JP2002262640A - Posture-controlling device of reaping harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a posture-controlling device so as to avoid the thrusting of a reaping part into a field caused by a pitching control performed in the case of traveling over a swollen part on transferring and traveling after finishing one working process to a next working process by repeating advancing and retreating in a reaping harvester equipped with a posture change-operating means capable of freely change-operating a front to rear inclining angle of a machine body against the ground-contacting part of a traveling unit, and a controlling means for performing the pitching control for controlling the functioning of the posture change-operating means so as to maintain the front to rear inclining angle-operating means based on a horizontal reference surface of the machine body at a set inclined angle based on information by the front to rear inclined angle-detecting means for detecting the front to rear angle based on the horizontal reference surface of the machine main body. SOLUTION: This posture-controlling device is constituted by setting more insensitive control sensitivity for performing a restricted pitching control for controlling the functioning of the posture change-operating means than that after traveling a set distance, during the time in which the machine body starts its advancing travel and travels the set distance.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a posture changing means for freely changing the front-rear inclination angle of an airframe main body having a mowing part movably at a front part with respect to a ground part of a traveling device,
A front-rear inclination angle detecting means for detecting a front-rear inclination angle with respect to a horizontal reference plane of the body main body, and a front-rear inclination angle of the body main body with respect to a horizontal reference plane is maintained at a set inclination angle based on detection information of the front-rear inclination angle detection means And a control means for executing pitching control for controlling the operation of the attitude change operation means.

[0002]

2. Description of the Related Art In the above-mentioned reaper, even if the running surface has irregularities or inclination, the front-rear inclination angle of the body of the machine body is controlled by the action of the posture changing operation means, the front-rear inclination angle detecting means and the control means. It is possible to run while maintaining the inclination angle set at or close to the set inclination angle.

[0003]

In a combine as an example of a harvester, generally, as shown in FIG. 11, a work process along each side M1 to M4 of a field M is cut and run in a so-called peripheral cutting mode. When the mowing travel along one work stroke is completed, the cutting unit is raised and moved to the start end of the next work stroke.

When the pitching control by the control means is turned on even in the case of performing this traveling traveling, the change in the attitude of the body of the aircraft caused by the unevenness or inclination of the traveling ground is suppressed.
It is possible to run while performing traveling and grain culm processing advantageously, for example, because the front and rear weights are easy to balance, and processing defects are less likely to occur in the sorting unit of the threshing device.

[0005] However, if the pitching control of the body of the vehicle is performed in the same control mode as the pitching control when the mowing travel is performed, the following troubles may occur.

[0006] That is, the traveling after the completion of one work process is performed as shown in FIG. In other words, when the mowing travel (a) of one work process is completed,
First, the vehicle travels forward (b) while slightly changing the direction, and when the vehicle travels a predetermined distance by the forward travel (b), the vehicle travels backward (c) from that position. When the traveling of the predetermined distance by the backward traveling (c) is completed, the vehicle travels forward (d) from the position toward the starting end of the next work process. When the final forward travel (d) is performed, the vehicle often travels over the rise of the soil created for the forward travel (b) or the reverse travel (c) performed earlier. When the vehicle starts to climb on the swell, a control is performed to adjust the pitching of the body in the direction of changing the posture of the body with respect to the traveling device to the forward inclined side in order to change the posture of the body with respect to the horizontal reference plane. Is done. This pitching control is performed until the traveling device gets over the rising portion. When the traveling device climbs over the rising portion, the attitude of the traveling device with respect to the ground suddenly changes to the one on the front slope side or the one before climbing. Then, when the traveling device gets over the raised portion and returns to the original ground position, the aircraft body is tilted too far forward with respect to the horizontal reference plane due to a correction delay due to pitching control. Depending on the situation, a situation may occur in which the tip side of the reaping part pokes into the ground. Also, when reaching the starting end of the next work process, the front-rear inclination angle with respect to the horizontal reference plane of the body of the aircraft has not yet returned to the set inclination angle, and the mowing unit is adjusted to a predetermined cutting height by a manual operation. After that, pitching control is performed to set the front-rear inclination angle with respect to the horizontal reference plane of the aircraft body to the set inclination angle, so that the height of the reaping unit changes, and the reaping unit is positioned at a predetermined cutting height. In some cases, it is necessary to repeatedly perform artificial adjustment for matching.

SUMMARY OF THE INVENTION An object of the present invention is to enable a reaper to be able to travel in a state where responsive pitching control is performed during mowing traveling, and to be able to move and travel while performing pitching control in a state in which the above-mentioned inconvenience is unlikely to occur. An object of the present invention is to provide a machine attitude control device.

[0008]

According to the first aspect of the present invention, in the attitude control device of the reaper described above, running state detecting means for detecting a running state of the body main body, and detecting a running distance of the body body. Travel distance detecting means is provided, and the control means is configured to control a time period from when the aircraft body starts traveling forward to when the vehicle body travels a set distance based on the detection information of the travel state detecting means and the travel distance detecting means. In the meantime, as the pitching control, a constrained pitching control for controlling the operation of the attitude change operation means by setting a control sensitivity that is less sensitive than the control sensitivity set after traveling the set distance is configured. .

That is, if the inclination of the body with respect to the horizontal reference plane changes before and after the body main body starts moving forward and travels the set distance, and pitching adjustment is required, the vehicle travels over the set distance. Constrained pitching control in which a control sensitivity that is less sensitive than a control sensitivity set later is set is executed.

[0010] In this way, when performing the above-mentioned traveling after completing one work process, the traveling traveling by the forward traveling performed after the backward traveling is set to the set distance, and the forward traveling is performed. If you move to the beginning of the work process, even if the traveling device climbs on the swell of the soil during this forward traveling and it is necessary to adjust the pitching of the body of the aircraft, constrained pitching with insensitive control sensitivity is set The control is executed, and the pitching control in which the same sensitive control sensitivity is set as the control sensitivity set after traveling the set distance is executed. When the aircraft suddenly changes, the aircraft body will not be inclined forward with respect to the horizontal reference plane, or even if it does, the angle of inclination will be small. It is pitching adjusted to.

