JP6312208B2 - Work vehicle - Google Patents

Description

  The present invention relates to a work vehicle capable of tilting a chassis frame in the front-rear direction.

  It is described in Patent Document 1 in which the front and rear tilts of the traveling vehicle body can be operated by the operation of the actuators provided on the front wheels and the rear wheels, and the inclination control can be performed to keep the traveling vehicle body close to the horizontal state when traveling on an inclined surface. Such work vehicles are conventionally known.

Japanese Patent Laid-Open No. 9-154309

  In this kind of work vehicle such as a riding rice transplanter, it is forced to travel on a relatively steep slope when leaving the field, but in such a situation a work vehicle having a work machine at the rear of the machine body has a load on the rear wheel. Not only is it difficult to climb upside down, but in some cases there is a possibility that a fall accident will occur.

  In order to prevent this so-called upswing, there are not many users who take a dangerous act that the worker rides instead of weights, and the rapid spread of technology for improving the safety of such farm work It is a problem.

  Although the wheel raising / lowering mechanism of the work vehicle of Patent Document 1 contributes to improving safety when traveling on an inclined ground, based on the inclination angle of the traveling machine body detected by the inclination detection sensor provided on the traveling machine body, While the control unit can always keep the traveling vehicle body in a horizontal state even when traveling on an inclined surface by operating the actuator, the tilt control is always based on the tilt detected by the tilt sensor. In order to operate the actuator, a highly responsive actuator is required, the control content is complicated, and the cost is high, which hinders the expansion of the technology.

  The present invention is a work vehicle capable of tilting the traveling machine body in the front-rear direction, and can easily and smoothly execute the inclination control of the traveling machine body when traveling on an inclined surface without using a large responsive actuator. By providing tilt control at a lower cost and providing a work vehicle that can safely run on slopes at low cost, we will provide more users with aircraft posture change technology to improve the safety of such farm work, The task is to release from dangerous work.

The present invention for solving the above problems is the working vehicle that controls the longitudinal inclination of the running vehicle body by the actuator in a first, detects a predetermined predetermined condition for starting the control of the longitudinal inclination of the vehicle body A condition detection unit, a control unit that controls the operation of the actuator, and a front / rear inclination detection unit that detects a front / rear inclination of the traveling machine body. The control unit moves the traveling machine body forward with respect to the front and rear wheels by the actuator. The control unit is configured to switch between a predetermined front-down posture inclined downward, a predetermined front-up posture inclined upward with respect to the front and rear wheels, and a substantially horizontal posture with respect to the front and rear wheels. it by the detection of the predetermined condition by the condition detecting means, if the up-ramp surface running control at the time of riding the travel of the step is started, while controlling the Setsu換Ru longitudinal inclination in the posture forwardly downward above, It by the detection of the predetermined condition by serial condition detecting means, if the downward slope traveling control when descending travel of the step is started, is formed to control the slope before and after switching to the forwardly upward posture, further The control unit starts to change the forward and backward inclination angle of the traveling machine body to the side inclined downward in the forward direction while the upward inclined surface traveling control is being performed and the traveling surface is traveling in the upwardly inclined posture in the forwardly lowered posture. When this is detected by the forward / backward inclination detecting means, the traveling machine body is configured to be switched to the substantially horizontal posture .

Second, in the working vehicle that controls the longitudinal inclination of the running vehicle body by the actuator, and condition detection means for detecting a predetermined predetermined condition for starting the control of the longitudinal inclination of the vehicle body, the operation of the actuator A control unit for controlling, and a front / rear inclination detecting means for detecting a front / rear inclination of the traveling machine body , wherein the control unit has a predetermined front lowering posture in which the traveling machine body is inclined downward with respect to the front and rear wheels by an actuator. , and default front rising attitude and upwardly inclined forward with respect to front and rear wheels is configured to switch to a substantially horizontal position with respect to the front and rear wheels, said control unit, detection of the predetermined condition by said condition detecting means What I, if the up-ramp surface running control at the time of riding the travel of the step is started, while controlling the Setsu換Ru longitudinal inclination in the posture forwardly downward above the predetermined by the condition detecting means I by the detection of the matter, if downward slope traveling control when descending travel of the step is started, is formed to control the slope before and after switching to the forwardly upward posture, further, the control unit, the The front / rear inclination detection that the forward / backward inclination angle of the traveling vehicle body has started to change to the forward upward inclination side while the downward inclined surface traveling control is being executed and the traveling surface is traveling downwardly inclined in the forwardly rising posture. When detected by the means, the traveling machine body is configured to be switched to the substantially horizontal posture .

  According to the work vehicle of the present invention configured as described above, the traveling machine body is previously set on the side opposite to the inclination direction of the inclined surface by detecting a predetermined condition when traveling on the farm entrance / exit or the inclined surface of the basket. In addition, by tilting to a predetermined tilt angle, even with an inexpensive actuator, the tilting operation of the traveling vehicle body can be performed more smoothly via the actuator when traveling on an inclined surface, and the tilt control of the traveling vehicle body is easy. And it can be configured at low cost. Further, with this configuration, there is no malfunction in the inclination direction of the traveling machine body when traveling on an inclined surface, and the climbing of the inclined surface is stabilized, so that safety is also improved.

