The left and right inclined control mannered null left and right hydraulic

摘要

PROBLEM TO BE SOLVED: To secure the safety of a working vehicle provided with a right and a left running devices, which can be separately displaced in the vertical direction, in the case where the vertical displacement quantity is deviated from the vertical limit by stopping the vertical displacement of the running device of the deviation side, and outputting the control signal, which is computed by setting the deviation of the height at 0, to the non-deviation side running device. ;SOLUTION: In a combine, a right and a left hydraulic cylinders 36R, 36L are separately telescoped so as to separately displace a right and a left running devices 2R, 2L in the vertical direction. The output of an inclination angle sensor for detecting the right and left inclination of a machine body and a right and a left height sensors are taken into a control device, and the control device computes the moving average of plural detection values so as to obtain the inclination value to be used for the posture control. At this stage, the upper limit and the lower limit in relation to the detection value of the right and the left height sensors are set, and in the case where any one of the height detection values is deviated from the limit value, the output to a solenoid of the deviation side is stopped, and while, a height deviation at the time of deciding the output to a solenoid of the opposite side is set at 0 so as to obtain the angle of inclination close to the target value.;COPYRIGHT: (C)1997,JPO