When the start end of the next operation step is reached, the mowing operation is performed while the vehicle continues to travel forward. Then, when the traveling distance from the start of the forward traveling after finishing the last reverse traveling for the traveling traveling becomes larger than the set distance, and it becomes necessary to adjust the pitching of the aircraft body,
Pitching control with good responsiveness in which a control sensitivity that is more sensitive than when the constrained pitching control during traveling is executed is executed, and the body main body is pitched to the set inclination angle.

Therefore, when a mowing operation is performed, if pitching adjustment of the body of the machine is necessary, the pitching is quickly adjusted to the set inclination angle by the pitching control due to the responsiveness, and the mowing height is accurately adjusted to the predetermined height. Work can be done advantageously, such as aligning.

In spite of this, when the vehicle travels as described above, even when the vehicle body moves on the rising portion, the body of the vehicle body is adjusted in pitching by the regulated pitching control by the insensitive control sensitivity. Although it is possible to travel in an advantageous state such as the front and rear weights are balanced as much as possible,
When the traveling device gets over the swelling part, the body itself is hard to be too inclined forward and the reaping part is hard to plunge into the ground, or the reaping part reaches the starting end of the next work process and raises the reaping part to a predetermined cutting height. In order to adjust the height, it is possible to adjust the position quickly, for example.

According to a second aspect of the present invention, in the first aspect, there is provided a work state detecting means for detecting whether a cutting work state or a non-cutting work state is provided, and the control means is configured to control the work state detecting means. The constrained pitching control is configured to be executed for a set time after a change from the cutting work state to the non-cutting work state is detected based on the detection information.

That is, when the state is switched from the reaping operation state to the non-rearing operation state, the restricted pitching control is executed for a set time thereafter.
As a result, such as discharging the grains stored in the tank,
When running while interrupting the harvesting operation, if the vehicle travels after the set time has elapsed after switching from the harvesting operation state to the non-harvesting operation state, the pitching adjustment of the body of the aircraft body may be repeated even if the reverse traveling and the forward traveling may be repeated. If necessary, pitching control based on sensitive control sensitivity is executed, and pitching is adjusted with good responsiveness.

Therefore, for example, the grain is discharged from the tank.
Pitching with good responsiveness to the set inclination angle by pitching control with sensitive control sensitivity, even if the vehicle moves forward and backward repeatedly when running in the non-cutting state, even if the ground has slopes and irregularities. It can be adjusted and the vehicle can travel in an advantageous state such as a good balance between the front and rear weight of the body.

According to a third aspect, in the first or second aspect, when the control means executes the constrained pitching control, the attitude change is performed in a direction in which the longitudinal inclination angle of the body changes toward the rear inclination side. When the operating means is operated, the control sensitivity is set to be more sensitive than when the attitude change operating means is operated in a direction in which the longitudinal inclination angle of the body changes to the forward inclined side.

That is, in the case of a reaper, there is a case where the reaper enters a field from a slope that falls forward. In addition, when entering this slope, it may be requested to enter while performing a mowing operation. At this time, the constrained pitching control for operating the attitude changing operation means in the direction in which the body of the aircraft changes rearward with respect to the ground contact portion of the traveling device is executed. If the aircraft is set and executed, the pitching adjustment of the fuselage body to the rear slope side will not be sufficient, and the longitudinal inclination angle of the fuselage body with respect to the horizontal reference plane will not be the set inclination angle, and mowing work cannot be performed. There is. On the other hand, even when the constrained pitching control is performed, when the attitude changing operation means is operated in a direction in which the longitudinal inclination angle of the body main body changes to the rear inclination side, the longitudinal inclination angle of the body main body is set to the front inclination side. When the attitude change operation means is operated in the direction that changes, the control is performed with a more sensitive control sensitivity, so even when the grounding part of the traveling device falls forward, the aircraft body moves to the rear tilt side. The pitching is sufficiently adjusted so that the front-back inclination angle of the body with respect to the horizontal reference plane is maintained at the set inclination angle.

Therefore, when the vehicle moves and travels to the next operation step after completing one operation step, the regulated pitching control in which the insensitive control sensitivity is set is executed as described above, but the movement can be advantageously performed. When entering a slope,
By the regulated pitching control with the sensitive control sensitivity set, the longitudinal inclination angle of the body with respect to the horizontal reference plane is maintained at the set inclination angle, so that the approach can be performed while performing the mowing work.

According to a fourth aspect, in any one of the first to third aspects, the control means corresponds to the detection signal of the front-rear inclination angle detection means and the set inclination angle as the pitching control. When the deviation from the set signal value deviates from the dead zone for attitude control, an operation of activating the attitude change operation means is performed so that the deviation falls in the dead zone, and the restricted pitching control is performed. At the time of execution, the set value is compared with an integral value obtained by integrating the deviation with respect to a set reference distance for measurement periodically after the body body starts traveling forward, and the integral value is larger than the set value. Then, by activating the attitude change operation means,
The control sensitivity is set to be insensitive and the front / rear posture changing operation means is operated.

That is, the set value is compared with an integral value obtained by integrating the deviation with respect to a set reference distance for measurement at regular intervals after the body body starts running forward. If it is large, by controlling the attitude change operation means, the control sensitivity is set to be insensitive, so if the front-rear inclination angle with respect to the horizontal reference plane of the aircraft body deviates from the set inclination angle, it is temporary. The restricted pitching control is not executed. With this, when the traveling device returns to the original ground position after climbing over the swelling portion, the longitudinal inclination angle of the body of the aircraft set as corresponding to the ground position of the traveling device, The regulated pitching control of the fuselage body can be executed while minimizing the difference between the tilt angle of the fuselage body and the tilt angle of the fuselage body.

Therefore, even if the vehicle travels on the raised portion during the traveling movement, the body body can be more effectively prevented from leaning forward on the forward tilt side when the traveling device has passed over the raised portion. This is more advantageous, for example, in that the cutting section is more easily prevented from being pushed into the cutting section, and when the starting section of the next work process is reached, the cutting section can be easily adjusted to a desired cutting height.

According to a fifth aspect, in any one of the first to fourth aspects, when the control means executes the restricted pitching control, the control means performs an operation of operating the attitude change operation means by a fixed amount. By executing the control, the control sensitivity is set to be insensitive and the front / rear posture changing operation means is operated.

