JP2010012928A - Traveling vehicle for irregular ground - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a traveling vehicle for an irregular ground capable of easily controlling a posture of an operating machine body 4 by improving operating responsiveness of electromagnetic proportional control valves and joint hydraulic cylinders. <P>SOLUTION: The operating machine body 4 mounted with an engine 20, right and left leg bodies 5a, 5b for supporting the operating machine body 4, front side travelling parts 3a, 3b and rear side travelling parts 2a, 2b provided at lower ends of the respective leg bodies 5a, 5b, the joint hydraulic cylinders for bending and operating joints of the respective leg bodies 5a, 5b, the electromagnetic proportional control valves 76a, 78a, 80a, 82a, 84a, 76b, 78b, 80b, 82b, 84b, 86 for regulating supply and discharge amounts of hydraulic oil for the respective joint hydraulic cylinders and the travelling controller 100 for controlling operation of the respective electromagnetic proportional control valves. The travelling controller 100 is structured to be capable of outputting an initial instruction current Iin larger than an instruction current Ia during a normal operation for the respective electromagnetic proportional control valves 76a, 78a, 80a, 82a, 84a, 76b, 78b, 80b, 82b, 84b, 86 temporarily. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a traveling vehicle for rough terrain used for transporting timbers and planting seedlings harvested in a forest, and more specifically, supports a work machine body via left and right leg mechanisms on a traveling part, The present invention relates to a traveling vehicle for rough terrain that moves between constituent trees.

  As shown in Patent Document 1, this type of rough terrain vehicle includes a work machine body on which an engine is mounted, left and right leg mechanisms that support the work machine body, and a front side travel unit provided at the lower end of each leg mechanism. And a rear traveling unit, a hydraulic cylinder for bending each leg mechanism, an electromagnetic proportional control valve for adjusting the supply and discharge amount of hydraulic oil to each hydraulic cylinder, and a controller for controlling the operation of each electromagnetic proportional control valve I have.

Further, in this type of rough terrain vehicle, an operator gets on an uneven terrain such as a sloping ground by operating each electromagnetic proportional control valve based on a controller command to expand and contract the corresponding hydraulic cylinder. A technique for maintaining the posture of the work machine body (cabin) horizontally is also well known.
JP-A-8-289604

  By the way, when the hydraulic cylinder is slightly operated in the conventional configuration, for example, the target opening degree of the spool in the electromagnetic proportional control valve is small, so that the amount of hydraulic oil passing through the spool is small and the moving speed of the spool is slow. For this reason, in the conventional configuration, the response of the electromagnetic proportional control valve when the hydraulic cylinder is slightly operated, and thus the response of the hydraulic cylinder is poor, and there is room for improvement in view of improving the posture control function. .

  In view of this, the present invention has a technical object to provide a traveling vehicle for rough terrain in which such problems are solved.

  In order to achieve the above technical problem, an uneven terrain vehicle according to the invention of claim 1 includes a work machine body on which a drive source is mounted, left and right leg mechanisms that support the work machine body, and each leg mechanism. A front traveling part and a rear traveling part provided at the lower end of the joint, a joint hydraulic cylinder for bending the joint of each leg mechanism, and an electromagnetic proportional control valve for adjusting the supply and discharge amount of hydraulic fluid to each joint hydraulic cylinder And control means for controlling the operation of each electromagnetic proportional control valve. The control means is set so that the control means temporarily outputs an initial command current larger than the command current during normal operation to each electromagnetic proportional control valve.

  According to a second aspect of the present invention, in the rough terrain traveling vehicle according to the first aspect, the control means performs a differential process on a target position of each joint hydraulic cylinder and controls each electromagnetic proportional control valve based on the differential value. It is set to execute feed forward control to be activated.

  According to a third aspect of the present invention, in the rough terrain vehicle according to the second aspect, the control means is configured to perform a normal operation when the differential value is not zero in a state where the joint hydraulic cylinders are not operated. A standby command current smaller than the command current is set to be output to each of the electromagnetic proportional control valves.

  According to the configuration of the present invention, the control means for controlling the operation of the electromagnetic proportional control valve for adjusting the supply / discharge amount of the hydraulic oil to each joint hydraulic cylinder temporarily outputs the initial command current larger than the command current during normal operation. Since it is set to output to each electromagnetic proportional control valve, when each of the joint hydraulic cylinders is extended and retracted to the target position, even if the target opening of the spool in each electromagnetic proportional control valve is small, the initial operation At this stage, the amount of hydraulic oil passing through the spool can be temporarily increased to increase the moving speed of the spool. For this reason, the start-up characteristic at the initial stage of operation of each electromagnetic proportional control valve changes quickly, and each electromagnetic proportional control valve responds quickly. As a result, the operation response of each joint hydraulic cylinder becomes quick, and the horizontal posture control function can be improved.

  DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, drawings when an embodiment of the present invention is applied to a timber transport vehicle as a rough terrain vehicle will be described. In the following description, the left side in the forward direction of the timber transport vehicle 1 is simply referred to as the left side, and the right side in the forward direction is also simply referred to as the right side.

(1). Outline of the Timber Transport Vehicle As shown in FIGS. 1 to 3, the timber transport vehicle 1 includes left and right rear traveling units 2a and 2b, left and right front traveling units 3a and 3b, and an engine as a drive source to be described later. 20, a working machine body 4 in which a hydraulic equipment 21 and a log gripping arm 22 as a working machine are arranged, and left and right legs that support the working machine body 4 in the rear traveling units 2a and 2b and the front traveling units 3a and 3b. 5a, 5b.

  As shown in FIG. 2, the work machine body 4 includes an operation cabin 23 on which an operator gets on, and a loading platform 25 on which a log 24 is placed by a log holding arm 22. The driving cabin 23 is configured to change the course by making the control seat 26 on which the operator sits, the left front traveling unit 2a and the rear traveling unit 3a, the right front traveling unit 2b and the rear traveling unit 3b differential. (Steering) the steering handle 27, the driving speed of the left and right rear traveling units 2a, 2b and the left and right front traveling units 3a, 3b (change in vehicle speed) and the rotation direction (switching between forward and reverse) And a brake pedal 29 for braking the left and right rear running portions 2a and 2b or the left and right front running portions 3a and 3b. Further, the remote controller 99 is detachably disposed on the installation table 98 in the operation cabin 23. The timber transport vehicle 1 is mainly operated by the remote controller 99 to perform operations such as loading and unloading of timber, but the operator can sit on the control seat 26 to load and unload timber. Yes.