  In addition, a front / rear inclination detecting means for detecting a front / rear inclination of the traveling aircraft is provided, and the controller is configured to start changing the inclination angle of the aircraft in a forward downward direction during traveling on an upward inclination of the traveling surface, or a traveling surface. Suitable for flat ground traveling from the front / rear tilt posture of the traveling body driven by the actuator, provided that the front / rear inclination detection means detects that the inclination angle of the airframe has started to change in the upward direction while traveling downhill According to what is configured to stop the drive of the actuator by detecting that it has become a posture suitable for the flat ground traveling, from the inclined posture in which the traveling aircraft body is inclined by the inclination control, Since the return operation for returning to the original posture can be executed with an inexpensive machine configuration and software, the manufacturing cost can be kept low.

1 is an overall side view of an agricultural vehicle to which the present invention is applied. It is a whole side perspective view which shows the principal part of this agricultural vehicle. It is a whole rear view which shows the principal part of this agricultural vehicle. It is a principal part perspective view which shows a front side operation panel. (A) is the figure which showed the raising attitude | position, (B) is the figure which showed the lowering attitude | position. (A) is a diagram showing a forward descending posture, and (B) is a diagram showing a forward ascending posture. It is the figure which showed the raising / lowering operation | movement at the time of up control. It is the figure which showed the raising / lowering operation | movement at the time of descending control. It is a block diagram of a control part. It is a main flowchart of the body raising / lowering control of a control part. It is a processing flowchart of driving mode control. It is a processing flow figure of level | step difference mode control. It is a processing flow figure of level | step difference mode control. It is a processing flow figure of work mode control.

  The agricultural vehicle shown in FIGS. 1 to 3 is a kind of work vehicle, and is a traveling machine body 3 supported by the front and rear wheels 1 and 2 and a tillage that is connected to the rear part of the traveling machine body 3 through a lifting link 4 so as to be movable up and down. And a work machine 6 such as a machine. The work machine 6 is configured to be lifted and lowered by a work machine lifting cylinder 5.

  The traveling machine body 3 is supported by a pair of left and right front wheels 1, 1 and rear wheels 2, 2 and extends in the front-rear direction, and a total of four wheels 1, 1, 2, 2 on the front, rear, left and right of the chassis frame 7. A wheel lifting device that lifts and lowers the vehicle, a control unit 9 that is installed on the chassis frame 7 and an operator gets on, a battery that is installed and fixed on the front side of the chassis frame 7, and whose upper side is covered by the bonnet 11 and electrical components I have.

  The chassis frame 7 has a box frame 12 and a rear frame 13 extending rearward from the box frame 12. On the rear frame 13 side, there is provided an inclination sensor (front / rear inclination detecting means) 65 composed of a potentiometer for detecting the inclination of the traveling machine body 3 (chassis frame 7) in the front / rear direction (see FIG. 3).

  The rear frame 13 accommodates an engine (not shown) supported by a mission case 16. A transmission (not shown) is built in the transmission case 16, and power from the engine is transmitted through the transmission to the wheels 1, 1, 2, 2 and the work machine 6 side.

  The steering unit 9 includes a seat 17 on which an operator is seated and a floor formed on the upper surface side of the step plate 18 (the upper surface side of the box frame 12), which is the basis of steps for facilitating the movement of the operator on the machine body. Arranged on the left and right sides of the seat 19, the front operation panel 21 in the up-and-down direction standing on the front surface of the surface 19, the chassis frame 7, the steering handle 22 installed at the upper end of the front operation panel 21 And a main transmission lever 23 that performs a traveling transmission operation by swinging.

  As shown in FIG. 4, the front operation panel 21 is provided with a fuel tank 24 on the front side of the steering handle 22. A control unit 60 is provided on the left and right sides (left side in the illustrated example) of the steering handle 22. Are provided with an ascending control switch 26 and a descending control switch 27 for executing the ascending / descending control for controlling the forward / backward inclination of the traveling body 3.

  Further, on the front side of the steering handle 22, a mode switching operation tool 31 for switching the work vehicle to a travel mode suitable for road travel, a step mode during step travel, and a work mode suitable for work on a farm field. Is arranged. Details will be described later.

  The wheel lifting device includes a single front axle case 32 that collectively supports the left and right front wheels 1, 1, a single rear axle case 33 that collectively supports the left and right rear wheels 2, 2, and a front axle case 32. And a rear wheel lifting mechanism for supporting the rear axle case 33 on the chassis frame 7 so as to be movable up and down.

  The rear axle case 33 is formed integrally with the rear portion of the transmission case 16, and is supported by a final case 34 that is swingably supported at each end of the main body extending in the left-right direction, and the left and right final cases 34 are connected and fixed to each other. And a connecting frame 36 in the left-right direction.

  Each of the left and right final cases 34 and 34 is driven to rotate in a state in which a left and right axle 37 protrudes outward at an end (front end) opposite to the base end on the swing fulcrum 35 side. Supported as possible. By the way, the right and left final cases 34 and 34 are connected and integrated by the connecting frame 36 to improve the strength.

