JPH07112767B2 - Work vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a vehicle body, which is supported by a traveling device having a ground contact portion that extends in the vehicle front-rear direction, and which is mounted on a horizontal reference plane of the vehicle body or in front of and behind the ground. Front and rear inclination angle detecting means for detecting the inclination of the vehicle body, and pitching driving means for inclining the vehicle body in the front-rear direction with respect to the ground contact portion of the traveling device,
The present invention relates to a work vehicle provided with a pitching control means for operating a pitching drive means to maintain the body body at a set inclination angle in the front-rear direction with respect to a horizontal reference plane or the ground based on the front-back inclination angle detection means.

[Conventional technology]

In a work vehicle in which the vehicle body is supported by a traveling device having a grounding portion that extends in the longitudinal direction of the vehicle body, for example, in a work vehicle such as a combine in which the vehicle body is supported by a pair of left and right crawler traveling devices, soft ground When traveling over, the phenomenon that the front part floats up and the rear part sinks and the whole body takes a backward leaning posture in the forward drive state, and the rear part floats up and the front part sinks and the whole body takes a forward leaning posture in the reverse drive state appears. . The inclination angle tends to increase in proportion to the traveling speed in both the forward drive state and the reverse drive state.

Therefore, in the conventional work vehicle, the front-rear inclination angle detecting means detects the front-rear inclination of the vehicle body with respect to the horizontal reference plane or the ground, and the pitching control means operates the pitching driving means based on the information of the front-rear inclination angle detecting means. By doing so, the vehicle body is maintained at the set inclination angle in the front-rear direction with respect to the horizontal reference plane or the ground regardless of the traveling speed.

By the way, in such a working vehicle, a horizontal inclination angle detecting means for detecting a horizontal inclination of the vehicle body with respect to a horizontal reference plane or the ground, and a horizontal direction of the vehicle body with respect to a ground portion of the traveling device. And a rolling control means for operating the rolling drive means so as to maintain the vehicle body at a set inclination angle in the left-right direction with respect to a horizontal reference plane or the ground based on information from the left-right inclination angle detection means. And has both a pitching control function and a rolling control function. Further, among those having both the pitching control function and the rolling control function, there are one that simultaneously operates the pitching driving means and the rolling driving means, and one that preferentially operates one of them.

For example, in a work vehicle that operates both at the same time, in order to simplify the structure and reduce the cost, there is one in which the pitching drive means and the rolling drive means are hydraulic actuators connected to the same hydraulic motor. As one that preferentially operates either one, there is one that preferentially actuates the rolling drive means in consideration of energy saving, improvement of riding comfort, improvement of workability, etc. (Proposed in No. 1-153239).

[Problems to be Solved by the Invention] In a conventional work vehicle, the main body of the vehicle is stably maintained at a set inclination angle in the front-rear direction with respect to the horizontal reference plane or the ground only when traveling at a constant speed with little acceleration / deceleration. Limited to When the body of the vehicle leans greatly in the front-back direction due to sudden acceleration or deceleration during traveling, the operating speed of the pitching drive means is too slow, and the posture cannot be restored in time.
There is a problem that the body of the vehicle becomes unstable because it shakes back and forth. This also applies to a work vehicle that has both a pitching control function and a rolling control function, and that simultaneously operates the pitching drive means and the rolling drive means.

It should be noted that increasing the operating speed of the pitching drive means can quickly respond to the front-back inclination of the vehicle body due to abrupt acceleration or deceleration during traveling, but it does not cause significant acceleration / deceleration. With respect to the longitudinal inclination of the vehicle body during high-speed traveling, there is a problem that the operating speed is too high and overhunting occurs.

Further, in a work vehicle that has both a pitching control function and a rolling control function, and in which the rolling drive means is preferentially operated, when the body of the vehicle body is greatly inclined in the front-rear direction due to sudden acceleration or deceleration during traveling. However, if the body of the vehicle body is tilted in the left-right direction, the rolling drive means is activated first, so that the operation of the pitching drive means is delayed and the posture cannot be restored in time.

The present invention has been made by paying attention to such an actual situation, and its purpose is, of course, during running at a constant speed,
Pitching control is performed quickly and accurately even during rapid acceleration or deceleration during traveling to stabilize the body of the vehicle body against a tilt in the front-rear direction.

[Means for Solving the Problems]

In order to achieve the above object, the work vehicle of the present invention is characterized by the following points.

Firstly, a speed change detecting means for detecting acceleration or deceleration of the vehicle body is provided, and the pitching control means moves the vehicle body forward and backward as the speed change detecting means detects an acceleration or deceleration state. The operating speed of the pitching drive means is increased until a set inclination angle along the direction is reached or a set time elapses thereafter.

Secondly, a horizontal inclination angle detecting means for detecting a horizontal inclination of the vehicle body with respect to a horizontal reference plane or the ground, a rolling drive means for inclining the vehicle body in the left-right direction with respect to a ground contact portion of the traveling device, Rolling control means for operating a rolling drive means to maintain the body body at a set inclination angle in the left-right direction with respect to a horizontal reference plane or the ground based on information from the left-right inclination angle detection means, and acceleration or deceleration of the body body. Is a hydraulic actuator in which the pitching drive means and the rolling drive means are connected to the same hydraulic pump, and the rolling control means is configured to accelerate or decelerate the speed change detection means. As the condition is detected, the vehicle body then reaches the set tilt angle in the front-rear direction or the set time elapses thereafter. Up, it is configured to stop the operation of the rolling drive means.