  As shown in FIGS. 3 and 4, the left and right rear running units 2 a and 2 b and the left and right front running units 3 a and 3 b rotate around the track frame 31 and a track frame 31 that supports a plurality of track rollers 30. A drive sprocket 32 movably disposed, a tension roller 34 disposed on the track frame 31 via a tension adjusting mechanism 33, a travel drive hydraulic motor 35 for driving the drive sprocket 32, and a crawler-shaped travel crawler made of synthetic rubber 36. A travel crawler 36 is supported on the track frame 31 via a drive sprocket 32, tension rollers 34, and a plurality of track rollers 30. The travel crawler 36 is driven in the forward direction or the reverse direction by the travel drive hydraulic motor 35.

  As shown in FIGS. 5 to 7, the left and right legs 5 a and 5 b are configured to be individually bent by a plurality of first to tenth shafts to change their postures. That is, left and right hip joint shafts 7 described later as first and second axes, left and right knee joint shafts 6 described later as third and fourth axes, and left and right ankles described later as fifth and sixth axes. It includes a joint shaft 5, left and right rear foot joint shafts 10 to be described later as seventh and eighth axes, and left and right front foot joint shafts 11 to be described later as ninth and tenth axes.

  As shown in FIGS. 5 to 7, the left and right legs 5 a and 5 b each have an ankle joint shaft 5, a knee joint shaft 6, and a hip joint shaft 7 extending in the horizontal direction (lateral direction). The left and right rear running portions 2a and 2b and the left and right front running portions 3a and 3b are connected to the left and right legs 5a and 5b via the ankle joint shaft 5, respectively. The work machine body 4 is connected to the left and right legs 5a, 5b via the hip joint shaft 7. The left and right legs 5a and 5b are configured to be bent in a side view through the knee joint shaft 6.

  As shown in FIGS. 5 to 7, the left and right legs 5 a and 5 b are configured to be individually bent by a plurality of first to tenth frames and change their postures. That is, left and right rear foot frames 8a and 8b, which will be described later as first and second frames, left and right front foot frames 9a and 9b, which will be described later as third and fourth frames, and fifth and sixth frames. Left and right foot frames 12a and 12b, which will be described later, left and right shin frames 13a and 13b which will be described later as seventh and eighth frames, and left and right thigh frames 14a and 14b which will be described later as ninth and tenth frames, respectively. It has.

  As shown in FIGS. 5 to 7, the left and right legs 5 a and 5 b include left and right rear foot frames 8 a and 8 b that support the left and right rear running portions 2 a and 2 b, and left and right front running portions 3 a and Left and right front foot frames 9a and 9b that support 3b, and left and right rear foot joint shafts 10 (on the rear end sides of the left and right front foot frames 9a and 9b) on the front end sides of the left and right rear foot frames 8a and 8b. The left and right foot frames 12a and 12b that connect the rear end side (front end side) via the front foot joint shaft 11) and the left and right ankle joints at the upper end in the middle of the front and rear width of the left and right foot frames 12a and 12b Left and right tibial frames 13a, 13b connecting the lower end side via the shaft 5, and left and right thigh frames 14a connecting the lower end side via the left and right knee joint shafts 6 to the upper end side of the left and right tibial frames 13a, 13b, 14b. The left and right legs 5a and 5b are configured in a symmetrical structure.

  As shown in FIGS. 2 to 5, left and right front running units 3a and 3b, left and right rear running units 2a and 2b, an engine 20 as a drive source, and a log gripping arm 22 as a working machine are arranged. And the left and right legs 5a and 5b for supporting the work machine body 4 on the front side travel parts 3a and 3b and the rear side travel parts 2a and 2b. The left and right legs 5a, 5b have an ankle joint axis 5, a knee joint axis 6, and a hip joint axis 7. The left and right front running parts 3a are connected to the left and right legs 5a, 5b via the ankle joint axis 5. , 3b and the left and right rear running portions 2a, 2b, the left and right legs 5a, 5b are connected to the work machine body 4 via the hip joint shaft 7, and the left and right legs 5a, 5k are connected via the knee joint shaft 6. 5b is configured to be bent. Therefore, the center of gravity of the machine body can be moved in the front-rear direction, the left-right direction, and the up-down direction with the left and right front running units 3a and 3b and the left and right rear running units 2a and 2b being grounded, and the ground height of the work machine 4 can be easily Can be changed. In addition, the left and right legs 5a and 5b are staggered so that the maximum ground contact width in the front-rear direction of the front and rear traveling portions 2a, 2b, 3a, 3b can be easily increased, and the depression in which the width in the traveling direction is large. Can be easily overcome.

  As shown in FIGS. 5 to 7, the working machine body 4 has a seat frame 15, and the seat frame is interposed between the upper and lower widths of the thigh frames 14 a and 14 b of the left and right legs 5 a and 5 b via the hip joint shaft 7. The middle of 15 front and rear widths are connected. By rotating the seat frame 15 around the hip joint axis 7, the front end side (rear end side) of the seat frame 15 moves upward (downward) or downward (upward), and the seat frame 15 tilts in the front-rear direction. The corner will be changed.

  As shown in FIGS. 5 to 7, the left and right legs 5 a and 5 b are configured to be individually bent by a plurality of first to tenth hydraulic cylinders to change their postures. That is, left and right hip joint hydraulic cylinders 44a and 44b, which will be described later as first and second hydraulic cylinders, left and right knee joint hydraulic cylinders 48a and 48b, which will be described later as third and fourth hydraulic cylinders, and a fifth hydraulic pressure. Left and right ankle joint hydraulic cylinders 52a and 52b, which will be described later as cylinders and sixth hydraulic cylinders, left and right heel joint hydraulic cylinders 56a and 56b, which will be described later as seventh hydraulic cylinders and eighth hydraulic cylinders, ninth hydraulic cylinders and tenth hydraulic cylinders Left and right toe joint hydraulic cylinders 60a and 60b, which will be described later, are provided as hydraulic cylinders.

  A pitch arm 40 that is fitted to the hip joint shaft 7 so as to be rotatable in the middle of the L shape in a side view and a pitch hydraulic cylinder 16 as a horizontal mechanism for adjusting the tilt angle in the front-rear direction of the seat frame 15 are provided. A pitch hydraulic cylinder 16 is connected to the front end side of the seat frame 15 via a shaft body 41. The L-shaped one end side of the pitch arm 40 is connected to the tip end side of the piston 16 a of the pitch hydraulic cylinder 16 via the shaft body 42. In addition, left and right hip joint hydraulic cylinders 44a and 44b are connected to the lower ends of the left and right thigh frames 14a and 14b via a shaft body 43. The other end side of the L-shape of the pitch arm 40 is connected to the tip end side of the piston 45 of the hip joint hydraulic cylinders 44 a and 44 b via the shaft body 46.

  As a result, the seat frame 15 is rotated around the hip joint axis 7 by the pitch hydraulic cylinder 16, and the tilt of the seat frame 15 in the front-rear direction is corrected and horizontally supported in the front-rear direction. Further, the seat frame 15 is rotated around the hip joint axis 7 by the left and right hip joint hydraulic cylinders 44a and 44b, and the relative connection angle between the seat frame 15 and the left and right thigh frames 14a and 14b is changed.