That is, since the control sensitivity is set to be insensitive by executing the operation of operating the attitude changing operation means by a predetermined amount, when the traveling device climbs on the bulging portion, the body body is set to the set inclination angle. The pitching is adjusted by a fixed amount. With this, when the traveling device returns to the original ground position after climbing over the swelling portion, the longitudinal inclination angle of the body of the aircraft set as corresponding to the ground position of the traveling device, The regulated pitching control of the fuselage body can be executed while minimizing the difference between the tilt angle of the fuselage body and the tilt angle of the fuselage body.

Accordingly, even if the traveling device moves on the raised portion during the traveling, the leaning of the body body toward the forward inclined side when the traveling device gets over the raised portion is more effectively suppressed. However, it is more advantageous, for example, that the rush of the reaping portion can be more easily avoided or the reaping portion can be easily adjusted to a desired cutting height.

According to a sixth aspect of the present invention, in any one of the first to fifth aspects, the posture changing operation means is provided at each of a left front portion, a left rear portion, a right front portion, and a right rear portion of the body of the body. The driving device is configured to include four drive units capable of individually changing and adjusting the height of the traveling device with respect to the grounding unit, and the control unit is configured to control the pitching control so that, of the four drive units, With two driving means acting on the right front part and one of the two driving means acting on the left rear part and the right rear part stopped, the other two driving means are stopped. It is configured to drive the means.

That is, since the attitude changing operation means is provided with the four driving means, one end of the body in the front-rear direction of the body is moved and adjusted to the lower limit with respect to the traveling device. The longitudinal inclination angle of the body can be changed between the inclined posture state and the inclined posture state in which the other end is moved and adjusted to the ascending limit with respect to the traveling device. This makes it possible to increase the amount of change in the front-rear inclination angle while reducing the maximum stroke in which the body main body moves with respect to the contact portion of the traveling device and lowering the body weight center when the body body is in the horizontal posture.

When three or more of the four driving means are simultaneously driven to change the front-back inclination angle of the body, the posture of the body becomes unstable and the load on each of the driving means is increased. Since the load fluctuates and the operation speed of each drive unit tends to change due to the fluctuation of the load, the other drive units are affected each other, so that it is difficult to perform a smooth drive operation. On the other hand, in the pitching control for maintaining the longitudinal inclination angle with respect to the horizontal reference plane of the fuselage body at the set longitudinal inclination angle, two driving means acting on the left front part and the right front part of the fuselage body, the left rear part and the right part Since only one of the two driving means acting on the rear portion is driven, the attitude of the body of the body is less likely to be unstable, and the two driving means are as smooth as possible. Appropriate pitching control can be performed while driving.

Therefore, the pitching control can be advantageously performed such that the adjustment range of the front-back inclination can be widened and the level difference of the unevenness of the ground can be sufficiently dealt with. In addition, the size of the body and the driving means can be reduced in size. Furthermore, the machine center of gravity is lowered, and the driving means is driven smoothly and stably when the pitching control is executed, so that the vehicle can run stably and comfortably.

[0030]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, an airframe main body V that is configured to be supported by a pair of left and right crawler traveling devices 1L and 1R and that includes a riding type driving unit 2 and a driving unit located below a driving seat. A cutting unit 10 in which a threshing device 3, a grain tank 4, and the like are mounted on a body frame 11 of the vehicle, and includes a raising device 5, a clipper-type cutting device 7, and the like.
The base end of the reaper section frame 10a is rotatably connected to a support section 11a located at a front portion of the body frame 11 so as to be rotatable around a lateral axis P1 of the body section.
Link mechanism 10b with one end connected to
The hydraulic lift cylinder C1 is attached to the body frame 11 and the mowing part 10
And a combine is constituted. This combine is used for harvesting rice, wheat, etc., and is configured in detail as follows.

That is, the cutting unit frame 10a is vertically moved about the axis P1 by the lift cylinder C1, whereby the cutting unit 10 is moved up and down with respect to the machine body V. In other words, the lower end of the raising device 5 and the mowing device 7 are located near the ground and the lowering work position where the culm is harvested, and the machine body V is moved up to the ascending end or near the same and travels without mowing. Raises and lowers to the non-working position. When the mowing unit 10 is moved to the working position and the machine body V is run, the mowing unit 10 uses the weeding tool 6 to divide the planted grain culm such as rice and wheat into a target to be cut and a non-cutting target, The planting culm to be cut is raised by the raising device 5 and processed at the same time, and its stock is cut off by the cutting device 7, and the stock culm from the cutting device 7 is pinched and conveyed to the stock side to carry the stock. The transporting device 8 includes a transporting portion 8 that engages and transports on the tip side, and is transported rearward of the machine body and supplied to the transporting start end of the threshing feed chain 3 a of the threshing device 3. The threshing device 3 supplies the tip side to the handling chamber while nipping and transporting the root side of the harvested grain culm from the transporting device 8 by the threshing feed chain 3a, and handles the threshing by a rotating handling cylinder. The waste straw is carried out of the handling room by the threshing feed chain 3a. Threshing grains from the threshing apparatus 3 are transported to and stored in the grain tank 4 by a conveyor.

As shown in FIG. 2, the left crawler traveling device 1L has a front end connected to a front end of a support frame 12 provided on a body frame 11 of the body V via a front bell crank 17a. A track frame 16 that is long in the front-rear direction of the body of the vehicle body and has a rear end connected to the rear end of the frame 12 via a rear bell crank 17b and an auxiliary link 17b1, and a front end of the support frame 12 so as to be rotatable. A supported crawler drive sprocket 13 which is freely driven, and an upper rolling wheel 14a which is freely rotatably supported at an intermediate portion of the support frame 12 in the front-rear direction.
A ground rolling wheel 14 rotatably supported at a plurality of locations in the longitudinal direction of the track frame 16, and a crawler tension wheel 15 rotatably supported at a rear end of the track frame 16. , The plurality of rings 15, 13,
The endless crawler belt B made of rubber is wound around all of 14a and 14a.