  The front axle case 32 has a main body case 38 extending in the left-right direction and a final case 39 extending downward from left and right ends of the main body case 38, and is entirely formed in a gate shape in front view. Yes. The left and right final cases 39, 39 are supported by the main body case 38 so as to be horizontally rotatable. At the lower end of the final case 39, an axle 41 extending in the horizontal direction rotates in a state protruding outward. It is supported so that it can be driven.

  The rear wheel raising / lowering mechanism is interposed between the link mechanism 42 that connects the rear axle case 33 and the rear frame 13 and the connecting portion 30 on the upper surface side of the middle portion in the left-right direction of the rear axle case 33, and expands and contracts in the vertical direction. A rear wheel elevating cylinder 43, which is a relatively inexpensive actuator driven by electric, hydraulic or air that operates, is provided. The actuator is not limited to a cylinder as long as it is configured to operate the traveling machine body 7 using an electric motor or the like.

  In the link mechanism 42, a pair of upper and lower links are connected so as to be rotatable up and down so as to form a dogleg shape in a side view. The upper and lower ends of the rear wheel lifting cylinder 43 are rotatably connected to the rear bracket 45 on the rear frame 13 side and the connecting portion 30 on the connecting frame 36 side, respectively.

  When the rear wheel raising / lowering cylinder 43 is extended, the left and right final cases 34 and 34 integrally swing downward and the rear wheels 2 and 2 are lowered with respect to the traveling machine body 3. On the other hand, when the rear wheel elevating cylinder 43 is shortened, the left and right final cases 34 and 34 integrally swing upward and the rear wheels 2 and 2 are raised relative to the traveling machine body 3. At this time, the link mechanism 42 is provided with an expansion / contraction position detection potentiometer 67 which will be described later, and the link bend angle is operated in conjunction with the expansion / contraction operation of the rear wheel lift cylinder 43, thereby the rear wheel lift cylinder 43. The expansion / contraction position is detected. In the present invention, since the expansion / contraction operation of the rear wheel lifting cylinder 43 is either extended or contracted, in the expansion / contraction position detection potentiometer 67, the expansion / contraction position of the rear wheel lifting cylinder is extended or contracted. Detect the state of either position.

  The rear axle case 33 and the pair of rear wheels 2 and 2 are moved up and down along an arc locus centering on the swing fulcrum 35 of the final case 34 by the extension operation of the rear wheel raising / lowering cylinder 43, and the traveling body 3 The rear side of the rear part moves up and down with respect to the rear wheels 2 and 2.

  The front wheel elevating mechanism includes a pair of left and right front slide rails 46 extending in the vertical direction, a pair of left and right rear slide rails 47 extending in the vertical direction, and a total of four slide rails 46, 47 in the front, rear, left and right directions. And a single slide body 48 that is slidably supported by the motor, and a front wheel lift cylinder 49 that is a relatively inexpensive actuator that is driven by electric, hydraulic, or air to drive the slide body 48 up and down.

  The slide body 48 is supported so as to be slidable in the axial direction of the slide rails 46 and 47, and the slide body 48 includes both left and right end portions of the front surface of the front axle case 32 extending in the left-right direction and left and right ends of the rear surface. It is fixed with bolts to both ends. Thus, the front axle case 32 is supported by the chassis frame 7 so as to be slidable (movable up and down) in the direction of the slide rails 46 and 47.

  The front wheel elevating cylinder 49 is positioned so as to expand and contract in the vertical direction, and the upper end portion of the front wheel elevating cylinder 49 has an inverted L-shape projecting integrally upward from the front end portion of the upper surface of the box frame 12. While being supported by the support bracket 53 so as to be able to turn back and forth, the lower end portion of the front wheel lifting cylinder 49 is supported by the middle part of the slide body 48 so as to be able to turn back and forth.

  When the front wheel elevating cylinder 49 is extended, the front axle case 32 is lowered along the slide rails 46, 47, and the front wheels 1, 1 are lowered relative to the traveling machine body 3. On the other hand, when the front wheel elevating cylinder 49 is shortened, the front axle case 32 rises along the slide rails 46, 47, and the front wheels 1, 1 are raised relative to the traveling machine body 3. In other words, the front side of the traveling machine body 3 moves up and down with respect to the front wheels 1 and 1 by the expansion and contraction operation of the front wheel lifting cylinder 49. In the present invention, since the expansion / contraction operation of the front wheel lifting cylinder 49 is either extended or contracted, in the expansion / contraction position detection potenti 66, the expansion / contraction position of the front wheel lifting cylinder 49 is the fully extended position or the fully contracted position. Either of these states is detected.

  According to the above-described wheel lifting device, the traveling machine body can appropriately change the height position of the chassis frame and the forward / backward inclination through the control unit as shown in FIGS. 5 and 6.

  The raising posture and the lowering posture are postures suitable for traveling on a flat ground. Among these, the raising posture is achieved by extending the elevating cylinders 43 and 49 to a predetermined position (extended position). 3 (chassis frame 7) is set to the highest position in a state where it is kept substantially horizontal, and is a work posture suitable for work on a farm field (see FIG. 5A).