Thirdly, a horizontal inclination angle detecting means for detecting a horizontal inclination of the vehicle body with respect to a horizontal reference plane or the ground, a rolling drive means for inclining the vehicle body in the left-right direction with respect to a ground contact portion of the traveling device, Rolling control means for operating a rolling drive means to maintain the body body at a set inclination angle in the left-right direction with respect to a horizontal reference plane or the ground based on information from the left-right inclination angle detection means, and acceleration or deceleration of the body body. A speed change detecting means for detecting, the pitching control means and the rolling control means are in a rolling priority state in which the pitching drive means is operated only when the vehicle body is at a set inclination angle in the left-right direction, When the speed change detecting means detects an acceleration or deceleration state, when the vehicle body is at the design inclination angle in the front-rear direction, Becomes pitching priority state actuating said rolling drive means, further followed until the vehicle body has passed to or after the set time becomes the longitudinal direction designed tilt angle, and is configured to continue pitching priority status.

[Work]

According to the first feature, when the speed change detecting means detects an acceleration or deceleration state, the pitching control means increases the operating speed of the pitching driving means, so that the vehicle body main body is prevented from tilting in the front-rear direction during traveling accompanying acceleration or deceleration. To increase followability. After that, when the vehicle body becomes the set inclination angle and it is no longer necessary to operate the pitching drive means, or when it becomes possible to consider that acceleration or deceleration has ended after a set time has elapsed, the pitching drive means is operated to suppress overhunting. Restore speed to original operating speed.

According to the second feature, in the work vehicle, the horizontal inclination angle detecting means detects the horizontal inclination with respect to the horizontal reference plane of the vehicle body or the ground, and the rolling control means detects the inclination of the vehicle body based on the information of the horizontal inclination angle detecting means. Is equipped with a rolling control function for operating the rolling drive means so as to maintain the set inclination angle in the horizontal direction with respect to the horizontal reference plane or the ground. When hydraulically controlling such a work vehicle, the pitching drive means and the rolling drive means are hydraulic actuators connected to the same hydraulic pump as when hydraulic actuators are connected to different hydraulic pumps. There are two cases. The former has a drawback that the hydraulic circuit is complicated and costly, but has an advantage that the operating speeds of the pitching driving means and the rolling driving means are not influenced by their respective states. The latter has the drawback that the pitching driving means and the rolling driving means are influenced by their respective states, for example, when the rolling driving means and the pitching driving means operate at the same time, the operating speed becomes appropriate. When the drive means is stopped, the pressure of the hydraulic oil supplied to the other drive means rises and the operating speed of the other increases unnecessarily, but there is an advantage that the hydraulic circuit is simple and the cost is low. . In the second feature, while utilizing the latter advantage as it is, the difficulty is utilized as a means for increasing the operating speed of the pitching drive means.

That is, both pitching control and rolling control are performed in constant-speed running with little acceleration / deceleration, and the pitching drive means and the rolling drive means operate at appropriate speeds. Therefore, when the speed change detection means detects an acceleration or deceleration state, the rolling control means stops the operation of the rolling drive means to increase the operating speed of the pitching drive means, resulting in acceleration or deceleration during traveling. The followability to the accompanying inclination of the vehicle body in the front-rear direction is enhanced. After that, when it becomes unnecessary to operate the pitching drive means at the set inclination angle in the front-rear direction of the vehicle body, or after that, when it becomes possible to consider that acceleration or deceleration has ended after the set time has elapsed, overhunting is performed this time. In order to suppress it, the rolling control means starts the operation of the rolling drive means so that the pitching drive means operates at the appropriate speed previously used.

In the third feature, in the work vehicle, as in the second feature, the horizontal inclination angle detecting means detects the horizontal inclination with respect to the horizontal reference plane of the vehicle body or the ground, and based on the information of the horizontal inclination angle detecting means. The rolling control means has a rolling control function for operating the rolling drive means so as to maintain the body main body at a set inclination angle in the horizontal direction with respect to the horizontal reference plane or the ground. The pitching drive means and the rolling drive means may be operated by power other than hydraulic power, but in order to save energy, improve riding comfort, improve workability, etc., prioritize only one during travel. It is designed to work. In the second feature, the priority order is changed without changing the principle of preferentially operating one of them, thereby accommodating acceleration or deceleration during traveling.

That is, in the case of constant speed running with little acceleration / deceleration, the pitching control means and the rolling control means are in a rolling priority state in which the pitching drive means is activated only when the vehicle body is at the set inclination angle in the left-right direction. Become. Then, when the speed change detecting means detects the acceleration or deceleration state, the pitching priority state in which the rolling drive means is operated only when the vehicle body is at the set inclination angle in the front-rear direction is accompanied by the acceleration or deceleration during traveling. Improves the ability to follow the inclination of the vehicle body in the front-rear direction. After that, when it becomes necessary to operate the pitching drive means when the vehicle body reaches the set inclination angle in the front-rear direction, or when it can be considered that acceleration or deceleration has ended after the set time has passed, rolling to suppress hunting this time. It returns to the priority state.

〔The invention's effect〕

The first feature is that overhunting is suppressed during traveling at a constant speed that does not cause rapid acceleration or deceleration, and pitching control is performed quickly and accurately during traveling with rapid acceleration or deceleration. It has become possible to always stabilize the with respect to the tilt in the front-back direction.

According to the second feature, in addition to obtaining the effect substantially similar to that of the first feature, in a work vehicle having both a pitching control function and a rolling control function, the pitching drive means and the rolling drive means are the same. By using the hydraulic actuator connected to the hydraulic pump, it becomes possible to easily provide a means for increasing the operating speed of the pitching drive means while having a structure in which the hydraulic circuit is simple and the cost is low.