Of the front bell crank 17a, a swingable swinging shaft extending from a rotating shaft portion rotatably connected to the support frame 12 to the opposite side to the track frame 16 so as to be integrally rotatable. A hydraulic, double-acting, front cylinder C2 is mounted over the arm portion and a cylinder bracket supported by the support frame 12, and a rear link 17b is provided.
A swingable arm portion extending from the rotating shaft portion rotatably connected to the support frame 12 to the opposite side to the track frame 16 so as to be integrally rotatable; A hydraulic, double-acting, rear cylinder C3 is mounted over a cylinder bracket supported by a hydraulic cylinder. That is, the front cylinder C2 rotates the front bell crank 17a about the axis P2 with respect to the support frame 12 to move the front end of the track frame 16 up and down with respect to the body frame 11, and the rear cylinder C3 moves the rear bell C3. The crank 17b is rotated around the axis P3 with respect to the support frame 12 to move the rear end of the track frame 16 up and down with respect to the body frame 12.

The right crawler running device 1R has the same configuration as the left crawler running device 1L. In both the left crawler running device 1L and the right crawler running device 1R, the front cylinders C2 and C4 are connected to each other. By driving the rear cylinders C3 and C5, the track frame 12 is moved up and down with respect to the body frame 11 by the driving force of the front cylinders C2 and C4 and the rear cylinders C3 and C5.

As a result, as shown in FIG. 2, when the left and right front cylinders C2 and C4 are extended most and the left and right rear cylinders C3 and C5 are shortened most, the left and right traveling device 1
The L and 1R track frames 16 are closest to the body frame 11 and are almost parallel. The attitude of the body main body V at this time is the lower-limit reference attitude.

As shown in FIG. 3, when the left and right front cylinders C2 and C4 are shortened while maintaining the left and right rear cylinders C3 and C5 as they are from the state of the lower limit reference posture, the left and right traveling devices are moved. The front ends of the 1L and 1R track frames 16 are lowered with respect to the body frame 11 from the rear ends. That is, the attitude of the body main body V is changed (a front ascent operation) in a direction in which the front side is separated from the grounding portions of the crawler traveling devices 1L and 1R. FIG.
As shown in the figure, when the left and right rear cylinders C3 and C5 are extended while maintaining the left and right front cylinders C2 and C4 as they are from the state of the lower limit reference posture, the tracks of the left and right traveling devices 1L and 1R are moved. The rear end of the frame 16 is lowered with respect to the body frame 11 from the front end. Crawler traveling device 1L, 1
The posture is changed (post-rise operation) in a direction away from the ground contact portion of R. As shown in FIG. 5, when the left and right front cylinders C2 and C4 are shortened and the left and right rear cylinders C3 and C5 are extended from the state of the lower limit reference posture, the left and right traveling devices 1L and 1R are moved. The track frame 16 is lowered substantially parallel to the body frame 11. The attitude of the body body V is changed (ascending operation) in a direction in which the body main body V is separated from the grounding portions of the traveling devices 1L and 1R while being kept in a parallel attitude.

The vertical distance between the track frame 16 and the body frame 11 in the left crawler traveling device 1L is
In the right crawler traveling device 1R, the hydraulic cylinders C2 to C5
Is operated, the attitude of the body body V is changed in the right-up direction with respect to the grounding portions of the traveling devices 1L and 1R (left tilt operation).

The vertical distance between the track frame 16 and the body frame 11 in the right crawler traveling device 1R is
In the left crawler traveling device 1L, the hydraulic cylinders C2 to C5
Is operated, the attitude of the body body V is changed in the left-up direction with respect to the grounding portions of the traveling devices 1L and 1R (right tilt operation).

Accordingly, the left front cylinder C2 (hereinafter simply referred to as left front cylinder C2), the left rear cylinder C3 (hereinafter simply referred to as left rear cylinder C3), and the right front cylinder C4 (hereinafter simply referred to as left cylinder C3). Hereinafter, the right front cylinder C4) and the right rear cylinder C5 (hereinafter, simply referred to as the right rear cylinder C5) form a left-right inclination angle of the body main body V with respect to the grounding portions of the traveling devices 1L and 1R. Change operation means 100 for changing the front and rear inclination angle
Is composed. The left front cylinder C2 serves as a drive unit that acts to lift and lower the left front portion of the body body V, and changes and adjusts the height of the left front traveling devices 1L and 1R of the body body V with respect to the ground. I do.
The left rear cylinder C3 serves as a drive unit that acts to lift and lower the left rear portion of the body body V, and changes and adjusts the height of the left rear traveling devices 1L and 1R of the body body V with respect to the ground. The right front cylinder C4 serves as a drive unit that acts to move up and down the right front portion of the body body V, and changes and adjusts the height of the traveling devices 1L and 1R at the right front portion of the body body V with respect to the ground portion. . The right rear cylinder C5 serves as a driving means that acts to lift and lower the right rear portion of the body body, and changes and adjusts the height of the traveling devices 1L and 1R at the right rear portion of the body body with respect to the ground portion.

Each of the hydraulic cylinders C2, C3, C4 is located at a position corresponding to the rotation shaft of each of the bell cranks 17a, 17b in the left and right crawler traveling devices 1L, 1R based on the amount of rotation of the rotation shaft. , C5 (strokes of the hydraulic cylinders C2 to C5 when the hydraulic cylinders C2 to C5 extend and contract) are provided with potentiometer type stroke sensors 18, 19, 20, 21 as operation amount detecting means.

The body main body V includes a gravity type left / right tilt angle sensor 23 as left / right tilt angle detecting means for detecting a left / right tilt angle with respect to a horizontal reference plane of the body main body V, and a body main body V
A gravity type front-rear inclination sensor 24 is provided as front-rear inclination angle detection means for detecting the front-rear inclination angle with respect to the horizontal reference plane.

A stock sensor 53 is provided at the start end of the transporting device 8 to be turned on when it comes into contact with the harvested grain culm and turned off when the harvested grain culm comes off. When the harvesting operation is performed, the harvested grain culm is introduced into the cutting unit 10 and abuts against the stock sensor 53. When the cutting operation is stopped, the harvested grain culm does not enter the cutting unit 10 and the stock sensor 53 No longer touches the culm. Thereby, the stock sensor 53 constitutes a work state detecting means 300 for detecting whether the state is the harvesting state or the non-rearing state.