  That is, by operating the pitch hydraulic cylinder 16 while operating the left and right hip joint hydraulic cylinders 44a, 44b, the seat frame 15 and the left and right thighs are maintained in a state where the tilt in the front-rear direction of the seat frame 15 is maintained substantially horizontal. The relative angle with the frames 14a and 14b is changed. By operating the left and right hip joint hydraulic cylinders 44a and 44b separately, the relative angles of the left and right thigh frames 14a and 14b with respect to the seat frame 15 are independently changed.

  The first to tenth hydraulic cylinders 44a, 44b, 48a, 48b, 52a, 52b, 56a, 56b, 60a, 60b and the pitch hydraulic cylinder 16 are the joint hydraulic cylinders recited in the claims. It corresponds to.

  As shown in FIGS. 2 to 5, the left and right legs 5 a and 5 b have tibial frames 13 a and 13 b that are connected to the foot frames 12 a and 12 b via the ankle joint shaft 11, and knees to the tibial frames 13 a and 13 b. The working machine body 4 has a seat frame 15 and is connected to the thigh frames 14a and 14b of the left and right legs 5a and 5b via the hip joint shaft 7. The seat frame 15 is connected, and a pitch hydraulic cylinder 16 is provided as a horizontal mechanism for adjusting the tilt angle of the seat frame 15 in the front-rear direction, and is configured to support the seat frame 15 horizontally. Therefore, while ensuring the ground clearance of the work machine body 4, the tilt angles in the left-right direction and the front-rear direction of the work machine body 4 can be easily changed, and the work machine body 4 can be supported in a stable posture.

  Left and right knee joint hydraulic cylinders 48a and 48b are connected to upper end sides of the left and right thigh frames 14a and 14b via left and right shaft bodies 47, respectively. Intermediate portions of the shin frames 13a and 13b are connected to the distal end sides of the pistons 49 of the left and right knee joint hydraulic cylinders 48a and 48b via left and right shaft bodies 50, respectively. As a result, by operating the left and right knee joint hydraulic cylinders 48a and 48b, the left and right thigh frames 14a and 14b rotate around the left and right knee joint axes 6, and the left and right tibial frames 13a and 13b and the left and right thigh frames are rotated. The relative connection angles with the frames 14a and 14b are respectively changed. By operating the left and right knee joint hydraulic cylinders 48a and 48b separately, the relative angles of the left and right thigh frames 14a and 14b with respect to the left and right tibial frames 13a and 13b are independently changed.

  Left and right ankle joint hydraulic cylinders 52a and 52b are connected to upper end sides of the left and right shin frames 13a and 13b via left and right shaft bodies 51, respectively. The front end sides of the left and right foot frames 12a and 12b are connected to the distal end sides of the pistons 53 of the left and right ankle joint hydraulic cylinders 52a and 52b via left and right shaft bodies 54, respectively. As a result, by operating the left and right ankle joint hydraulic cylinders 52a and 52b, the left and right tibial frames 13a and 13b rotate around the left and right ankle joint axes 5, and the left and right foot frames 12a and 12b The relative connection angles with the shin frames 13a and 13b are respectively changed. By operating the left and right ankle joint hydraulic cylinders 52a and 52b separately, the relative angles of the left and right shin frames 13a and 13b with respect to the left and right foot frames 12a and 12b are independently changed.

  Left and right heel joint hydraulic cylinders 56a and 56b are connected to the rear end sides of the left and right foot frames 12a and 12b via left and right shaft bodies 55, respectively. The left and right rear foot frames 8a and 8b are connected to the front ends of the pistons 57 of the left and right heel joint hydraulic cylinders 56a and 56b via left and right shaft bodies 58, respectively. As a result, by operating the left and right heel joint hydraulic cylinders 56a and 56b, the left and right rear foot frames 8a and 8b rotate around the left and right rear foot joint shafts 10, and the left and right rear foot frames 8a. , 8b and the right and left foot frames 12a, 12b are respectively changed in relative connection angle. By operating the left and right heel joint hydraulic cylinders 56a and 56b separately, the relative angles of the left and right rear foot frames 8a and 8b with respect to the left and right foot frames 12a and 12b are independently changed.

  Left and right toe joint hydraulic cylinders 60a and 60b are connected to the front end sides of the left and right foot frames 12a and 12b via left and right shaft bodies 59, respectively. The front end sides of the left and right front foot frames 9a and 9b are connected to the distal ends of the pistons 61 of the left and right toe joint hydraulic cylinders 60a and 60b via the left and right shaft bodies 62, respectively. As a result, by operating the left and right toe joint hydraulic cylinders 60a and 60b, the left and right front foot frames 9a and 9b rotate around the left and right front foot joint shafts 11, and the left and right front foot frames 9a and 9b The relative connection angles with the left and right foot frames 12a and 12b are respectively changed. By operating the left and right toe joint hydraulic cylinders 60a and 60b separately, the relative angles of the left and right front foot frames 9a and 9b with respect to the left and right foot frame 12a and 12b are independently changed.

  As shown in FIGS. 2 to 5, the left and right legs 5a and 5b are composed of front foot frames 9a and 9b that support the front traveling portions 3a and 3b, and rear foot that support the rear traveling portions 2a and 2b. Frames 8a and 8b, and the foot frames 12a and 12b are connected to the front foot frames 9a and 9b via the front foot joint shaft 11, and the rear foot joint shaft 10 is connected to the rear foot frames 8a and 8b. The foot frames 12a and 12b are connected. Therefore, since the angle of attack can be increased by moving the front side of the front side traveling parts 3a, 3b or the rear side of the rear side traveling parts 2a, 2b in the vertical direction, it is possible to easily move a large level difference. Further, since the front side of the front running parts 3a, 3b and the rear side of the rear running parts 2a, 2b can be simultaneously moved downward to lift the foot frames 12a, 12b, the left and right legs 5a, The work machine body 4 can be raised higher than the total length of 5b. Moreover, since the front side of the front traveling units 3a and 3b and the rear side of the rear traveling units 2a and 2b can be simultaneously moved upward to reduce the front and rear contact width, the U-turn or the belief can be reduced even in a narrow place. The direction change such as turning can be executed easily.

