 131.
, 136.145.156 is a subroutine of the rising speed control program. However, here, the rising speed of the ground contact part of the crawler traveling device (6L), (6R),
In other words, control is performed to maintain the descending speed of the traveling aircraft (7) at the set speed. First, the flow rate sensor (3
Calculate the flow rate deviation by reading the output value of 0) and subtracting it from the target flow rate value during the ascending operation calculated in step 6 (
Steps 201.202).

If the polarity of this deviation is positive and not within the dead band, then
By rotating the electric motor (M) in the forward direction by a set angle, the flow rate of the hydraulic oil is increased to the target flow rate, and the process returns to step 201. However, if the flow rate is within the dead zone, the process proceeds to the next step (steps 203 to 205). ). Also, step 203
If the polarity of the deviation is negative and not within the dead zone, the electric motor (M) is rotated in the reverse direction by a set angle to increase the flow rate of the hydraulic oil to the target flow rate, and the process returns to step 201. , if it is within the dead zone, proceed to the next step (steps 206 and 207).

Shown in FIG. 12 are steps 128 and 139.
, 148.151.159 is a subroutine of the descending speed control program. However, here, control is performed to maintain the descending speed of the ground contact portions of the crawler traveling devices (6L) and (6R), in other words, the ascending speed of the traveling body (7) at the set speed. The flow rate deviation is determined by reading the output value of the flow rate sensor (30) and subtracting it from the target flow rate value during the ascending operation calculated in step 7 (steps 211 and 212).

If the polarity of this deviation is positive and not within the dead band, then
The electric motor (M) is rotated in the normal direction by a set angle, thereby increasing the inflow amount of hydraulic oil to the target flow rate and returning to step 211, but if it is within the dead zone, proceed to the next step (steps 213 to 215). ). Also, step 213
If the polarity of the deviation is negative and not within the dead zone, the electric motor (M) is rotated in the reverse direction by a set angle to reduce the inflow amount of hydraulic oil to the target flow rate, and the process returns to step 211. , if it is within the dead zone, proceed to the next step (steps 216 and 217).

[Another example]

The electromagnetic valves (VL), (VR) are configured to be operated repeatedly between the neutral position and the operating position on the extension side or the contraction side, and the repetition period can be changed, so that the lifting cylinder (19L), ( 19R) may be adjusted.

In addition, by interposing a servo valve as a speed change means between the lifting cylinders (t9L), (19R) and the electromagnetic valves (VL), (VR), the outflow and inflow amounts are kept constant, thereby making the lifting cylinder (19L), keeping the expansion and contraction speed of (19R) constant, crawler traveling device (6L).

The rising speed and descending speed of the ground contact portion (6R) may be maintained at set speeds.

Alternatively, a load cell may be provided at the bottom of the grain tank (T) to detect the weight of the grains.

Furthermore, as the rolling drive means, other means such as an electric motor or the like can be used in addition to the hydraulic cylinder.

Furthermore, the present invention can be implemented not only in combines but also in various types of work vehicles such as construction work vehicles and snowmobiles. Of course, it is also possible to implement the method using an agricultural vehicle such as a rice transplanter whose traveling device is a wheel.

Note that although reference numerals are written in the claims section for convenience of reference to the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an implementation platform of the rolling control device for a work vehicle according to the present invention, FIG. 1 is a block diagram showing the rolling speed control configuration, FIG. 2 is a side view of the crawler traveling device, and FIG. 3 is a side view of the combine harvester. Figure 4 is a diagram showing the relationship between weight and flow rate, Figure 5 is a diagram showing the operating tools of the driving section, Figure 6 is a diagram showing the number of people in the elevator control device in horizontal rolling control, and Figure 7 is a diagram showing the relationship between weight and flow rate. Figure 8 shows the main flow of rolling control, Figure 8 shows the target angle calculation subroutine, Figure 9 shows the horizontal control subroutine, Figure 1O shows the manual mode subroutine,
FIG. 1 shows a subroutine for controlling the ascending speed, and FIG. 12 shows a subroutine for controlling the descending speed. (6L), (6R)... Traveling device, (7).
...Vehicle body, (19L), (19R)...
-Actuator, (24)...Inclination angle detection means, (50)...Speed changing means, (100)-
...control means, (S) ...weight detection means.

Claims (1)

[Claims] 1. Left and right running devices (6L) provided on the vehicle body (7);
(6R), a rolling operation actuator (19L) that raises and lowers at least one of the ground contact areas;
19R) is provided, and an inclination angle detection means (2
4), and the rolling operation actuator (19L) is activated based on the detection information of the inclination angle detection means (24) in order to maintain the left and right inclination angle of the vehicle body (7) with respect to the horizontal reference plane or the ground at the set inclination angle. ), (19R), and a speed changing means for changing the operating speed of the rolling operation actuators (19L), (19R). (50) is provided, and the control means (100) is provided.
) is a rolling control device for a working vehicle configured to adjust the speed changing means (50) so that the rising speed and the descending speed of the ground contact portion are the same or substantially the same. 2. The rolling control device for a work vehicle according to claim 1, further comprising weight detection means (S) for detecting the weight of the vehicle body (7).
), and the control means (100) controls the speed change means (50) based on the detection information of the weight detection means (S) in order to maintain the ascending and descending speed of the ground contact part constant or substantially constant. configured to adjust.