At the rear side of the weeding implement 6, a reaper 10
An ultrasonic cutting height sensor 9 for detecting the height of the ground relative to the ground is provided. Although not described in detail, the cutting height sensor 9 detects the height of the cutting unit 10 with respect to the ground by measuring the time from transmitting ultrasonic waves to receiving the ultrasonic waves downward and receiving the ultrasonic waves. It is configured in a non-contact manner.

The power transmission system is configured as shown in FIG. That is, the power output from the engine E mounted on the prime mover of the machine body V is transmitted to the threshing device 3 via the threshing clutch 45, and also via the traveling clutch 46 and the hydraulic stepless transmission 47. The power transmitted to the mission units 48 of the left and right crawler traveling devices 1L and 1R is transmitted to the crawler traveling devices 1L and 1R.
L and 1R, and also transmitted to the reaping unit 10 via the reaping clutch 49. In the figure, reference numeral 50 denotes a vehicle speed sensor that detects the vehicle speed based on the number of rotations input to the transmission unit 48.

The speed of the continuously variable transmission 47 is controlled by a shift lever 51 provided in the riding operation section 2. As shown in FIG. 6, a neutral switch 52 and a forward switch 54 are provided near the base end of the speed change lever 51. When the speed change lever 51 is in the neutral position, one neutral cam 51a as a pair of detection target bodies attached to the base of the speed change lever 51 so as to rotate integrally with the speed change operation lever 51 is an operation part of the neutral switch 52. , The neutral switch 52 is turned on, the other forward cam 51b is separated from the operating portion of the forward switch 54, and the forward switch 54 is turned off. When the shift lever 51 is operated from the neutral position N to the forward operation area F, the neutral cam 51a is separated from the operating portion of the neutral switch 52, the neutral switch 52 is turned off, and the forward cam 51b is operated by operating the forward switch 54. The forward switch 54 is turned on by pressing the portion. When the shift lever 51 is operated from the neutral position N to the reverse operation area R, the neutral cam 51a is separated from the operating portion of the neutral switch 52, and the neutral switch 52 is turned off.
b moves away from the operating portion of the forward switch 54, and the forward switch 54 remains off. Therefore, the forward switch 5
4 and the neutral switch 52 constitute traveling state detecting means 400 for detecting the traveling state of the body main body, and the traveling state detecting means 400 can detect that the body main body V has started traveling forward. That is, by detecting that the forward switch 54 has been switched from off to on and the neutral switch 52 has been switched from on to off, it can be detected that the aircraft body has started traveling forward.

As shown in FIG. 7, a control unit 22 using a microcomputer provided in the body main body V includes the stroke sensors 18 to 21, the cutting height sensor 9, the left and right inclination angle sensor 23, and the front and rear inclination angle sensor 24. , Vehicle speed sensor 50,
Each detection information of the neutral switch 52, the forward switch 54, and the stock sensor 53 is input. In addition, the boarding driver 2
The operation panel has a posture change switch unit SU,
A front raising switch 40a and a rear raising switch 40b are provided, and their respective operation information is also input to the control device 22.

Further, the operation panel of the boarding operation unit 2 includes:
A volume-type cutting height setting device 39 for setting the height of the cutting unit 10 with respect to the ground, that is, the cutting height, with respect to the machine body V;
Based on the operation of the cutting elevating lever 28 for instructing the ascending command and the descending command of the reaping unit 10, an ascending switch SW1 for instructing the ascending unit to be elevated, a descending switch SW2 for instructing the assembling unit to descend, and the like are provided. The control device 22
Has been entered.

As shown in FIG. 8, the attitude change switch unit SU includes a left / right tilt angle setting device 25 for setting a right / left tilt angle with respect to a horizontal reference plane of the body main body V, and a horizontal control (rolling control described later). Horizontal switch 26, horizontal lamp 26 indicating the on / off state of horizontal control
a, a front / rear automatic switch 27 for turning on / off the front / rear control (pitching control described later), a front / rear lamp 27a for indicating the on / off state of the front / rear control, and a front / rear lamp 27a for indicating the on / off state of the front / rear control; A wetland switch 35 and a wetland lamp 35a indicating that a wetland state is being input are provided, and further, a right-up switch 37a, a left-up switch 37b, and a body-up switch 38a that are operated by a cross-lever-type operating tool 36. And a body lowering switch 38b.

Therefore, the wetland switch 35 constitutes a soft surface state input means for inputting a soft surface state (wetland state) in which the running surface on which the traveling machine V runs is soft. Specifically, when the wetland switch 35 is pressed while the wetland lamp 35a is turned off, the wetland state is input as the soft surface state, and the wetland switch 35 is pressed while the wetland lamp 35a is lit. Then, the wetland state is not input.

The operation of the cross lever type operation tool 36 will be described. When the operation tool 36 is tilted to the left, the right-up switch 37a is turned on, and a right-up operation (left tilt operation) is commanded. When the tool 36 is tilted to the right,
The left-up switch 37b is turned on to issue a left-up operation (right tilt operation). When the operating tool 36 is tilted backward, the fuselage raising switch 38a is turned on to issue a command to raise the fuselage. When the operating tool 36 is tilted forward, the fuselage lowering switch 38b is turned on. Command to lower the aircraft.

The front raising switch 40a and the rear raising switch 40b are provided on the grip of the operating tool 36.
Then, when the forward raising switch 40a is turned on, a forward raising operation (rear tilting operation) of the aircraft is commanded, and the rear raising switch 40b is turned on.
Is turned on, a rear-up operation (front tilt operation) is commanded.

The horizontal tilt angle setting device 25 includes a horizontal switch 25a, a left tilt switch 25b, and a right tilt switch 25c. That is, horizontal switch 2
Pressing 5a sets the tilt angle corresponding to the horizontal state as the set left / right tilt angle, and pressing the left tilt switch 25b causes
The currently set left / right tilt angle is corrected in the left tilt direction by the set angle, and when the right tilt switch 25c is pressed, the currently set left / right tilt angle is corrected in the right tilt direction by the set angle. The display device (not shown) provided on the front side of the boarding operation unit 2 shows the left-right inclination angle set by the left-right inclination angle setting device 25, as shown in FIG. It indicates which of the stages (stage 4 at an angle of 0 indicates a horizontal state, a plus angle indicates a rightward tilt direction, and a minus angle indicates a leftward tilt direction). In addition, about a front-back inclination angle, an inclination angle 0 (horizontal state)
Is set in advance as the set front-back inclination angle.