  FIG. 8 shows a hydraulic circuit 70 of the timber transport vehicle 1 (a rough terrain vehicle) according to this embodiment. The hydraulic circuit 70 of the timber transport vehicle 1 includes a traveling hydraulic pump 71 that drives each of the left and right rear traveling units 2a and 2b and the left and right front traveling units 3a and 3b. For the right leg of the output variable capacity type that operates the hydraulic cylinders 44a, 48a, 52a, 56a, 60a of the left leg 5a and the charge hydraulic pump 72 for supplying the charge pressure oil to each part of the hydraulic equipment 21 The hydraulic pump 73 and an output variable displacement left leg hydraulic pump 74 that operates the hydraulic cylinders 44b, 48b, 52b, 56b, 60b of the right leg 5b are provided. The traveling hydraulic pump 71, the charging hydraulic pump 72, the right leg hydraulic pump 73, and the left leg hydraulic pump 74 are operated by the rotational force of the engine 20. The hydraulic circuit 70 includes a relief valve, a flow rate adjustment valve, a check valve, an oil cooler, an oil filter, and the like.

  The right leg hydraulic pump 73 is connected to the right hip joint hydraulic cylinder 44a via a diversion valve 75a and a right hip joint control valve 76a. A right knee joint hydraulic cylinder 48a is connected to the right leg hydraulic pump 73 via a diversion valve 77a and a right knee joint control valve 78a. A right ankle joint hydraulic cylinder 52a is connected to the right leg hydraulic pump 73 via a diversion valve 79a and a right ankle joint control valve 80a. A right toe joint hydraulic cylinder 56a is connected to the right leg hydraulic pump 73 via a diversion valve 81a and a right toe joint control valve 82a. A right heel joint hydraulic cylinder 60a is connected to the right leg hydraulic pump 73 via a diversion valve 83a and a right heel joint control valve 84a. The pitch hydraulic cylinder 16 is connected to the right leg hydraulic pump 73 via a flow dividing valve 85 and a pitch control valve 86 having an electromagnetic proportional flow control valve structure.

  Similarly to the right leg hydraulic pump 73 described above, the left leg hydraulic pump 74 is connected to the left hip joint hydraulic cylinder 44b via the diversion valve 75b and the left hip joint control valve 76b. Yes. A left knee joint hydraulic cylinder 48b is connected to the right leg hydraulic pump 73 via a diversion valve 77b and a left knee joint control valve 78b. The left ankle joint hydraulic cylinder 52b is connected to the right leg hydraulic pump 73 via a diversion valve 79b and a left ankle joint control valve 80b. A left toe joint hydraulic cylinder 56b is connected to the right leg hydraulic pump 73 via a diversion valve 81b and a left toe joint control valve 82b. A left heel joint hydraulic cylinder 60b is connected to the right leg hydraulic pump 73 via a diversion valve 83b and a left heel joint control valve 84b.

  Each of the hydraulic cylinders 44a, 48a, 52a, 56a, 60a, 44b, 48b, 52b, 56b, and 60b is provided with a hydraulic sensor 87 that detects their hydraulic pressures. The pistons 45, 49, 53, 57, 61 of the hydraulic cylinders 44a, 48a, 52a, 56a, 60a, 44b, 48b, 52b, 56b, 60b detect their advance / retreat positions (advance amounts). Position sensors 45a, 49a, 53a, 57a, 61a, 45b, 49b, 53b, 57b and 61b are connected to each other. A position sensor 16b is connected to the piston 16a of the pitch hydraulic cylinder 16 to detect its advance / retreat position (advance amount). Each of the control valves 76a, 78a, 80a, 82a, 84a, 76b, 78b, 80b, 82b, 84b, 86 described above is an electromagnetic proportional flow control valve (combining an electromagnetic proportional control valve and a spool-type direction switching valve). Of hydraulic fluid supplied to each hydraulic cylinder 44a, 48a, 52a, 56a, 60a, 44b, 48b, 52b, 56b, 60b, 16 by position control and force control (impedance control). The application direction and the application flow rate can be controlled. The control valves 76a, 78a, 80a, 82a, 84a, 76b, 78b, 80b, 82b, 84b, 86 correspond to the electromagnetic proportional control valves described in the claims.

  Further, the left front travel drive hydraulic motor 35 is connected to the travel hydraulic pump 71 via a left front shift control valve 88a. A steering hydraulic cylinder 89 that changes the output (rotational speed) of the left front travel drive hydraulic motor 35 is provided. A steering hydraulic cylinder 89 is connected to the left front shift control valve 88a via a steering control valve 90a. A right front travel drive hydraulic motor 35 is connected to the travel hydraulic pump 71 via a right front shift control valve 88b. A steering hydraulic cylinder 89 that changes the output (rotational speed) of the right front travel drive hydraulic motor 35 is provided. A steering hydraulic cylinder 89 is connected to the right front shift control valve 88b via a steering control valve 90b.

  Further, the left rear travel drive hydraulic motor 35 is connected to the travel hydraulic pump 71 via the left rear shift control valve 88c. A steering hydraulic cylinder 89 that changes the output (rotational speed) of the left rear traveling drive hydraulic motor 35 is provided. A steering hydraulic cylinder 89 is connected to the left rear shift control valve 88c via a steering control valve 90c. A right rear traveling drive hydraulic motor 35 is connected to the traveling hydraulic pump 71 via a right rear shift control valve 88d. A steering hydraulic cylinder 89 that changes the output (rotational speed) of the right rear traveling drive hydraulic motor 35 is provided. A steering hydraulic cylinder 89 is connected to the right rear shift control valve 88d via a steering control valve 90d. A left front vehicle speed sensor 91a, a right front vehicle speed sensor 91b, a left rear vehicle speed sensor 91c, and a right rear vehicle speed sensor 91d that detect the rotational speed of the output shaft of each travel drive hydraulic motor 35 are provided.

  Next, traveling control of the timber transport vehicle 1 of the present embodiment will be described. FIG. 9 is a functional block diagram of the control means of the timber transport vehicle 1. A travel controller 100 such as a microcomputer includes a ROM storing a control program and a RAM storing various data. As shown in FIG. 9, on the input side of the travel controller 100, a roll sensor 101 that detects the horizontal tilt angle of the seat frame 15 and a roll angular velocity sensor 102 that detects the horizontal tilt angular velocity of the seat frame 15. A pitch sensor 103 that detects the tilt angle of the seat frame 15 in the front-rear direction, a left lower limit sensor 104 that detects a limit position for reducing the right leg 5a (downward movement on the right side of the seat frame 15), and a left leg 5b. Reduction (downward movement of the left side of the seat frame 15), a lower right limit sensor 105 for detecting a limit position, the hydraulic sensors 87 described above, and a turning angle of the steering handle 27 operated by the operator (a left turn operation amount and a right turn). A steering angle sensor 106 for detecting the operation amount), and a travel shift sensor 1 for detecting the operation position (forward operation position and reverse operation position) of the travel shift lever 28. 7, and it connects the respective vehicle speed sensors 91a~d described above. In addition, the steering angle sensor 106 and the traveling speed change sensor 107 are configured to receive a radio control signal from the remote controller 99.