The third feature is close to the effect of the first feature without impairing the effects obtained by preferentially operating one of the driving means, for example, energy saving, improvement of riding comfort, and improvement of workability. Things are obtained.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

FIG. 14 shows a combine as an example of the work vehicle. This combine is a raising device (1) that causes planted culms, a clipper-type cutting device (2) that cuts the culms that are caused, and a vertical direction that conveys the stalks to the rear threshing device (3). The pre-mowing treatment device (5) having the transport device (4) and the like is provided with a pair of left and right crawler traveling devices (6L),
(6) Traveling vehicle equipped with (6R) (corresponding to the vehicle body)
Hydraulic cylinder (CY1) for attaching and detaching to the front part of
The vertical swinging operation can be freely performed around the lateral fulcrum (X). By the extension of the hydraulic cylinder (CY1), the reaping pretreatment device (5) rises, and by the contraction it descends.

A cutting height sensor (S1) for measuring the cutting height using the reflection of ultrasonic waves is provided at the bottom of the pre-cutting device (5), and the horizontal fulcrum (X) part has a cutting height. A potentiometer (PM) whose output voltage changes as the pretreatment device (5) moves up and down is provided.

Next, the traveling machine body (7) is moved to the left and right crawler traveling devices (6
The structure for pitching control in which the L) and (6R) are inclined in the front-rear direction with respect to the ground contact portion will be described.

As shown in FIG. 10 and FIG. 11, a bracket (9) having an inverted U-shape in a front view is installed over the front portions of the left and right main frames (8). A fulcrum shaft (10) is installed over the left and right lower parts. The front parts of the left and right movable frames (11) are pivotally attached to both ends of the fulcrum shaft (10) so as to be vertically swingable. Further, as shown in FIG. 12, a rod (12) is installed over the rear parts of the left and right movable frames (11), and a pair of left and right guide frames (13) are provided above the rod (12). Are provided so as to sandwich the left and right main frames (8) respectively, and when the movable frame (11) swings, the guide frame (1
By the action of 3) contacting the main frame (8),
The lateral displacement of the movable frame (11) can be regulated. Further, one hydraulic cylinder (CY2) for pitching (corresponding to pitching drive means) is installed across the horizontal frame (14) connecting the left and right main frames (8) and the rod (12). Due to the extension of the pitching hydraulic cylinder (CY2), the left and right movable frames (11) simultaneously swing downward, so that the traveling machine body (7) assumes a forward leaning posture and upwards by contraction. At the same time, the traveling machine body (7) is swung to the rearward tilted posture. Reinforcing plates (15A) and (15B) are provided in front of and behind the left and right main frames (8), and in particular, the rear reinforcing plate (15B) is regulated by the vertical movement of the guide frame (13). It also has the function of guiding the movement.

Limit switches (LSW1) and (LSW2) are provided on the rear reinforcing plate (15B), and the guide frame (1
3) As a result, it is possible to detect whether or not the pitching hydraulic cylinder (CY2) has reached the end of the movable stroke. Here, the limit switch that detects the state in which the traveling body (7) is in the most forward tilted position is the forward tilt limit switch (LSW1), and the limit switch that is in the most backward tilted position is the backward tilt limit switch ( It is as LSW2).

Next, the left and right crawler traveling devices (6L) and (6R) with respect to the traveling body (7), that is, the movable frame (11).
A structure for rolling control for moving up and down will be described. However, since the left and right crawler traveling devices (6L) and (6R) have the same lifting structure, the left side will be described below as a representative.

A pair of front and rear bell cranks (16A) and (16B), each of which includes a swing link (16a) in an upward projecting posture and a drive arm (16b) in a downward projecting posture, on each of a front portion and a rear portion of the movable frame (11). Is integrally swingably supported. A track frame (18) is pivotally attached to the lower end of the swinging link (16a) at the front part of the front part, and a connecting rod (19) is extended over the upper part of the swinging arm (16b) at the front part and the rear part. It is installed. A rolling hydraulic cylinder (CY3) (corresponding to rolling driving means) supported by the movable frame (11) is connected to the upper end of the rear drive arm (16a). Hydraulic cylinder (CY3)
The drive arm (16b) at the rear part is swung by the expansion and contraction operation of.

The bell crank (16A) on the front is the fulcrum shaft (10).
Is shared with the movable frame (11).

The track frame (18) has a plurality of ground rollers (20).
And the tension ring (21) is pivotally supported. Further, a swingable arm (22) is provided downward in a state of being elastically biased, and a grounding wheel (20) is also pivotally supported at the tip of this arm (22). Further, drive wheels (23) are provided on the body side. A crawler (24) is wound around the grounding wheel (20), the tension wheel (21), and the drive wheel (23).

As described above, the rolling hydraulic cylinder (CY
When the 3) stretches, the front and rear bell cranks (16A),
(16B) swings integrally with it, the track frame (18) descends accordingly, and the crawler traveling devices (6L), (6L)
When the ground contact part of R) descends with respect to the traveling machine body (7) and the hydraulic cylinder (CY3) contracts, the front and rear bell cranks (16A) and (16B) are integrated in the opposite direction. Rocking on the track frame (18)
Is raised so that the ground contact portions of the crawler traveling positions (6L) and (6R) are elevated with respect to the traveling body (7). In short, the traveling machine body (7) tilts in the left-right direction due to the difference in the contraction amounts of the left and right rolling hydraulic cylinders (CY3).

Limit switches (LSW3) and (LSW4) are provided before and after the rear drive arm (16a) to check whether the drive arm (16a) and then the rolling hydraulic cylinder (CY3) reach the end of the movable stroke. It can be detected. Here, the limit switch that detects the state in which the crawler traveling devices (6L) and (6R) are at the most distant position from the traveling machine body (7) is the upper limit switch (LS).
W3), the lower limit switch (LSW4) is the limit switch that detects the state of being in the closest position.
Since the right crawler traveling device (6R) is also provided with the same limit switches (LSW3) and (LSW4), L and R meaning left side and right side are added to avoid confusion.