The control device 22 calculates, based on information from the vehicle speed sensor 50 and the traveling state detecting means 400, what distance the traveling distance has been since the start of forward traveling. Thereby, the control device 22 constitutes a traveling distance detecting means 500 for detecting how long the traveling distance has been since the start of the forward movement of the body main body.

On the other hand, the control device 22 outputs drive signals to the electromagnetic control valves 29 to 32 for controlling the lift cylinder C1 and the four hydraulic cylinders C2 to C5 for changing the attitude of the body, respectively. . Note that the control device 22 operates the lift cylinder C1 so that the value detected by the cutting height sensor 9 is maintained at the cutting height set by the cutting height setting device 39 during the cutting operation. Perform height control.

Using the control device 22, the longitudinal inclination angle with respect to the horizontal reference plane of the body main body V is set to the set inclination angle (horizontal direction) based on the detection information of the longitudinal inclination angle sensor 24.
In order to maintain the vehicle body V based on the detection information of the left and right inclination angle sensor 23, the front and rear posture control (hereinafter, referred to as pitching control) for controlling the operation of the posture changing operation means 100 is maintained. Control means 200 is configured to execute left / right attitude control (hereinafter referred to as rolling control) for controlling the operation of the attitude change operation means 100 so that the left / right tilt angle with respect to the horizontal reference plane is maintained at the set tilt angle. ing.

When executing the pitching control, the control means 200 obtains the detection signal of the front-rear inclination angle sensor 24,
It is determined whether the deviation from the setting signal corresponding to the set inclination angle (front and rear horizontal) has deviated from the dead zone for attitude control, and if it is determined that the deviation has deviated from the dead zone, the posture changing operation is performed so that the deviation enters the dead zone. An operation for operating the means 100 is performed. Similarly, when the rolling control is performed, if the deviation between the detection signal of the left-right inclination sensor 23 and the setting signal corresponding to the set inclination deviates from the dead band for the posture control, the posture is set so that the deviation enters the dead band. An operation for operating the control means 100 is executed.

The control means 200 controls the four hydraulic cylinders C2 to C in the pitching control.
5, two hydraulic cylinders (left front cylinder C2 and right front cylinder C4) located at the left front and right front,
One of the two hydraulic cylinders C2 and C5 (left rear cylinder C3 and right rear cylinder C5) located at the left rear and right rear is stopped and the other two hydraulic cylinders are stopped. The hydraulic cylinders C2 to C5 are configured to be driven and operated, and in the rolling control, two hydraulic cylinders (left front cylinder) located at the left front portion and the left rear portion among the four hydraulic cylinders C2 to C5 are used. C2 and left rear cylinder C3), and two hydraulic cylinders (right front cylinder C4) located at the right front and right rear.
And the right rear cylinder C5), the drive of one of the two hydraulic cylinders C2 to C5 is stopped and the other two hydraulic cylinders C2 to C5 are driven.

Next, the attitude changing operation by the rolling control and the pitching control will be specifically described.
That is, in the case of the rolling control, if the running surface is in the lower left state, the state is shifted from the state of the lower limit reference posture (FIG. 2).
In the left crawler traveling device 1L, the left front cylinder C
2 and the left rear cylinder C3 is extended, the body body V changes to a left-upward inclined posture (right inclined posture) with respect to the ground contact portion, and the left and right with respect to the horizontal reference plane of the body body V. The tilt angle can be horizontal. or,
If the traveling surface is in the downward rightward state, the right front cylinder C4 is shortened and the right rear cylinder C is moved from the state of the lower limit reference posture in the right crawler traveling device 1R.
When the extension operation of the body 5 is performed, the body main body V changes to the upper right inclined posture (left inclined posture) with respect to the ground contact portion, and the horizontal inclination angle of the body main body V with respect to the horizontal reference plane can be made horizontal.

In the case of the pitching control, if the running surface is in the forward lowered state, the left rear cylinder C3 and the right rear cylinder C5 are maintained in the same state from the state of the lower limit reference posture (FIG. 2), respectively. While the left front cylinder C2
When the right front cylinder C4 and the right front cylinder C4 are simultaneously shortened, the front side of the body main body V rises with respect to the respective grounding portions of the left and right crawler traveling devices 1L and 1R, and the posture changes to the rearwardly inclined posture. The front-back inclination angle with respect to the horizontal reference plane can be made horizontal. If the running surface is in the front-up state, the left front cylinder C2 and the right rear cylinder C4 are maintained while maintaining the left front cylinder C2 and the right front cylinder C4 from the state of the lower limit reference posture, respectively.
5 are simultaneously extended, the rear side of the body main body V rises with respect to the respective grounding portions of the left and right crawler traveling devices 1L and 1R, and changes its posture to a forwardly inclined posture. The front-rear inclination angle can be made horizontal.

The traveling devices 1L, 1R of the body V
The inclination state detecting means 18 to 21 for detecting the inclination state with respect to the ground portion are constituted by the stroke sensors 18 to 21, respectively. Specifically, four hydraulic cylinders C2-C detected by the stroke sensors 18-21, respectively.
The inclination state of the body main body V is obtained based on the difference between the respective height positions of the traveling devices 1L and 1R with respect to the grounding portion. For example, in the case of FIG. 10, the body V at the position indicated by oblique lines has the lowest height a at the left front, then the height c at the right front, the height b at the rear left, and the right rear. Height d
Therefore, in this case, it is detected that the body main body V is in a state of being inclined forward as a whole. In the drawing, a2 indicates the highest left front portion, and a0 indicates the lowest left front portion. b2 indicates the highest of the left rear, and b0
Indicates the lowest left rear. c2 indicates the highest right front, and c0 indicates the lowest right front. d2 indicates the highest right rear portion, and d0 indicates the lowest right rear portion.