  Further, the lowering position is the lowest position in a state in which the traveling machine body 3 (chassis frame 7) is kept substantially horizontal by shortening the elevating cylinders 43, 49 to a predetermined position (a fully retracted position). And a travel posture suitable for traveling on the road (see FIG. 5B).

  In the forward descending posture, the rear wheel lifting cylinder 43 is extended to a predetermined position (extended position) and the front wheel lifting cylinder 49 is shortened to a predetermined position (contracted position). Thus, the traveling body 3 (chassis frame 7) is switched to a posture (see FIG. 6A) that is inclined forward and downward at a predetermined angle. Before traveling on the uphill, the operator switches to the forward / downward posture by operating the vehicle, and when the vehicle 3 travels on the level difference, the vehicle body elevation control (tilt control) is executed by the control unit described in detail later. Therefore, the aircraft can be prevented from tilting forward and upward and rotating rearward around the rear wheel to cause the aircraft to fall.

  In the front ascending posture, the front wheel lift cylinder 49 is extended to a predetermined position (extended position) and the rear wheel lift cylinder 43 is shortened to a predetermined position (contracted position). Thus, the traveling body 3 (chassis frame 7) is switched to a posture (see FIG. 6B) inclined forward and upward at a predetermined angle. Before traveling downhill, the operator switches to the forward ascending posture, and when the traveling body 3 travels down a level difference, the body is excessively controlled by executing the body lifting control by the control unit described later in detail. It is possible to prevent the aircraft from tipping over by tilting forward and downward and rotating forward about the front wheels.

  In this embodiment, each of the front axle 32 and the rear axle 33 is provided with elevating cylinders 49 and 43. However, a single actuator may be used to elevate and lower both wheels upside down via a balance link mechanism or the like. Moreover, you may change the inclination attitude | position of a body by raising / lowering any one of the front wheels 1, 1 or the rear wheels 2, 2.

  Next, based on FIG.7 and FIG.8, the body raising / lowering control by the said control part is demonstrated. When the mode is switched by the mode switching operation tool 31, the height position and the inclination of the chassis frame 7 are changed to a state suitable for the situation.

  When the mode is switched to the work mode by the mode switching operation tool 31, the raising posture suitable for the work traveling on the farm field is operated by operating the traveling machine body (chassis frame) to the highest position while keeping it substantially horizontal. (Working posture) is switched (see FIG. 7A). Further, when the mode is switched to the travel mode by the mode switching operation tool 31, the lowered position (excellent in stability on the road traveling ( (Traveling posture) (see FIG. 8A).

  On the uphill inclined surface as shown in FIG. 7, when the up control switch 26 is pushed in the state of being switched to the step mode by the mode switching operation tool 31, the lift cylinders 43 and 49 are moved. It is switched to the predetermined forward / downward posture by driving up and down until reaching the predetermined forward and downward posture, and stopping the upward and downward driving in the predetermined forward and downward posture (see FIG. 7B). When the front wheel moves forward and rides on the ascending step (see FIG. 7 (C)) and further advances and the rear wheel 2 starts to climb up the ascending step (see FIG. 7 (D)), the rear wheel lifting cylinder 43 is operated. Thus, the traveling machine body 3 is switched to the lowered posture (see FIG. 7E). That is, the ascending control switch 26 functions as a condition detecting means for starting the ascending slope traveling control and switching to the forward descending posture.

  Similarly, on the downward inclined surface as shown in FIG. 8, when the downward control switch 27 is pushed in the state switched to the step mode by the mode switching operation tool 31, each lift cylinder 43, 49 is driven up and down until it reaches the predetermined forward ascending posture, and is switched to the predetermined forward ascending posture by stopping the ascending and descending drive in the predetermined forward ascending posture (see FIG. 8B), When the front wheel 1 moves down in the state and the front wheel 1 goes down the step (see FIG. 8C), and further advances and the rear wheel 2 starts to go down the step (see FIG. 8D), the rear wheel lifting cylinder 43 is operated. Thus, the traveling machine body 3 is switched to the raised posture (see FIG. 8E). In other words, the down control switch 27 functions as a condition detecting means for starting the down slope traveling control and switching to the front up posture.

In the step mode, in the uphill traveling control, the climbing angle is set to the front-down position before climbing the step, starts climbing the step in this state, and in the latter half of the process of climbing the step, The traveling vehicle body is automatically operated from the forward descending posture to the lowered posture at the timing of changing to. On the other hand, in descending slope surface traveling control, a forward ascending posture is set in advance before descending the step, the descending step is started in this state, and at the second half of the process of descending the step, the inclination angle of the traveling machine body is changed to the front raising side. The traveling machine body is automatically operated from the front rising position to the rising position.

  According to this configuration, the operator can prevent the inclination of the traveling machine body 3 with respect to the horizontal direction from being greatly inclined in the front-rear direction when traveling on the step, and the safety is enhanced, and when traveling on the step, Since it is not necessary for the operator to perform an operation related to the inclination of the traveling machine body 3, it is possible to concentrate on the operation of the machine body. In addition, since the front wheel lift cylinder controls only the fully extended state from the fully extended state, the control details are simple, and it is possible to smoothly control the tilt of the traveling aircraft without using excessive quality actuators. Can be kept low. A detailed configuration of the control unit 60 will be described later.