A cutting height setting device (25) for setting the cutting height of the pre-mowing treatment device (5) as shown in FIG. ), A front / rear tilt angle setter (26) for setting a target front / rear tilt angle with respect to the horizontal reference plane of the traveling body (7), and a setter such as a left / right tilt angle setter (27) for setting a target left / right tilt angle Type, automatic / manual mode switch (SW1) that switches between manual mode and automatic mode, upper / lower limit mode switch (SW that switches between upper limit reference mode and lower limit reference mode)
2) switches, etc., a cross lever (28) for operating the posture in the manual mode, a machine body lifting lever (29) for vertically moving the traveling machine body (7), etc. are provided. As shown in FIG. 1, these pieces of information are output to a control device (H) whose main part is a microcomputer.

Further, although not described in detail, a forward / reverse switching lever (30) is provided at another portion of the driving part of the traveling body (7) (see FIG. 14). A forward / reverse switching detection switch (SW4) for detecting that the forward / reverse switching lever (30) has been operated from the forward side to the reverse side or from the reverse side to the forward side is provided at the end. Then, the detection information of the forward / reverse switching switch (SW4) is output to the control device (H).

A supplementary note about the upper limit reference mode and the lower limit reference mode. The left and right crawler traveling devices (6
L) and (6R) descending reference lifting control state (hereinafter referred to as lower limit reference mode) that brings the grounding portions closer to the traveling body side, and the left and right crawler traveling devices (6L),
(6R) There is an ascending reference ascending / descending control state (hereinafter referred to as an upper limit reference mode) that separates each ground contact portion from the traveling vehicle body (7). In the lower limit reference mode, if the horizontal inclination angle of the traveling vehicle body (7) is within the dead zone with respect to the target inclination angle, rolling is performed so that the ground contact portions of the left and right crawler traveling devices (6L) and (6R) approach the traveling vehicle body side. When the hydraulic cylinder (CY3) for the vehicle is expanded and contracted, and in the upper limit reference mode, the left and right inclination angles of the traveling body (7) are within the dead zone with respect to the target inclination angle, the left and right crawler traveling devices (6L), (6R) The rolling hydraulic cylinder (CY3) will be expanded and contracted so that the ground contact part of is separated from the traveling machine body. That is, in the lower limit reference mode, the rolling control is performed while making the ground height of the traveling body (7) as low as possible, and in the upper limit reference mode, the ground height of the traveling body (7) is made as high as possible. While rolling control is performed. The detailed control operation in each of the lower limit reference mode and the upper limit reference mode will be described later.

The cross lever (28) has four operation switches (28a).
(28d), and when operating the front, rear, left, and right from the neutrally biased center position, one of the operation switches (28
Signals for attitude control are issued from a) to (28d) to the control device (H). That is, the cross lever (2
When 8) is operated forward, a signal instructing a pitching operation is issued from the forward tilt operation switch (28a), and a forward tilt instruction state in which the traveling vehicle body (7) is tilted forward is obtained. The switch (28b) outputs a signal for instructing a pitching operation to enter the backward leaning instruction state, and when the switch is operated to the left, a signal instructing a rolling operation is issued from the leftward leaning operation switch (28c) to enter the left leaning instruction state
If it is operated to the right, a signal for instructing a rolling operation is issued from the right tilt operation switch (28d) to enter the right tilt instruction state.

The body lifting lever (29) has two operation switches (29
a) and (29b), and when operated from the neutrally biased center position to the front, a signal instructing the raising of the traveling body (7) from the raising operation switch (29a) is sent to the control device (H). Is emitted, the traveling body (7) is a crawler traveling device (6L),
When it is raised with respect to (6R) and operated backward, a signal instructing the descent of the traveling body (7) is issued from the lowering operation switch (29b) to the control device (H), and the traveling body (7) is crawled. It is designed to descend with respect to the devices (6L) and (6R).

As shown in FIG. 1, the hydraulic cylinder (CY1) for raising and lowering the mowing and the hydraulic cylinder (CY2) for pitching.
, And each of the rolling hydraulic cylinders (CY3) is connected to a control valve (V1), (V2), (V3) having an electromagnetic solenoid in a three-position switching type. Control valves (V1), (V2), (V3) are connected to the control device (H). Then, the hydraulic cylinders (CY) are sent by the ascending / descending commands issued from the control device (H) to the control valves (V1), (V2), (V3).
1), (CY2), and (CY3) are designed to expand and contract. The hydraulic cylinders (CY1), (CY2),
The hydraulic oil is supplied to (CY3) from one hydraulic pump (not shown) via each control valve (V1), (V2), (V3).

As shown in FIG. 1, the control device (H) has
In addition, the forward tilt limit switch (LSW1), the backward tilt limit switch (LSW2), the upper and lower limit switch (LSW1)
W3L), (LSW3R), (LSW4L), (LSW4R) switches, cutting height sensor (S1) for detecting cutting height of pre-cutting device (5), pre-cutting device (5) Potentiometer (P for detecting the upper limit position and lower limit position)
W), a weight-type front and rear inclination angle sensor (S2) (corresponding to the front and rear inclination angle detecting means) for detecting the front and rear inclination angle with respect to the horizontal reference plane of the traveling body (7), for detecting the left and right inclination angle Sensors such as a weight type left and right tilt sensor (S3) (corresponding to left and right tilt angle detection means) are connected.

The control device (100) has a three-position switching control valve (V1), based on information input from these devices.
Controls (V2) and (V3). That is, the control device (H)
Based on the information of the cutting height sensor (S1), the cutting height control means (5) controls the control pulp (V1) so that the cutting height is set by the cutting height setting device (25) ( 100),
Pitching control means (101) for controlling the control valve (V2) based on the information from the front-rear inclination angle sensor (S2) so that the traveling body (7) has the front-rear inclination angle set by the front-rear inclination angle setting device (26) Based on the tilt sensor (S3), it also serves as three rolling control means (102) for controlling the control valve (V3) so that the left and right tilt angles are set by the left and right tilt angle setting device (27).