When the control unit 200 starts the forward running of the body V based on the detection information of the running state detecting unit 400 and the running distance detecting unit 500 (when the forward switch 54 is turned on from off state, And
A set distance (3 to 5) set to be traveled by forward travel (d) shown in FIG. 11 from when the neutral switch 52 is switched from the on state to the off state.
m) until the vehicle travels, as the pitching control,
It is configured to execute a restricted pitching control for controlling the operation of the posture changing operation means 100 by setting a control sensitivity that is less sensitive than the control sensitivity set after traveling the set distance.

The control means 200, after detecting a change from the cutting work state to the non-cutting work state based on the detection information of the work state detecting means 300, after ending one work process, The constrained pitching control is executed until a set time set as a time required for moving and traveling to the start end of the next work process elapses.

When executing the pitching control, the control means 200 obtains a detection signal of the front-rear inclination angle sensor 24,
It is determined whether or not the deviation from the setting signal corresponding to the set inclination angle (front and rear horizontal) has deviated from the dead band for pitching control. If it is determined that the deviation has deviated from the dead band, the posture changing operation is performed so that the deviation enters the dead band. An operation for operating the means 100 is performed. When the cutting operation state changes from the cutting operation state to the non-cutting operation state, when the forward movement of the body main body V is started until the set time for the traveling movement elapses from this change, the body main body V is changed to the arithmetic operation state. Every time the vehicle travels the set reference distance (1 cm), the detection signal of the front-rear inclination sensor 24 during the past travel of the measurement reference distance (50 cm) and the set value corresponding to the set inclination angle Is calculated with respect to the set reference distance, and the integral value is calculated each time the vehicle body V travels the set reference distance for control (10 cm) after the main body V starts running forward. Is compared with the set value, and if the integral value is larger than the set value, an operation of operating the attitude change operation means 100 is executed.
Further, at this time, an operation of operating the posture changing operation means 100 by a fixed amount is executed. Then, after the set time for the traveling has passed since the detection of the change from the working state to the non-working state, if the deviation deviates from the dead zone, the posture changing operation means 100 causes the deviation to enter the dead zone.
Is performed. Thereby, the control means 2
00 is the case where the restricted pitching control is executed,
A constrained pitching control is executed by setting a control sensitivity that is less sensitive than when performing normal unconstrained pitching control.

Further, when executing the restricted pitching control, the control means 22 controls the traveling device 1 of the machine body V.
When the attitude changing operation means 100 is operated in a direction in which the front and rear inclination angles of the L and 1R with respect to the ground contact portion change to the rear inclination side, the front and rear inclination angles of the traveling devices 1L and 1R of the body body V with respect to the contact portion are set to the front inclination side. The control sensitivity is set to be more sensitive than when the posture changing operation means 100 is operated in the direction that changes in the direction.

Next, the attitude changing operation by the control device 22 will be described with reference to the flowcharts of FIGS. As shown in FIG. 12, first, it is determined whether or not a manual operation command (horizontal tilt, vertical tilt, vertical up / down) has been issued,
When a manual operation command is issued, a manual posture change process is executed. If the manual operation command has not been issued, it is determined whether or not the wetland state has been input by the wetland switch 35a, and after the stock sensor 53 has changed from on to off, that is, from the working state to the non-working state. After switching to the above, it is checked whether or not it is within the set time, and the restricted pitching control is executed only when the wetland condition is input and the stock sensor 53 is within the set time after the change to off. I do.

When the wetland condition has not been entered, and
If the stock sensor 53 is not within the set time after turning off, the state of the horizontal automatic switch 26 is checked. If the horizontal automatic switch 26 is not on, neither the rolling control nor the pitching control is executed. . When the horizontal automatic switch 26 is on, the front / rear automatic switch 2
If 7 is not on, only the rolling control is executed. When the horizontal automatic switch 26 and the front / rear automatic switch 27 are both on, the rolling control is executed first with priority, and thereafter the pitching control is executed.

As shown in FIG. 13, in the manual posture changing process, if the left-up switch 37b instructs the left-up operation, the right inclining process is executed. In the right inclination process, the right front cylinder C4 is extended and the right rear cylinder C5 is shortened until one of the right front cylinder C4 and the right rear cylinder C5 reaches the lower limit position, and the right front cylinder C4 and the right rear cylinder C5 are operated. Is operated to the lower limit position, the left front cylinder C2 is shortened and the left rear cylinder C3 is extended until one of the left front cylinder C2 and the left rear cylinder C3 reaches the upper limit position.

If the right-up switch 37a instructs the right-up operation, a left tilt process is executed. In the left tilting process, the left front cylinder C2 is extended and the left rear cylinder C3 is shortened until one of the left front cylinder C2 and the left rear cylinder C3 reaches the lower limit position.
If either the left front cylinder C2 or the left rear cylinder C3 is operated to the lower limit position, the right front cylinder C4 is shortened and the right rear cylinder C5 is operated until either the right front cylinder C4 or the right rear cylinder C5 reaches the upper limit position. Is extended.

If the rearward switch is instructed by the rearward switch 40b, the front inclination process is executed. In the front leaning process, the left front cylinder C2 and the right front cylinder C4 are extended until one of the left front cylinder C2 and the right front cylinder C4 reaches the lower limit position, and one of the left front cylinder C2 and the right front cylinder C4 is moved to the lower limit position. If operated, the left rear cylinder C3 and the right rear cylinder C5 are extended until one of the left rear cylinder C3 and the right rear cylinder C5 reaches the upper limit position.

If the forward raising command is given by the forward raising switch 40a, the rear inclination process is executed. In the rear tilting process, the left rear cylinder C3 and the right rear cylinder C5 are shortened until one of the left rear cylinder C3 and the right rear cylinder C5 reaches the lower limit position. If any of them is operated to the lower limit position, the front left cylinder C2 and the front right cylinder C4 are shortened until one of the front left cylinder C2 and the front right cylinder C4 reaches the upper limit position.

If the raising of the body is instructed by the body raising switch 38a, the body lifting process is executed. In the body lifting process, the front left cylinder C2 is shortened until it reaches the upper limit position, the rear left cylinder C3 is extended until it reaches the upper limit position, the front right cylinder C4 is shortened until it reaches the upper limit position, and the rear right cylinder C4 is shortened. The extension operation is performed until C5 reaches the upper limit position.