  9, position sensors 16b, 45a, 49a, 53a, 57a, 61a, 45b, 49b, 53b, 57b, 61b are connected to the input side of the travel controller 100, respectively. On the other hand, on the output side of the travel controller 100, the control valves 76a, 78a, 80a, 82a, 84a, 76b, 78b, 80b, 82b, 84b for controlling the postures of the left and right legs 5a, 5b described above, A pitch control valve 86 for controlling the front / rear inclination of the frame 15 and the control valves 88a, 88b for controlling the left and right rear running units 2a, 2b and the left and right front running units 3a, 3b. , 88c, 88d, 90a, 90b, 90c, and 90d.

  With the above configuration, when the timber transport vehicle 1 is moving in the forward or reverse direction, the control valves 76a, 78a, 80a, 82a, 84a, 76b, 78b, and 80b are based on the detection results of the roll angular velocity sensor 102. , 82b, 84b are activated, and control for expanding and contracting the left and right legs 5a, 5b separately is started at a height that is not less than the height limited by the left lower limit sensor 104 and the right lower limit sensor 105. Based on the detection result of the roll sensor 101, the operation of each control valve 76a, 78a, 80a, 82a, 84a, 76b, 78b, 80b, 82b, 84b is stopped, and the horizontal inclination of the seat frame 15 is corrected. Further, based on the detection result of the pitch sensor 103, the pitch control valve 86 is operated to correct the inclination of the seat frame 15 in the front-rear direction. As a result, the seat frame 15 is held substantially horizontally via the left and right legs 5a and 5b.

  Further, during horizontal control of the left and right legs 5a, 5b (seat frame 15), based on the detection result of the hydraulic sensor 87, each hydraulic cylinder 44a, 48a, 52a, 56a, 60a, 44b, 48b, 52b, 56b, 60b. Is controlled to absorb the impact force from the road surface transmitted from the running portions 2a, 2b, 3a, 3b to the left and right legs 5a, 5b. It is possible to prevent the impact force from the traveling parts 2a, 2b, 3a, 3b from being transmitted to the seat frame 15.

  Further, when the operator operates the remote controller 99 outside the timber transport vehicle 1 or when the operator gets on the timber transport vehicle 1 and operates the control handle 27 or the travel shift lever 28, the timber transport vehicle 1 is When moving in the forward direction or the reverse direction, the operator operates the remote controller 99, the steering handle 27, or the traveling speed change lever 28, and based on the detection result of the steering angle sensor 106 or the traveling speed change sensor 107, Each control valve 88a, 88b, 88c, 88d or each control valve 90a, 90b, 90c, 90d is operated to control the drive hydraulic pressure or output rotational speed of each travel drive hydraulic motor 35. As a result, the traveling crawlers 36 of the left and right rear traveling units 2a, 2b and the traveling crawlers 36 of the left and right front traveling units 3a, 3b are driven and controlled separately to move forward, reverse, U-turn or spin-turn ( And the like, and the operator can move in a desired direction at a desired speed.

  On the other hand, as described above, when the work machine body 4 is moving, the position sensors 45a, 49a, 53a, 57a, 61a, 45b, 49b, 53b, 57b, 61b allow the hydraulic cylinders 44a, 48a, 52a, 56a, 60a, The advance / retreat positions (advance amounts) of the pistons 45, 49, 53, 57, 61 of 44b, 48b, 52ab, 56b, 60b are respectively detected. Based on the detection results of the position sensors 53a, 57a, 61a, 53b, 57b, 61b, the ground on which the traveling crawlers 36 of the left and right rear traveling units 2a, 2b and the left and right front traveling units 3a, 3b are landed (traveling) The inclination angle of the (road surface) is calculated. Then, posture control of the work machine body 4 is executed based on the calculation result.

  That is, the front track frame 31 having the front traveling portions 3a and 3b, the rear track frame 31 having the rear traveling portions 2a and 2b, and the leg mechanism that supports the work machine body 4 on the left and right front and rear track frames 31. Leg bodies 5a and 5b. Further, of the joints of the legs 5a and 5b, position sensors 57a and 57b as angle sensors for detecting the bending angles of the rear foot frames 8a and 8b and the front foot frames 9a and 9b as joints pressed against the ground. , 61a, 61b. At least one of the landing states in which the rear end side of the front traveling units 3a and 3b is lifted and landed only on the front end side, or the front end side of the rear traveling units 2a and 2b is lifted and landed only on the rear end side. In this case, based on the detection results of the position sensors 57a, 57b, 61a, 61b, the inclination angle of the ground when the front end side of the front traveling units 3a, 3b and the rear end side of the rear traveling units 2a, 2b are landing. Is calculated. For this reason, compared with the conventional control structure etc., the calculation error accumulated by the calculation of the target posture of the work machine body 4 can be reduced. Therefore, it is possible to prevent the calculation of the target posture of the work machine body 4 from being diverged, and the posture control function of the work machine body 4 can be improved. In the conventional control structure, the inclination angle of the frames 12a and 12b connecting the front traveling parts 3a and 3b and the rear traveling parts 2a and 2b, specifically, the bending angle of the ankle joints of the front and rear traveling parts (ankles) Based on the rotation angles of the foot frames 12a and 12b around the joint axis 5, the inclination angle of the ground (traveling road surface) on which the front traveling units 3a and 3b and the rear traveling units 2a and 2b are landing is calculated. It was.

  In other words, the position sensors 53a and 53b as the traveling unit inclination angle sensors for detecting the inclination angles in the traveling direction of the front traveling units 3a and 3b and the rear traveling units 2a and 2b, and the ground contact angles of the front traveling units 3a and 3b. Position sensors 61a and 61b as front grounding angle sensors to be detected, and position sensors 57a and 57b as rear grounding angle sensors to detect the grounding angle of the rear traveling units 2a and 2b are provided. The inclination angle of the traveling direction of the front traveling units 3a, 3b and the rear traveling units 2a, 2b is such that the rear end side of the front traveling units 3a, 3b is lifted and only the front end side is landed, or the rear traveling units 2a, 2b When the front end side is at least one of the states where only the rear end side is lifted and landed, the ground on which the front traveling units 3a and 3b and the rear traveling units 2a and 2b land (traveling road surface) As the inclination angle, the inclination angle of a straight line connecting the front end side of the front traveling units 3a and 3b and the rear end side of the rear traveling units 2a and 2b is calculated. The inclination angle of the ground (traveling road surface) on which the front traveling units 3a and 3b and the rear traveling units 2a and 2b are landing can be estimated with high accuracy. The calculation error of the target attitude of the work machine body 4 can be easily reduced, and the attitude control accuracy of the work machine body 4 can be improved.