Next, the cutting height control, pitching control, and rolling control performed by the control device (H) will be described based on the flowcharts of FIGS. 2 to 9. The step numbers in the figure are indicated by attaching a # mark.

FIG. 2 shows the main flow of the overall control. First, when started, the timer and various flags are initialized, and after the set time has elapsed, output control for writing the contents of various flags to the output port is performed and the output flags are cleared. Subsequently, the output values from various sensors and setting devices are read to calculate the target tilt angle (target angle), and after the calculation is completed, output evaluation processing and limit processing are executed, and the processing returns to step 20 (steps 10 to 80). .

FIG. 3 shows a subroutine of the target angle calculation processing executed in step 60. A correction value is obtained from the output value of the fine adjustment potentiometer (not shown), and using this correction value, the cutting height setting device (25), the left and right tilt angle setting device (26),
Correct the set values of the front and rear tilt angle setting device (27) to set the cutting height target value, the left and right target angle, and the front and rear target angle. The fine adjustment volume has already been set at the shipping stage or the like.

Shown in FIG. 4 is a subroutine of the output evaluation processing executed in step 70.

First, the height difference is calculated by subtracting the cutting height target value from the output value of the cutting height sensor (S1), and the left and right inclination target angle is subtracted from the output value by the left and right inclination angle sensor (S2) to determine the left and right deviation angle. Then, the front-rear inclination angle sensor (S3) subtracts the front-rear inclination target angle from the output value to obtain the front-rear deviation angle (steps 100 to 102). And the cross lever (28) or the machine body lifting lever (29) is not operated, and the manual / automatic mode switch (SW
In 1), the automatic side is selected and operated, and the threshing switch (SW3) is turned on.
If so, the process is performed in the automatic control mode (step 100
~ 106).

However, if the cross lever (28) or the machine body elevating lever (29) is operated in step 103, the process is performed in the manual mode and the process returns (steps 103 and 108). In step 104, the automatic / manual mode selector switch (SW1) is selectively operated to the manual side, or in step 105 the threshing switch (SW3) is set to OF.
If it is F, the lower limit reference mode is set and processing is performed in the manual mode (steps 104, 105, 107, 108).

Step 116 is shown in FIGS. 5 (a) and 5 (b).
Is a subroutine for automatic control executed in.

It is determined whether or not immediately after the forward / reverse switching, that is, whether or not it is within a set time (for example, 3 seconds) after the forward / reverse detecting switch (S4) is turned on (step 200).

As shown in Fig. 5 (a), the cutting height overshoot (cutting height target) is not within the set time after the forward / reverse switching switch (SW4) is turned on and the height difference is outside the dead zone and the polarity is positive. Value is more than the value), the polarity of the anteroposterior declination is a positive forward leaning posture or the anteroposterior declination is in the dead zone, and if the cutting lower limit position is not reached, the cutting solenoid output flag is set. If the rearward tilt limit switch (LSW2) is OFF, the lower rear solenoid output flag is set and the process returns (steps 200 to 206). However, if the cutting lower limit position is set in step 203, the cutting lower solenoid output flag is left as it is and the process proceeds to the next step.
If SW2) is ON, the rear lower solenoid output flag is left unchanged and the process returns.

If the height difference is outside the dead zone and the polarity is positive and the cutting height is over, but it is not within the set time, but the polarity of the front and rear declination is negative, and the forward tilt limit switch (LSW1) is OFF. , Sets the rear upper solenoid output flag and returns (steps 200 to 202, 207, 208). However, step 207
If the forward tilt limit switch (LSW1) is turned on, the rear upper solenoid output flag remains unchanged and the process returns.

It is not within the set time, the height difference is outside the dead zone, and the polarity is negative under cutting height (below the cutting height target value), and the polarity of the front-back deflection angle is negative. If the declination is within the dead zone and the cutting upper limit position is not reached, set the cutting upper solenoid output flag, and if the forward tilt limit switch (LSW1) is OFF, set the rear upper solenoid output flag and return (step 200,201,209 ~ 21
3). However, if the mowing upper limit position is set in step 210, the mowing upper solenoid output flag is left as it is and the process proceeds to the next step. If the forward tilt limit switch (LSW1) is ON in step 212, the rear upper solenoid output flag is left as it is and the process returns. .

If the height difference is outside the dead zone and the polarity is negative and the cutting height is under, but the front and rear declination polarity is positive and the rearward tilt limit switch (LSW2) is OFF. , The rear lower solenoid output flag is set and the process returns (steps 200, 201, 209, 214, 215). However, step 2
If the backward tilt limit switch (LSW2) is ON at 14, the rear lower solenoid output flag is left as it is and the process returns.

If it is not within the set time and the height difference is within the dead zone and the left and right declination is not within the dead zone, rolling control is executed, and if the left and right declination is within the dead zone, pitching control is executed (steps 200, 201, 216, 217, 218).

As shown in Fig. 5 (b), the forward / backward movement detection switch (S4)
Is within the set time after turning ON, the height difference is outside the dead zone, the polarity is over cutting height, and the polarity of the front and rear declination is positive. Yes,
If it is not at the lower cutting limit position, the lower cutting solenoid output flag is set and the backward tilt limit switch (LSW2) is turned off.
If so, the rear lower solenoid output flag is set and the process returns (steps 200, 219 to 224). However, step 221
If the cutting lower limit position is set at, the cutting lower solenoid output flag is left as it is and the process proceeds to the next step. If at step 223 the backward tilt limit switch (LSW2) is ON, the lower rear solenoid output flag is left as it is and the process returns.

It is within the set time, the height difference is outside the dead zone and the polarity is positive and the cutting height is over, but the polarity of the front and rear declination is negative and it is in the backward leaning posture, and the forward leaning limit switch (LSW1) must be OFF. , Sets the rear upper solenoid output flag and returns (steps 200, 219, 220, 225, 226). However, if the above-mentioned limit switch (LSW1) is ON in step 225, the rear upper solenoid output flag is left as it is and the process returns.