  Next, based on FIG. 9 thru | or 14, a control part and its control content are demonstrated. The control contents described with reference to FIGS. 10 to 14 indicate the contents of a control program for realizing the present invention. On the output side of the control unit 60, the front wheel lift cylinder 49, the rear wheel lift cylinder 43, an up control switch lamp 61 for notifying that the up control switch 26 is operated, and a down control switch 27 are provided. A descending control switch lamp 62 that informs that it is being operated is connected to a notifying buzzer 63 that informs that lifting and lowering by airframe traveling control has ended.

  On the other hand, on the input side of the control unit 60, the operation mode switching operation tool 31, the up control switch 26, the down control switch 27, and the forward / backward inclination of the traveling machine body 3 (the chassis frame 7) are detected. A tilt sensor 65 composed of a potentiometer, a front wheel lifting cylinder expansion / contraction position detection potentiometer 66 that detects the expansion / contraction position of the front wheel lifting cylinder 49, and a rear wheel lifting cylinder that is a sensor that detects the expansion / contraction position of the rear wheel lifting cylinder 43. An expansion / contraction position detection potentiometer 67 is connected. Incidentally, the up control switch 26 and the down control switch 27 also serve as an operation confirmation switch for confirming the operation start of the cylinder of each wheel described later.

  As shown in FIG. 10, when the body lifting control of the control unit is started, the process starts from step S1. In step S1, the running mode control is executed, and when the process ends, the process proceeds to step S2. In step S2, the step mode control is executed, and when the process ends, the process proceeds to step S3. In step S3, work mode control is executed, and when the process is completed, the process is returned to step S1. Thereafter, the main routine process is repeated in the order of step S1, step S2, step S3, step S1,. Further, in each step, each control is performed by moving to a subroutine that shifts to individual control, and when each subroutine is completed, the routine returns to the routine shown in FIG. As a result, this program always monitors the state of the control part, and the routine is always repeated as a program.

  In FIG. 11, when the travel mode control subroutine is executed, the process proceeds to step S11. In step S11, it is confirmed whether or not the mode switching operation tool 31 has been switched to the travel mode. When the travel mode is operated, the process proceeds to step S12, and the mode is operated other than the travel mode. In that case, the subroutine is terminated and the process returns to the main routine.

  In step S12, the expansion / contraction positions of the front wheel lifting cylinder 49 and the rear wheel lifting cylinder 43 are detected by the lift cylinder expansion / contraction position detection potentiometers 66 and 67, and the process proceeds to step S13. In step S13, it is detected from the expansion / contraction positions of the front and rear elevating cylinders 49, 43 whether or not the front ascending posture is detected.

  In step S14, it is detected whether or not the up / down control switch 26, which also functions as a front / rear cylinder operation check switch, is pressed. If the cylinder operation check switch is pressed, the process proceeds to step S15, and the front wheel lift cylinder 49 is moved. Is shortened (switched to the running posture), and then the subroutine is terminated and the process returns to the main routine to enter the running state as the work vehicle. On the other hand, in step S14, when the pressing operation of the cylinder operation confirmation switch is not detected, the subroutine is terminated and the process returns to the main routine.

  On the other hand, if no forward ascending posture is detected in step S13, the process proceeds to step S16. In step S16, it is detected from the expansion / contraction positions of the front and rear elevating cylinders whether or not the front descending posture is detected.

In step S17, it is detected whether or not the descending control switch 27, which also serves as an operation confirmation switch for the front and rear cylinders, is pressed. If the cylinder operation confirmation switch is being pushed, the process proceeds to step S18, and the rear wheel lift cylinder 43 is shortened, then the subroutine is terminated, the program returns to the main routine, and the work vehicle enters a running state. On the other hand, in step S17, when the pressing operation of the cylinder operation confirmation switch is not detected, the subroutine is terminated and the process returns to the main routine.

  In step S16, if the forward descending posture is not detected, the process proceeds to step S19. In step S19, whether or not the working posture is detected from the expansion / contraction positions of the front and rear lifting cylinders is detected. On the other hand, if the work posture is not detected in step S19, the subroutine is terminated and the process returns to the main routine.

  In step S20, it is detected whether or not the up / down control switch 26 or down control switch 27, which also serves as the operation check switch for the front and rear cylinders, is pressed. If the cylinder operation check switch is pressed, the process proceeds to step S21. The front wheel elevating cylinder 49 and the rear wheel elevating cylinder 43 are shortened and then the subroutine is terminated, the program returns to the main routine, and the work vehicle enters the running state. On the other hand, in step S20, if the pressing operation of the cylinder operation confirmation switch is not detected, the subroutine is terminated and the process returns to the main routine.

  That is, in the above-described traveling mode control, when the mode switching operation tool 31 is switched to the traveling mode, the chassis frame 7 is configured to be switched to a lowered posture suitable for traveling on the road. In addition, in each step of step S14, step S17, and step S20 in the travel mode subroutine, the pressing operation of the front and rear cylinder operation confirmation switches is not detected, and when the subroutine is terminated and the process returns to the main routine, the main routine is While iterating, it again moves to the driving mode subroutine, executes each step, and repeats until it reaches the running state.