  In the embodiment of the present invention, the legs 5a and 5b are provided with positions as ankle joint hydraulic cylinders 52a and 52b as first control means (so-called ankle joint control means) and a first angle sensor (so-called ankle angle sensor). Sensors 53a, 53b, toe joint hydraulic cylinders 60a, 60b as second control means (so-called toe control means), position sensors 61a, 61b as second angle sensors (so-called toe angle sensors), and third control means ( Heel joint hydraulic cylinders 56a and 56b as so-called heel control means) and position sensors 57a and 57b as third angle sensors (so-called heel angle sensors) are provided. Detection results of position sensors 53a and 53b that detect inclination angles of the foot frames 12a and 12b, detection results of position sensors 61a and 61b that detect inclination angles in the traveling direction of the front traveling portions 3a and 3b, and rear traveling Based on the detection results of the position sensors 57a and 57b that detect the inclination angle of the traveling direction of the portions 2a and 2b, the ground (traveling road surface) on which the front traveling portions 3a and 3b and the rear traveling portions 2a and 2b are landing. The tilt angle is calculated. Therefore, even if the inclination angles of the foot frames 12a and 12b are different from the inclination angles of the actual ground (traveling road surface), the outputs of the position sensors 61a and 61b of the front traveling parts 3a and 3b and the rear traveling The difference between the position sensors 57a and 57b of the parts 2a and 2b can be corrected with high accuracy, and the inclination angle of the ground on which the front traveling parts 3a and 3b and the rear traveling parts 2a and 2b are landing can be increased. It can be calculated accurately.

  That is, at least one of the landings in which the rear end side of the front traveling units 3a and 3b is landed only on the front end side of the floating or the front end side of the rear traveling units 2a and 2b is landed only on the rear end side of the rising surface. Even in this state, the outputs of the position sensors 53a and 53b that detect the inclination angles of the foot frames 12a and 12b, the outputs of the position sensors 61a and 61b of the front running portions 3a and 3b, and the rear running With the outputs of the position sensors 57a and 57b of the parts 2a and 2b, the inclination angle of the ground on which the front traveling parts 3a and 3b and the rear traveling parts 2a and 2b are landing can be estimated with high accuracy. The calculation error between the target posture of the work machine body 4 obtained by calculating the inclination angle of the ground (traveling road surface) and the current posture of the work machine body 4 can be easily reduced, and the posture control function of the work machine body 4 can be improved.

  As in the conventional control structure, based on the rotation angle of the foot frames 12a and 12b around the ankle joint axis 5 (the inclination angle in the front-rear direction of the foot frames 12a and 12b), the front running portions 3a and 3b and In calculating the inclination angle of the ground (traveling road surface) on which the rear traveling units 2a and 2b have landed, the rear end side of the front traveling units 3a and 3b has been lifted and only the front end side has landed. When the front end side of the side running parts 2a, 2b is at least one of the landing states where only the rear end side is lifted, the inclination angles in the front-rear direction of the foot frames 12a, 12b and the front running part 3a , 3b and the inclination angle of the ground (traveling road surface) on which the rear traveling units 2a and 2b are landed. Therefore, if the inclination angle of the ground (traveling road surface) is calculated based on the inclination angle in the front-rear direction of the foot frames 12 a and 12 b as in the conventional case, the calculation error is caused by the calculation of the target posture of the work machine body 4. There is a problem that the calculation of the target posture of the work machine body 4 is diverged.

  Next, the formation control of the forest information map using the timber transport vehicle 1 of this embodiment will be described. FIG. 10 is a functional block diagram of the forest information map formation control means. The three-dimensional data processing controller 111 and the display data are constituted by a microcomputer having a ROM storing a control program and a RAM storing various data. A processing controller 112. The travel controller 100, the three-dimensional data processing controller 111, and the display data processing controller 112 are connected to each other by a CAN communication line.

  As shown in FIG. 10, on the input side of the three-dimensional data processing controller 111, the forest (trees, etc.) around the work machine 4 is three-dimensionally imaged by a plurality of cameras (not shown). Using a stereo camera 115 that detects as image data, a three-dimensional distance image sensor 116 that three-dimensionally detects forests (trees, etc.) around the work machine 4 with a laser distance sensor (not shown), and an artificial satellite A GPS receiver 117 that recognizes the position of the work machine body 4 on the ground, an azimuth meter 118 that detects the traveling direction (azimuth) of the work machine body 4, and an altimeter 119 that measures the altitude of the work machine body 4 are connected. Further, a sensor frame 17 is provided at the center of the left and right width of the work machine body 4 that is automatically supported in a horizontal posture. A stereo camera 115, a three-dimensional distance image sensor 116, a GPS receiver 117, an azimuth meter 118, and an altimeter 119 are arranged on the sensor frame 17 so as to be supported in a horizontal posture.

  In the three-dimensional data processing controller 111, the three-dimensional image output of at least one or both of the stereo camera 115 and the three-dimensional distance image sensor 116, the current position output of the work machine 4 of the GPS receiver 117, and the compass 118 The traveling direction output of the work machine body 4 and the altitude output of the work machine body 4 of the altimeter 119 are configured to be recorded in association with each other. In other words, the three-dimensional image output of at least one or both of the stereo camera 115 and the three-dimensional distance image sensor 116, the current position output of the work machine 4 of the GPS receiver 117, and the progress of the work machine 4 of the compass 118. The direction output and the altitude output of the work machine 4 of the altimeter 119 are formed and recorded in the three-dimensional data processing controller 111 as a three-dimensional forest information map 120 shown in FIG.

  In the forest information map 120 shown in FIG. 11, trees constituting the forest (solid circles), contour lines (dashed thin lines), the position of the vehicle (solid solid line indicating the direction of travel), trees to be thinned (circles with break lines entered) A solid line) and a stump (circle line) are recorded. In addition, you may comprise so that the tree which comprises a forest, the thinning plan tree, and a stump can be distinguished by coloring.

  That is, as apparent from FIG. 10, the stereo camera 115 or the tertiary as the three-dimensional detection means for three-dimensionally detecting the forest information on the work machine body 4 supported via the pitch hydraulic cylinder 16 as the horizontal control mechanism. An original distance image sensor 116 and a three-dimensional data processing controller 111 as a three-dimensional data processing means for processing three-dimensional data output from the stereo camera 115 or the three-dimensional distance image sensor 116 are arranged. A three-dimensional forest information map 120 is formed by measuring the position and thickness of trees constituting the forest as three-dimensional data. The forest information map 120 can be used for the next thinning plan or afforestation plan or logging plan. Based on the forest information map 120, a tree can be identified, and its thickness or degree of bending, etc., whether thinning or thinning is necessary, etc. can be judged appropriately. Navigation of the return path of the work machine 4 can be performed. The work results such as the movement distance or work amount of the work machine body 4 can be grasped. Workability such as thinning, thinning or afforestation can be improved.