It is within the set time, the height difference is outside the dead zone and the polarity is negative, and the cutting height is under, and the front and rear deflection angle is negative. If not, set the reaping solenoid output flag, and
If the forward tilt limit switch (LSW1) is OFF, set the rear upper solenoid output flag and return (step
200,219,227〜231). However, if the upper limit position of cutting is found in step 228, the cutting upper solenoid output flag is left as it is and the process proceeds to the next step.
If 1) is ON, the rear upper solenoid output flag is left unchanged and the process returns.

It is within the set time, the height difference is outside the dead zone and the polarity is negative cutting height under, but the front and rear declination is positive and the backward tilt limit switch (LSW2) is OFF. , Set the rear lower solenoid output flag and return. However, in step 232, the backward tilt limit switch (LSW
If 2) is ON, the rear lower solenoid output flag is left as it is and the process returns (steps 200, 219, 227, 232, 23).
3).

If it is within the set time, the height difference is within the dead zone, and the front-back declination is within the dead zone, pitching control is executed, and if within the dead zone, rolling control is executed (step 200,
219, 234, 235, 236).

In short, usually, the cutting height control, rolling control, pitching control is automatically performed in the order of rolling priority state, within the set time after switching between forward and reverse, cutting height control, pitching control, This is a pitching priority state in which automatic control is executed in the order of rolling control.

Shown in FIG. 6 is a rolling control subroutine executed in steps 217 and 235. In the following description, lower left, upper left, lower right, upper right, rear upper, and lower rear mean the vertical operation directions of the left and right side portions and the front and rear portions of the traveling machine body (7).

First, if the upper / lower limit mode selector switch (SW2) selects the upper limit reference mode, the upper limit reference mode is set, and if the lower limit reference mode is selected, the lower limit reference mode is set (step 301).

In the lower limit reference mode, when the polarity of the left and right declination is positive and rising to the left, and the left and right declination is outside the dead zone,
Furthermore, if the left-right declination is extremely large and the left lower limit switch (LSW4L) is OFF, the lower left solenoid output flag is set and the process returns (steps 303 to 30).
8). However, it is determined in step 306 that the left / right deviation angle is small, and the left lower limit switch (LSW4L) is ON.
If it is determined that the left lower limit switch (LSW4L) is ON in step 307, the upper right solenoid output flag is set and the left lower limit switch (LSW4L) is set. If it is determined that LSW4L) is OFF, the process directly returns (step 30).
9,310).

It is the lower limit reference mode, the polarity of the left and right declination is positive and goes up to the left, but if the left and right declination is in the dead zone and both the left and right lower limit switches (LSW4L) and (LSW4R) are OFF, The lower right solenoid output flag and the lower left solenoid output flag are set and the process returns, and if one of the left or right lower limit switches (LSW4L) and (LSW4R) is ON, the process directly returns (steps 303 to 305, 31
1,312).

In the lower limit reference mode, the polarity of the left / right declination is negative, and when the left / right declination is outside the dead zone, this left / right declination is significantly larger and the right lower limit switch (LSW4R) If is OFF, set the lower right solenoid output flag and return (step 303,
304,313-316). However, if it is determined in step 314 that the left / right deviation angle is small and the right lower limit switch (LSW4R) is OFF, or in step 315 the right lower limit switch (LSW4R) is ON. If it is determined that the lower left limit switch (LS
If it is determined that (W4R) is ON, the process directly returns (steps 317 and 318).

In the lower limit reference mode, the polarity of the left and right declination is negative and rising upward, but the left and right declination is within the dead zone, and both the left and right lower limit switches (LSW4L) and (LSW4R) are OFF, The lower right solenoid output flag and the lower left solenoid output flag are set to return, and if either the left or right lower limit switch (LSW4L) or (LSW4R) is ON, the process returns as it is (steps 303, 304, 313,
311,312).

In the upper limit reference mode, when the left and right declination is in a positive rising direction with positive polarity and the left and right declination is outside the dead zone,
Further, if the left-right deviation angle is significantly large and the right upper limit switch (LSW3R) is ON, the lower left solenoid output flag is set and the process returns (steps 303, 31).
9-323). However, it is determined in step 321 that the left / right deviation angle is small, and the right upper limit switch (LSW3
R) is OFF, or step 322
If it is determined that the right upper limit switch (LSW3R) is OFF, the upper right solenoid output flag is set and the process returns, and the right upper limit switch (LSW3R)
If it is determined that R) is ON, the process directly returns (steps 324 and 325).

In the upper limit reference mode, the polarity of the left and right declination is positive and rising to the left, but when the left and right declination is within the dead zone, the left and right upper limit switches (LSW3L), (LSW3L)
3R) are both OFF, the upper right solenoid output flag and the upper left solenoid output flag are set and the control returns, and the left or right upper limit switch (LSW3
If one of L) and (LSW3R) is ON, the process directly returns (steps 303, 319, 320, 326, 327).

In the upper limit reference mode, the polarity of the left and right declination is negative and rising upward, and the left and right declination is outside the dead zone,
If the left / right deflection angle is significantly large and the left upper limit switches (LSW3L), (LSW3R) are ON, the lower right solenoid output flag is set and the process returns (step
303, 319, 328-331). However, if it is determined in step 329 that the left / right deflection angle is small and the left upper limit switch (LSW3L) is OFF, or in step 332 the left upper limit switch (LSW3L) is OFF. If it is determined that the upper left solenoid output flag is set, the routine returns, and if it is determined that the left upper limit switch (LSW3L) is ON, the routine directly returns (steps 332, 333).