  12 and 13, when the step mode control subroutine is executed, the process proceeds to step S31. In step S31, the ON / OFF state of the uplink control switch 26 is confirmed. If an ON state is detected, the process proceeds to step S32.

  In step S32, the elevating positions of the front wheel elevating cylinder 49 and the rear wheel elevating cylinder 43 are detected by the elevating cylinder elongating position detection potentiometers 66, 67, and the predetermined above-mentioned state in which the chassis frame 7 is in a ready state for climbing a step. If it is not detected that the vehicle is in the forward descending posture, the process proceeds to step S33, the front wheel lifting cylinder 49 is shortened and the rear wheel lifting cylinder 43 is extended, and the process proceeds to step S34. On the other hand, if it is detected in step S32 that the traveling machine body 3 is in the predetermined forward descending posture, the process proceeds to step S34.

In step S34, the initial body angle theta ₁ of the chassis frame 7 which became the default Maekudari posture is stored, the process proceeds to step S35. In step S35, the tilt sensor 65, when the aircraft angle theta ₂ is detected to be greater than the initial angle theta _1, the process proceeds to step S36. On the other hand, in step S35, when the aircraft angle theta ₂ is the initial angle theta ₁ below, return to the previous step S35.

At step S36, the tilt sensor 65, when the aircraft angle theta ₂ is detected to be greater state than the initial angle theta ₁ continues for more than _one second t, the process proceeds to step S37. On the other hand, if the state in which the body angle θ ₂ is larger than the initial angle θ ₁ does not continue for t ₁ seconds or longer in step S36, the process returns to immediately before step S35.

  Here, a state is detected in which the body angle starts to tilt forward and upward as the front wheel 1 rides on a step (see FIGS. 7B and 7C).

At step S37, the tilt sensor 65, when the angle variation omega ₁ of the traveling machine body 3 is detected to have become smaller than the predetermined change amount alpha ₁ was arbitrarily set, the process proceeds to step S38. At step S38, the storing body angle theta ₃ at that time, the process proceeds to step S39. Here, as the predetermined amount of change alpha _1, by giving an arbitrary value by the angular change due to vibration or the like, and avoid being unintended detection.

Here, a state in which only the front wheel 1 rides on the step and the rear wheel 2 moves forward until reaching the step is detected (see FIGS. 7C and 7D).
When climbing an inclined surface longer than the wheel bases of the front and rear wheels, a state where both the front wheel 1 and the rear wheel 2 are on the inclined surface is detected (not shown).

If it is detected in step S39 that the aircraft angle θ ₄ detected by the tilt sensor 65 is smaller than the stored aircraft angle θ ₃ (relative to the horizontal plane), the process proceeds to step S40. On the other hand, if the detected aircraft angle θ ₄ is greater than or equal to the aircraft angle θ ₃ in step S39, the process returns to immediately before step S39.

At step S40, the tilt sensor 65, when it is detected that the vehicle body angle theta ₄ is continued smaller state than aircraft angle theta ₃ is t ₂ seconds or longer, the process proceeds to the step S41. On the other hand, in step S40, when the state machine body angle theta ₄ is less than the fuselage angle theta ₃ is not continued t ₂ seconds or longer, then, return to the previous step S39.

Here, a state in which the rear wheel 2 starts to travel on the stepped slope is detected (see FIG. 7D).
When climbing an inclined surface that is longer than the wheel bases of the front and rear wheels, only the front wheel 1 climbs the step and detects a state of reaching the flat ground (not shown).
Further, by replacing the step S39 and step S40, after detecting that a predetermined time has elapsed, the condition that the state machine body angle theta ₄ is less than the fuselage angle theta ₃ is detected, it may be configured to proceed to step S41 .

  In step S41, the rear wheel raising / lowering cylinder 43 is shortened to switch the traveling machine body to a predetermined traveling posture, and the process proceeds to step S42. In step S42, when it is detected that the upstream control switch 26 has been operated from the ON state to the OFF state, the subroutine is thereafter terminated and the process returns to the main routine. If the ON state is detected in step S42, the process returns to immediately before step S42.

  If the OFF state of the uplink control switch 26 is detected in step S31, the process proceeds to step S43. In step S43, the ON / OFF state of the downlink control switch 27 is confirmed. If an ON state is detected, the process proceeds to step S44. On the other hand, when the OFF state of the down control switch 27 is detected in step S43, the subroutine is thereafter terminated and the process returns to the main routine.

  In step S44, the extension positions of the front wheel lift cylinder 49 and the rear wheel lift cylinder 43 are detected by the lift cylinder expansion / contraction position detection potentiometers 66 and 67, and the predetermined front is in a state where the chassis frame 7 is ready to go down the step. If it is not detected that the vehicle is in the upward posture, the process proceeds to step S45, the front wheel lifting cylinder 49 is extended and the rear wheel lifting cylinder 43 is shortened, and the process proceeds to step S46. On the other hand, if it is detected in step S44 that the traveling machine body 3 is already in the predetermined forward ascending posture, the process proceeds to step S46.