  Further, as is apparent from FIG. 10, when the stereo information is detected three-dimensionally by the stereo camera 115 or the three-dimensional distance image sensor 116, GPS reception is performed as an external environment sensor that detects the external environment of the work machine body 4. Device 117 or azimuth meter 118 or altimeter 119, and configured to complement the three-dimensional data output of stereo camera 115 or three-dimensional distance image sensor 116 based on the detection result of GPS receiver 117 or azimuth meter 118 or altimeter 119. is doing. The reliability of the three-dimensional data processed by the three-dimensional data processing controller 111 can be improved. Tree layout (tree density), tree diameter (tree age), etc. can be converted into data with high accuracy.

  As is apparent from FIGS. 8, 9, and 10, a position sensor 57a as an angle sensor that detects the bending angle of the rear foot frames 8a and 8b or the front foot frames 9a and 9b as joints pressed against the ground. , 57b or position sensors 61a, 61b, as a three-dimensional detection means for three-dimensionally detecting forest information on the working machine body 4 supported via a pitch hydraulic cylinder 16 as a horizontal control mechanism. A stereo camera 115 or a three-dimensional distance image sensor 116, and a three-dimensional data processing controller 111 as a three-dimensional data processing means for processing three-dimensional data output from the stereo camera 115 or the three-dimensional distance image sensor 116, A tertiary where the position and thickness of the tree are measured by the stereo camera 115 or the three-dimensional distance image sensor 116. Data, position sensors 57a, 57 b or position sensor 61a, by the inclination angle of the ground calculated based on the 61b of the detection result, and configured to form a forest information map 120. The forest information map 120 can be recorded in association with the inclination angle of the tree and the surrounding ground. The reliability of the forest information map 120 can be improved by adding terrain data (such as contour lines) around the tree to the forest information map 120. It is possible to grasp work results such as the movement distance and work amount of the work machine body. The forest information map 120 can be used for examining the next thinning plan, afforestation plan, or logging plan. For example, a worker who has abundant experience plans thinning or logging or planting in advance, and another worker can execute thinning, logging or planting based on the plan. Therefore, workability such as thinning work, thinning work or afforestation work can be improved.

  As shown in FIG. 10, on the input side of the display data processing controller 112, there is a 360 ° camera (all-around camera) 125 that detects the periphery of the work machine 4 in a range of 360 degrees and detects it as two-dimensional image data. Connected. Instead of the 360 ° camera 125, a plurality of cameras (viewing cameras) arranged so as to recognize all directions may be provided. Further, the remote controller 99 described above includes a monitor 126 having a liquid crystal screen. The display data processing controller 112 and the remote controller 99 are configured to exchange each data wirelessly via the transceivers 127 and 128.

  That is, as is apparent from FIG. 10, a 360 ° camera 125 (or a plurality of cameras arranged so that all directions can be recognized) as a two-dimensional detection means for detecting forest information around the work machine 4 as a two-dimensional image. And a display data processing controller 112 as a display data processing means for performing display processing by complementing the three-dimensional data output of the stereo camera 115 or the three-dimensional distance image sensor 116 with the two-dimensional data output of the 360 ° camera 125. It arrange | positions at the working machine body 4 supported via the pitch hydraulic cylinder 16 as a mechanism. On the other hand, a two-dimensional data from a 360 ° camera 125 (or a plurality of cameras arranged so as to be able to recognize all directions) provided with a remote control 99 capable of remotely controlling the movement of the work machine 4 based on the forest information map 120. The current position of the forest information map 120 or the work machine body 4 corrected by the above is configured to be displayed on the remote controller 99. Therefore, based on the display of the forest information map 120, whether or not the work machine 4 can move between trees can be appropriately determined by an operator away from the work machine 4. By remote control of the remote controller 99, workability such as thinning work, thinning work, or afforestation work can be improved.

  As apparent from FIG. 10, the remote controller 99 is configured so that the movement of the work machine body 4 can be remotely controlled, and the forest information map 120 is used when the work machine body 4 is moved backward (retracted). The forest information map 120 displayed on the monitor 126 as the display unit of the remote control 99 based on the detection result of the 360 ° camera 125 (or a plurality of cameras arranged so that all directions can be recognized) as the two-dimensional detection means. The current position of the work machine 4 on the screen is corrected. Based on the display of the forest information map 120, whether or not the work machine 4 can move between trees can be appropriately determined by a worker at a remote location. By remote control of the remote controller 99, workability such as thinning work, thinning work, or afforestation work can be improved.

  On the other hand, as apparent from FIG. 10, when forest information is detected by the stereo camera 115 or the three-dimensional distance image sensor 116 as the three-dimensional detection means, the work machine body 4 is associated with the detection of the forest information. A GPS receiver 117 or an azimuth meter 118 or an altimeter 119 as an external environment sensor for detecting the external environment is provided, and the external environment of the work machine 4 can be recorded as part of the forest information data forming the forest information map 120. On the other hand, a remote controller 99 for remotely controlling the movement of the work machine 4 based on the forest information map 120 is provided, and the display unit of the remote controller 99 is based on the detection result of the GPS receiver 117 or the azimuth meter 118 or the altimeter 119. The current position of the work machine 4 on the displayed forest information map 120 is configured to be correctable. Forest information map 120 can be formed by converting forest information such as tree layout (tree density) and tree diameter (tree age) into data with high accuracy. The accuracy of the forest information map 120 can be improved and its reliability can be improved. Further, the remote control of the remote controller 99 based on the forest information map 120 allows the work machine body 4 to be moved while avoiding, for example, a recess or stump or fallen tree on the road surface. Workers' labor in thinning, logging or afforestation can be reduced. Workability such as thinning, thinning or afforestation can be improved.

  Next, an example of horizontal posture control in the present embodiment will be described with reference to FIGS. 9, 12 and 13.

  The travel controller 100 as an example of the control means temporarily supplies an initial command current Iin larger than the command current Ia during normal operation to each control valve 76a, 78a, 80a, 82a, 84a, 76b, 78b, 80b, 82b, 84b. , 86, and differential processing of the target position Xa of each hydraulic cylinder 44a, 48a, 52a, 56a, 60a, 44b, 48b, 52b, 56b, 60b, 16 and the differential value Va (= dXa / dt ), Feedforward control is performed to operate the control valves 76a, 78a, 80a, 82a, 84a, 76b, 78b, 80b, 82b, 84b, 86.

  In the horizontal posture control of the present embodiment, the control valves 76a, 78a, 80a, 82a, 84a, 76b, 78b, 80b, 82b, 84b, 86 and the hydraulic cylinders 44a, 48a, 52a, 56a, 60a, 44b, The command modes for 48b, 52b, 56b, 60b and 16 are basically the same. Therefore, a control mode taking the pitch control valve 86 and the pitch hydraulic cylinder 16 as an example will be described below.