In the upper limit reference mode, the polarity of the left and right declination is negative and rising upward, but when the left and right declination is within the dead zone, the left and right upper limit switches (LSW3L), (LSW3L)
3R) are both OFF, the upper right solenoid output flag and the upper left solenoid output flag are set and the control returns, and the left or right upper limit switch (LSW3
If one of L) and (LSW3R) is ON, the process directly returns (steps 303, 319, 228, 326, 327).

FIG. 7 shows a pitching control subroutine executed in steps 218 and 235.

When the polarity of the front / rear declination is negative, the front / rear declination is outside the dead zone, and the forward tilt limit switch (LSW1) is OFF, set the rear upper solenoid output flag and return. Yes (steps 400-403). However, if it is outside the dead zone in step 401 or if the forward lean limit switch (LSW1) is determined to be ON in step 402, the process directly returns.

If the polarity of the front / rear declination is positive, the front / rear declination is outside the dead zone, and the rearward tilt limit switch (LSW2) is OFF, set the rear lower solenoid output flag and return. (Steps 400, 404 to 406).
However, if it is determined that the position is outside the dead zone in step 404 or if the backward tilt limit switch (LSW2) is determined to be ON in step 405, the process directly returns.

Shown in FIG. 8 is the manual mode subroutine executed in step 108.

When the cross lever (28) is operated forward and the forward tilt operation switch (28) is turned on, the rear upper solenoid output flag is set, and when it is turned off, the process proceeds as it is (steps 500 and 501).
When the cross lever (28) is operated later and the backward tilt operation switch (28b) is turned on, the rear lower solenoid output flag is set, and when it is turned off, the process proceeds as it is (steps 502, 50).
3). When the cross lever (28) is operated to the left and the left tilt operation switch (28c) is turned on, the lower left solenoid output flag and the upper right solenoid output flag are set, and when it is off, the process proceeds as it is (steps 504, 505) and the cross lever ( 28)
Is operated to the right and the right tilt operation switch (28d) is turned on, the upper left solenoid output flag and the lower right solenoid output flag are set, and if it is turned off, the process proceeds as it is (step 5
06,507). If the lowering switch (29b) is turned on by operating the machine body lifting lever (29) afterwards, the lower left solenoid output flag and the lower right solenoid output flag are set and turned off.
If so, proceed as it is (steps 508 and 509). The machine lift lever (29) was operated in the
If a) is turned on, the upper left solenoid output flag and the upper right solenoid output flag are set, and if it is off, the process returns (steps 510, 511).

Shown in FIG. 9 is a subroutine for limit processing executed in step 80.

If it is the upper limit position of cutting, the upper solenoid output flag is cleared and the process proceeds to the next step. If it is not the upper limit position, the next step is continued (steps 600 and 601). If it is at the lower limit position of the mowing, the lower mowing solenoid output flag is cleared and the process proceeds to the next step. If not at the lower limit position, the process proceeds to the next step (steps 602 and 603). If the left lower limit switch (LSW4L) is ON, the lower left solenoid output flag is cleared and the process proceeds to the next step. If it is OFF, the lower left solenoid output flag is left as it is and the process proceeds to the next step (steps 604, 605). Right lower limit switch (LSW4
If R) is ON, the lower right solenoid output flag is cleared and the process proceeds to the next step. If it is OFF, the lower right solenoid output flag is left as it is and the process proceeds to the next step (steps 606 and 607). If the left upper limit switch (LSW3L) is ON, the upper left solenoid output flag is cleared and the process proceeds to the next step. If it is OFF, the upper left solenoid output flag is left unchanged and the process proceeds to the next step (steps 608, 609). Right upper limit switch (LSW3R) is ON
If so, the upper right solenoid output flag is cleared and the process proceeds to the next step. If it is OFF, the upper right solenoid output flag is left unchanged and the process proceeds to the next step (steps 610 and 611). If the forward tilt limit switch (LSW1) is ON, the rear upper solenoid output flag is cleared and the process proceeds to the next step. If it is OFF, the rear upper solenoid output flag is left unchanged and the process proceeds to the next step (steps 612, 61).
3). If the rearward tilt limit switch (LSW2) is ON, the lower rear solenoid output flag is cleared and the process returns, and if it is OFF, the process directly returns (steps 614, 615).

[Another embodiment]

 Hereinafter, other examples of the present invention will be listed.

(A) In the previous embodiment, the control valve (V2) is intermittently driven by pulses, or the oil passage is throttled to adjust the hydraulic cylinder (CY2) for pitching.
By adjusting the pressure of the hydraulic oil supplied to, it is possible to change the operating speed of the hydraulic cylinder (CY2) for pitching. The hydraulic cylinder (CY2) for pitching may be operated at a higher speed than before until the forward / backward deviation angle becomes 0 or the set time elapses after the forward / reverse switching lever (30) is operated. .

(B) In the previous embodiment, normally a hydraulic cylinder for pitching (CY2) and a hydraulic cylinder for rolling (CY3)
So that they operate at the same time, and the forward / reverse switching lever (3
Pressure of hydraulic oil supplied to the hydraulic cylinder for pitching (CY2) by stopping the operation of the rolling hydraulic cylinder (CY3) until the longitudinal declination becomes 0 or the set time elapses after (0) is operated. May be increased to increase the operating speed of the pitching hydraulic cylinder (CY2).

(C) As the speed change detecting means, the switching operation of the forward / reverse switching lever (30) is detected, but the switching operation of the traveling speed change lever may be detected. Also, a dedicated acceleration sensor may be provided.

(D) The rolling drive means and the pitching drive means are
It may be operated by electric power or engine power.

(E) The traveling device may be one in which a large number of wheels are connected in the front-rear direction.

(F) The work is not limited to the combine and can be carried out by another work vehicle.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings based on this entry.