In step S46, the initial aircraft angle theta ₅ undercarriage frame 7 which became the default pre-up position is stored, the process proceeds to step S47. In step S47, when it is detected that the body angle θ ₆ detected by the tilt sensor 65 is smaller than the initial angle θ ₅ , the process proceeds to step S48. On the other hand, if the detected machine angle θ ₆ is greater than or equal to the initial angle θ ₅ in step S47, the process returns immediately before step S47.

At step S48, the when the aircraft angle theta ₆ detected by the tilt sensor 65 is detected to be smaller state than the initial angle theta ₅ continues t ₃ seconds or more, the process proceeds to step S49. On the other hand, in step S48, if the state in which the detected body angle θ ₆ is smaller than the initial angle θ ₅ does not continue for t ₃ seconds or more, the process returns to immediately before step S47.

  Here, a state is detected in which the front wheel 1 goes down the step and the body angle starts to lean forward and downward (see FIGS. 8B and 8C).

At step S49, the by the inclination sensor 65, when the angle variation omega ₂ of vehicle body 3 is detected to have become smaller than the predetermined change amount alpha ₂ was arbitrarily set is, the process proceeds to step S50. At step S50, stores the aircraft angle theta ₇ at that time, the process proceeds to step S51. Here, as the predetermined amount of change alpha _2, by giving an arbitrary value by the angular change due to vibration or the like, and avoid being unintended detection.

Here, it is detected that only the front wheel 1 has gone down the step and the rear wheel 2 is moving forward until it reaches the step (see FIGS. 8C and 8D).
When descending an inclined surface longer than the wheel bases of the front and rear wheels, a state where both the front wheel 1 and the rear wheel 2 are on the inclined surface is detected (not shown).

In step S51, if it is large (with respect to the horizontal plane) from the aircraft angle theta ₇ the aircraft angle theta ₈ is stored, which is detected is detected by the inclination sensor 65, the process proceeds to step S52. On the other hand, in step S51, the aircraft angle theta ₈ that is detected if: the aircraft angle theta ₇ stored, the process returns to the previous step S51.

In step S52, if it is larger than the aircraft angle theta ₇ the aircraft angle theta ₈ detected and stored by the inclination sensor 65 state continues t ₄ seconds or more is detected, the process proceeds to step S53. On the other hand, in step S52, if the larger state than aircraft angle theta ₇ the aircraft angle theta ₈ detected and stored by has not continued t ₄ seconds or more, then returns to the previous step S51.

Here, a state in which the rear wheel 2 starts to travel on the inclined surface is detected (between FIGS. 8D to 8E).
When descending an inclined surface that is longer than the wheel bases of the front and rear wheels, only the front wheel 1 goes down the step and detects a state where the front wheel 1 has come to the flat ground (not shown).

  In step S53, the rear wheel raising / lowering cylinder 43 is extended and the traveling machine body 3 is switched to the working posture, and the process proceeds to step S54. If it is detected in step S54 that the down control switch 27 has been operated from the ON state to the OFF state, then the subroutine is terminated and the process returns to the main routine. If an ON state is detected in step S54, the process returns to immediately before step S54.

Note that replacing the step S51 and step S52, after a predetermined time t ₄ has detected that has passed, on condition that the aircraft angle theta ₈ than aircraft angle theta ₇ (with respect to the horizontal plane) greater condition is detected The configuration may be such that the process proceeds to the next step.

  In FIG. 14, when the work mode control subroutine is executed, the process proceeds to step S61. In step S61, it is confirmed whether or not the operation switching to the work mode has been performed by the mode switching operation tool 31. If the operation mode is operated, the process proceeds to step S62, and the operation is performed in a mode other than the work mode. In that case, the subroutine is terminated and the process returns to the main routine.

  In step S62, the expansion / contraction positions of the front wheel lift cylinder 49 and the rear wheel lift cylinder 43 are detected by the lift cylinder expansion / contraction position detection potentiometers 66 and 67, and the process proceeds to step S63. In step S63, it is detected from the expansion / contraction positions of the front and rear elevating cylinders whether or not the chassis frame 7 is in a predetermined front ascending posture. If it is in a predetermined front ascending posture, the process proceeds to step S64.

  In step S64, whether or not the operation confirmation switches 26 and 27 for the front and rear lift cylinders are operated is detected, and if the operation confirmation switch for the lift cylinder is being pushed, the process proceeds to step S65, where the front wheel lift cylinder 49, The rear wheel raising / lowering cylinder 43 is extended, the program ends the subroutine, returns to the main routine, and the work vehicle enters the working state. On the other hand, in step S64, if the pressing operation of the lift cylinder operation confirmation switch is not detected, the subroutine is terminated and the process returns to the main routine. That is, the up control switch 26 and the down control switch 27 function as an operation confirmation switch having the meaning of starting the operation of the cylinder during the travel mode control and the work mode control.

  In step S63, if a predetermined front ascending posture is not detected, the process proceeds to step S66. In step S66, it is detected from the expansion / contraction positions of the front and rear elevating cylinders whether or not the predetermined forward descending posture is detected, and in the case of the predetermined forward descending posture, the process proceeds to step S67.