  Here, although not shown, the relationship between the differential value Va (dXa / dt) of the target position Xa in the pitch hydraulic cylinder 16 and the command current Ia to the pitch control valve 86 is, for example, a map format or a function table. The format is stored in advance in the travel controller 100 (for example, ROM). The differential value Va (dXa / dt) of the target position Xa corresponds to the moving speed of the pitch hydraulic cylinder 16. Note that data of a pair of the differential value Va and the command current Ia may be stored in the travel controller 100 as a table map.

  The travel controller 100 (for example, a ROM) also stores in advance a reference horizontal angle θs in the front-rear direction of the pitch sensor 103 (hereinafter referred to as a front-rear reference horizontal angle θs). The front-rear reference horizontal angle θs of the pitch sensor 103 indicates a value when the seat frame 15 is in a substantially horizontal posture with respect to the direction of gravity (vertical direction).

  As shown in the flowchart of FIG. 12, first, following the start of the horizontal attitude control, the detected value θ of the pitch sensor 103, the detected value X of the position sensor 16 b for the pitch hydraulic cylinder 16, and the travel controller 100 are stored in advance. The front-rear reference horizontal angle θs is read (step S1), and it is determined from the front-rear reference horizontal angle θs and the detected value θ of the pitch sensor 103 whether or not the seat frame 15 is in a horizontal posture (step S2).

  When the seat frame 15 is in the horizontal position (S2: YES), the process returns as it is. When the seat frame 15 is not in the horizontal posture (S2: NO), the target position Xa of the pitch hydraulic cylinder 16 and its differential are determined from the detected value θ of the pitch sensor 103, the front and rear reference horizontal angle θs, and the detected value X of the position sensor 16b. A value Va is obtained (step S3), and a command current Ia to the pitch control valve 86 is calculated based on a map or function table stored in advance in the travel controller 100 and the differential value Va (step S4).

  Next, a standby command current Iwa smaller than the command current Ia during normal operation is temporarily output to the pitch control valve 86 (step S5), and then an initial command current Iin larger than the command current Ia during normal operation is temporarily (for example, At the set time T), the pitch is output to the pitch control valve 86 (see step S6, FIG. 13). In the embodiment, the set time T, which is the output time of the initial command current Iin, is set to an extremely short time (for example, about 50 ms). Then, after the set time T has elapsed, the command current Ia obtained in step S4 is output to the pitch control valve 86 (step S7).

  According to the above control, when the pitch hydraulic cylinder 16 is expanded and contracted to the target position Xa, the initial command current Iin larger than the command current Ia during normal operation of the travel controller 100 is temporarily (for example, set time T) temporarily. Since it is output to the control valve 86, even if the spool target opening of the pitch control valve 86 is small, the amount of hydraulic oil passing through the spool is temporarily increased at the initial stage of operation to increase the moving speed of the spool. I can speed it. For this reason, the rising characteristic at the initial stage of operation of the pitch control valve 86 is quickly changed, and the pitch control valve 86 responds quickly. As a result, the operation response of the pitch hydraulic cylinder 16 becomes quick and the horizontal posture control function can be improved.

  In particular, in the embodiment, the feed controller 100 executes feed-forward control in which the travel controller 100 differentiates the target position Xa of the pitch hydraulic cylinder 16 and operates the pitch control valve 86 based on the differential value Va (= dXa / dt). Therefore, it is possible to stably control the command currents Ia, Iwa, and Iin in the transitional range by quickly eliminating the influence of disturbance factors such as fluctuations in the power supply voltage and solenoid resistance, and the pitch control valve 86 and thus the pitch hydraulic cylinder 16 can be improved. Operation responsiveness can be maintained.

  Further, in the embodiment, when the differential value Va is not zero when the pitch hydraulic cylinder 16 is not operated, a standby command current Iin smaller than the command current Ia during normal operation is output to the pitch control valve 86 (step) The pitch control valve 86 is energized with the standby command current Iin prior to its operation (spool movement) (see S5). For this reason, the spool of the pitch control valve 86 can move quickly to the target opening as compared with the case where the command current Ia is supplied from a state where current is not supplied (see the broken line in FIG. 13). As a result, the operation responsiveness of the pitch control valve 86 and hence the pitch hydraulic cylinder 16 can be easily improved.

  The present invention is not limited to the above-described embodiment, and can be embodied in various forms. For example, the horizontal posture control described above is not limited to the pitch control valve 86 and the pitch hydraulic cylinder 16, but the control valves 76a, 78a, 80a, 82a, 84a, 76b, 78b, 80b, 82b, 84b, and the hydraulic cylinders 44a. 48a, 52a, 56a, 60a, 44b, 48b, 52b, 56b, 60b. In addition, the configuration of each unit is not limited to the illustrated embodiment, and various modifications can be made without departing from the spirit of the present invention.

It is a perspective view of a timber transporter. It is a side view of a timber transporter. It is the same top view. It is a perspective view of rear side travel parts 2a and 2b and front side travel parts 3a and 3b. It is a side view of legs 5a and 5b. It is the perspective view which looked at right and left leg 5a, 5b from the upper part. It is the perspective view which looked at right and left leg 5a, 5b from the lower part. It is a hydraulic circuit diagram of a timber transporter. It is a functional block diagram of the travel control means of a timber transporter. It is a functional block diagram of the control means which forms a forest information map. It is explanatory drawing of the forest information map displayed on a remote control. It is a flowchart of horizontal attitude control. It is explanatory drawing which shows the starting characteristic of the operation | movement initial stage in a pitch control valve.

Explanation of symbols

2a, 2b Rear side travel part 3a, 3b Front side travel part 4 Work machine body 5a, 5b Leg (leg mechanism)
16 pitch hydraulic cylinder (joint hydraulic cylinder)
31 Track frame 86 Pitch control valve (Electromagnetic proportional control valve)
100 Travel controller (control means)

Claims (3)

A work machine mounted with a drive source, left and right leg mechanisms that support the work machine, front and rear running units provided at the lower ends of the leg mechanisms, and bending the joints of the leg mechanisms Rough terrain travel comprising: a joint hydraulic cylinder to be actuated; an electromagnetic proportional control valve for adjusting a supply and discharge amount of hydraulic oil to each joint hydraulic cylinder; and a control means for controlling the operation of each electromagnetic proportional control valve. A vehicle,
The control means is set to temporarily output an initial command current larger than a command current during normal operation to each electromagnetic proportional control valve.
Rough terrain vehicle. The control means is set to perform a feedforward control for differentiating a target position of each joint hydraulic cylinder and operating each electromagnetic proportional control valve with a command current based on the differential value.
The rough terrain vehicle according to claim 1. The control means is set to output a standby command current smaller than the command current during normal operation to each electromagnetic proportional control valve when the differential value is not zero when each joint hydraulic cylinder is not operated. Being
The rough terrain vehicle according to claim 2.

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