[Brief description of drawings]

The drawings show an embodiment of a work vehicle according to the present invention. FIG. 1 is an overall configuration diagram of a control system, FIG. 2 is a control main flow, and FIG.
Figure shows target angle calculation processing subroutine, Figure 4 shows output evaluation processing subroutine, Figures 5 (a) and (b) show automatic control mode subroutine, Figure 6 shows rolling control subroutine, and Figure 7 shows pitching. Control subroutine, FIG. 8 is a manual mode subroutine, FIG. 9 is a limit processing subroutine, FIG. 10 is a side view of the crawler traveling device, FIG. 11 is a plan view of the crawler traveling device, and FIG. 12 is for pitching. FIG. 13 is a view showing a mounting structure of a hydraulic cylinder, FIG. 13 is a plan view of an operating portion, and FIG. 14 is an overall side view of a combine. (CY2) …… Pitching drive means, (CY3) …… Rolling drive means, (6L), (6R) …… Traveling device, (S2) ……
Front-rear tilt angle detection means, (S3) ... left-right tilt angle detection means,
(SW4) ... speed change detection means, (7) ... vehicle body,
(101) ... Pitching control means, (102) ... Rolling control means.

Claims (3)

[Claims] 1. A vehicle body (7) is supported by traveling devices (6L), (6R) having ground contact portions that extend in the longitudinal direction of the vehicle body, and the vehicle body (7) is in front of and behind a horizontal reference plane or the ground. Front-back inclination angle detection means (S2) for detecting the inclination of
And pitching drive means (CY2) for tilting the vehicle body (7) in the front-rear direction with respect to the ground contact portion of the traveling devices (6L), (6R), and information based on the front-rear inclination angle detection means (S2). Pitching control means (1) for operating the pitching drive means (CY2) so as to maintain the vehicle body (7) at the set inclination angle in the front-rear direction with respect to the horizontal reference plane or the ground.
01) and a speed change detecting means (SW) for detecting acceleration or deceleration of the vehicle body (7).
4) is provided, and the pitching control means (101) causes the vehicle body (7) to move to a set inclination angle in the front-rear direction as the speed change detection means (SW4) detects an acceleration or deceleration state. A work vehicle configured to increase the operating speed of the pitching drive means (CY2) until the time elapses or a set time elapses thereafter. 2. A vehicle body (7) is supported by traveling devices (6L), (6R) having ground contact portions that extend in the vehicle front-rear direction, and the vehicle body (7) is in front of and behind the horizontal reference plane or the ground. Front-back inclination angle detection means (S2) for detecting the inclination of
And pitching drive means (CY2) for tilting the vehicle body (7) in the front-rear direction with respect to the ground contact portion of the traveling devices (6L), (6R), and information based on the front-rear inclination angle detection means (S2). Pitching control means (1) for operating the pitching drive means (CY2) so as to maintain the vehicle body (7) at the set inclination angle in the front-rear direction with respect to the horizontal reference plane or the ground.
01) and a left and right tilt angle detecting means (S3) for detecting a left and right tilt of the vehicle body (7) with respect to the horizontal reference plane or the ground, and the traveling device (6L), 6R) with respect to the grounding part, the body body (7)
The vehicle body (7) is maintained at a set inclination angle in the left-right direction with respect to the horizontal reference plane or the ground based on the information of the rolling drive means (CY3) for inclining the vehicle in the left-right direction and the information of the left-right inclination angle detection means (S3). Rolling drive means (CY3)
A rolling control means (102) for activating the vehicle body and a speed change detection means (SW4) for detecting acceleration or deceleration of the vehicle body (7), and the pitching drive means (CY2).
And the rolling drive means (CY3) are hydraulic actuators connected to the same hydraulic pump, and the rolling control means (CY3) is the speed change detection means (SW4).
When the vehicle detects an acceleration or deceleration state, the operation of the rolling drive means (CY3) is stopped until the vehicle body (7) reaches the set inclination angle in the front-rear direction or the set time elapses thereafter. Work vehicle that is composed of. 3. A vehicle body (7) is supported by traveling devices (6L), (6R) having ground contact portions that extend in the vehicle front-rear direction, and the vehicle body (7) is in front of and behind the horizontal reference plane or the ground. Front-back inclination angle detection means (S2) for detecting the inclination of
And pitching drive means (CY2) for tilting the vehicle body (7) in the front-rear direction with respect to the ground contact portion of the traveling devices (6L), (6R), and information based on the front-rear inclination angle detection means (S2). Pitching control means (1) for operating the pitching drive means (CY2) so as to maintain the vehicle body (7) at the set inclination angle in the front-rear direction with respect to the horizontal reference plane or the ground.
01) and a left and right tilt angle detecting means (S3) for detecting a left and right tilt of the vehicle body (7) with respect to the horizontal reference plane or the ground, and the traveling device (6L), 6R) with respect to the grounding part, the body body (7)
The vehicle body (7) is maintained at a set inclination angle in the left-right direction with respect to the horizontal reference plane or the ground based on the information of the rolling drive means (CY3) for inclining the vehicle in the left-right direction and the information of the left-right inclination angle detection means (S3) Rolling drive means (CY3)
A rolling control means (102) for activating the vehicle body and a speed change detection means (SW4) for detecting acceleration or deceleration of the vehicle body (7), and the pitching control means (101).
The rolling control means (102) and the rolling control means (102) are in a rolling priority state in which the pitching drive means (CY2) is operated only when the vehicle body (7) is at the set inclination angle in the left-right direction, and the speed change detection means (SW4 ) Detects an acceleration or deceleration state, the rolling drive means (CY) only when the vehicle body (7) is at the set inclination angle in the front-rear direction.
3) A pitching priority state in which the vehicle body (7) is operated, and then the pitching priority state is continued until the body body (7) reaches a set inclination angle in the front-rear direction or until a set time elapses thereafter. car.