  In step S67, whether or not the operation confirmation switches of the front and rear lifting cylinders 49 and 43 are operated is detected. If the operation confirmation switch of the lifting cylinders 49 and 43 is pressed, the process proceeds to step S68 and the front wheel lifting cylinders are operated. 49 and the rear wheel raising / lowering cylinder 43 are extended to complete the subroutine as a program and return to the main routine, and the work vehicle is in a working state. On the other hand, in step S67, when the pressing operation of the operation confirmation switches 26, 27 of the lifting cylinders 49, 43 is not detected, the subroutine is terminated and the process returns to the main routine.

  In step S66, if a predetermined forward descending posture is not detected, the process proceeds to step S69. In step S69, it is detected from the expansion / contraction positions of the front and rear elevating cylinders 49, 43 whether or not the lowering posture, which is a predetermined traveling posture, and in the case of the lowering posture, the process proceeds to step S70. On the other hand, if the lowered posture is not detected in S69, the subroutine is terminated and the process returns to the main routine.

  In step S70, whether or not the operation confirmation switches 26 and 27 of the front and rear lift cylinders 49 and 43 are operated is detected. If the operation confirmation switches 26 and 27 of the lift cylinders 49 and 43 are pressed, step S71 is performed. Then, the front wheel elevating cylinder 49 and the rear wheel elevating cylinder 43 are extended to complete the subroutine as a program and return to the main routine, so that the work vehicle is in a working state. On the other hand, in step S70, when the pressing operation of the operation confirmation switches 26, 27 of the lifting cylinders 49, 43 is not detected, the subroutine is terminated and the process returns to the main routine.

  That is, in the above-described work mode control, when the mode switching operation tool 31 is switched to the work mode, the chassis frame 7 is configured to be switched to the raising posture suitable for work traveling on the field. Yes.

  In the present embodiment, the expansion and contraction operation of the actuator is started based on the pressing operation of the up control switch 26 or the down control switch 27. However, the present invention is not limited to this embodiment, and the inclination sensor more than a predetermined value is detected. Thus, it may be determined that the airframe is approaching an inclined ground, and the expansion / contraction operation of the actuator is started. In this case, the inclination sensor 65 functions as a condition detection unit instead of the up control switch 26 or the down control switch 27.

3 Traveling machine body 26 Up control switch, operation confirmation switch (condition detection means)
27 Down control switch, operation confirmation switch (condition detection means)
43 Rear wheel lifting cylinder (actuator)
49 Front wheel lifting cylinder (actuator)
60 Control unit 65 Tilt sensor (condition detecting means, forward / backward tilt detecting means)

Claims (2)

In working vehicle that controls the longitudinal inclination of the running vehicle body by the actuator,
A condition detecting means for detecting a predetermined predetermined condition for starting the control of the longitudinal inclination of the vehicle body,
A control unit for controlling the operation of the actuator ;
A front and rear inclination detecting means for detecting the front and rear inclination of the traveling machine body ,
The control unit, by means of an actuator, causes the traveling vehicle body to be tilted forward and downward with respect to the front and rear wheels, to a predetermined front lowering posture and tilted forward and forward to the front and rear wheels, and to the front and rear wheels. Is configured to switch to a substantially horizontal posture,
The control unit I by the detection of the predetermined condition by said condition detecting means, if the up-ramp surface running control at the time of riding the travel of the step is started, the control of Setsu換Ru longitudinal inclination in the posture forwardly downward above while performing, by the detection of the predetermined condition by said condition detecting means, if the downward slope traveling control when descending travel of the step is started, to perform a control of the inclination before and after switching to the forwardly upwardly orientation Configured,
Further, the control unit starts to change the forward / backward inclination angle of the traveling machine body to the downwardly inclined side forward while the upward inclined surface traveling control is being executed and the traveling surface is traveling in the upwardly inclined posture. When this is detected by the forward / backward inclination detecting means, the traveling machine body is configured to switch to the substantially horizontal posture.
A working vehicle characterized by that .
Work vehicle. In working vehicle that controls the longitudinal inclination of the running vehicle body by the actuator,
A condition detecting means for detecting a predetermined predetermined condition for starting the control of the longitudinal inclination of the vehicle body,
A control unit for controlling the operation of the actuator ;
A front and rear inclination detecting means for detecting the front and rear inclination of the traveling machine body ,
The control unit, by means of an actuator, causes the traveling vehicle body to be tilted forward and downward with respect to the front and rear wheels, to a predetermined front lowering posture and tilted forward and forward to the front and rear wheels, and to the front and rear wheels. Is configured to switch to a substantially horizontal posture,
The control unit I by the detection of the predetermined condition by said condition detecting means, if the up-ramp surface running control at the time of riding the travel of the step is started, the control of Setsu換Ru longitudinal inclination in the posture forwardly downward above while performing, by the detection of the predetermined condition by said condition detecting means, if the downward slope traveling control when descending travel of the step is started, to perform a control of the inclination before and after switching to the forwardly upwardly orientation Configured,
Further, the control unit starts to change the forward / backward inclination angle of the traveling machine body to the side inclined upward in the forward direction while the downward inclined surface traveling control is being executed and the traveling surface is traveling downwardly inclined in the forward rising posture. When this is detected by the forward / backward inclination detecting means, the traveling machine body is configured to switch to the substantially horizontal posture.
A working vehicle characterized by that .

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