If the lowering of the body is commanded by the lowering switch 38b, the lowering process is executed. In the body lowering process, the left front cylinder C2 is extended until the lower left position, the rear left cylinder C3 is shortened until the lower position, the front right cylinder C4 is extended until the lower position, and the right rear cylinder C4 is extended. Shortening operation is performed until C5 reaches the lower limit position.

As shown in FIG. 14, in the rolling control, the deviation between the detected value of the left / right tilt angle sensor 23 and the signal value corresponding to the set left / right tilt angle causes the dead zone for the rolling control to be shifted to the left tilt side of the body V. If it is deviated, it is determined whether any of the right front cylinder C4 and the right rear cylinder C5 has been operated to the lower limit position based on the detection information of the stroke sensors 20 and 21 located on the front and rear of the right side of the aircraft, If neither of the cylinders C4, C5 is operated to the lower limit position, the right front cylinder C4 is extended and the right rear cylinder C5 is shortened until one of the two cylinders C4, C5 reaches the lower limit position. If one of the right front cylinder C4 and the right rear cylinder C5 is operated to the lower limit position, the left front cylinder C2 and the left rear cylinder C3
Until the left front cylinder C2 reaches the upper limit position.
And the left rear cylinder C3 is extended.

If the deviation between the detected value of the left / right tilt angle sensor 23 and the signal value corresponding to the set right / left tilt angle is outside the dead zone for rolling control on the right tilt side of the body V, the front and rear sides of the left side of the body Each located stroke sensor 18, 19
It is determined whether any of the front left cylinder C2 and the rear left cylinder C3 has been operated to the lower limit position based on the detection information. If both the cylinders C2 and C3 have not been operated to the lower limit position, Until one of the two cylinders C2 and C3 reaches the lower limit position, the left front cylinder C2 is extended and the left rear cylinder C3 is shortened. If any of the front left cylinder C2 and the rear left cylinder C3 is operated to the lower limit position, the front right cylinder C4 is shortened and the rear right cylinder C is operated until either the front right cylinder C4 or the rear right cylinder C5 reaches the upper limit position.
5 is extended. In this way, while keeping the height of the fuselage body V as low as possible, the angle deviation between the left and right tilt angles of the fuselage body V and the set right and left tilt angles set by the left and right tilt angle setting device 25 falls within the dead zone. The rolling control is executed so as to fit.

As shown in FIG. 15, in the pitching control, the deviation between the detected value of the front / rear tilt angle sensor 24 and the signal value corresponding to the horizontal state deviates from the dead zone for pitching control to the forward tilt side of the body main body V. Then, it is determined whether one of the left rear cylinder C3 and the right rear cylinder C5 has been operated to the lower limit position based on the detection information of the left and right stroke sensors 19 and 21 located at the rear part of the fuselage. If neither C3 nor C5 has been operated to the lower limit position, the left rear cylinder C3 and the right rear cylinder C5 are shortened until one of the two cylinders C3 and C5 reaches the lower limit position. Left rear cylinder C3 and right rear cylinder C
If any one of 5 is operated to the lower limit position, the left front cylinder C2 and the right front cylinder C4 are shortened until one of the left front cylinder C2 and the right front cylinder C4 reaches the upper limit position.

If the difference between the detection value of the front / rear inclination sensor 24 and the signal value corresponding to the horizontal state is outside the dead zone for pitching control on the rear inclination side of the body V, the left and right positions located at the front of the body are Based on the detection information of the stroke sensors 18 and 20, it is determined whether one of the front left cylinder C2 and the front right cylinder C4 is operated to the lower limit position, and both the cylinders C2 and C4 are operated to the lower limit position. If there is no left front cylinder C2 and right front cylinder C2 until either of the two cylinders C2 and C4 reaches the lower limit position.
4 is extended. If one of the left front cylinder C2 and the right front cylinder C4 is operated to the lower limit position, the left rear cylinder C3 and the right rear cylinder C5 are extended until one of the left rear cylinder C3 and the right rear cylinder C5 reaches the upper limit position. Let it. In this manner, the pitching operation process is performed while keeping the height of the body V as low as possible, while keeping the angle deviation between the longitudinal inclination of the body V and the longitudinal inclination corresponding to the horizontal state within the dead zone. Do it.

As shown in FIG. 16, in the restricted pitching control, as shown in steps 1 to 3, the airframe main body V
It is determined whether or not the vehicle has traveled the set distance since the start of forward travel of the vehicle, and if it is determined that the travel distance is still within the set distance, a detection signal of the front / rear tilt angle sensor 24 and the set tilt angle It is determined whether or not a deviation from the setting signal corresponding to (horizontal) has deviated from the dead zone for pitching control.
It is determined which of the directions of the rear inclined side and the front inclined side deviates. As shown in Steps 4 to 9, when it is determined that the deviation is outside the dead zone on the rear side of the body V, the travel distance of the body V is determined based on information from the travel distance detection means 500. Set reference distance for control (10
cm), and when it is determined that the set reference distance for control has been reached, an integral value obtained by integrating the deviation with respect to the set reference distance for measurement (50 cm) is larger than the set value. Is determined. When it is determined that the integral value is larger than the set value, one of the left front cylinder C2 and the right front cylinder C4 is operated to the lower limit position based on the detection information of the left and right stroke sensors 18 and 20 located at the front of the fuselage. It is determined whether or not both cylinders C2 and C4 are not operated to the lower limit positions, and the front left cylinder C2 and the front right cylinder C4 are extended until one of the two cylinders C2 and C4 reaches the lower limit position. Activate. At this time, when the pitching control is executed once, both the cylinders C2 and C4 are extended by a predetermined amount such that the front left cylinder C2 and the front right cylinder C4 are extended by a predetermined constant amount. If one of the left front cylinder C2 and the right front cylinder C4 is operated to the lower limit position, the left rear cylinder C3 and the right rear cylinder C5 are operated until either the left rear cylinder C3 or the right rear cylinder C5 reaches the upper limit position.
Is extended. At this time, when the pitching control is executed once, both cylinders C3 and C5 are extended by a predetermined amount so that the left rear cylinder C3 and the right rear cylinder C5 extend by a predetermined constant amount.

If it is determined in step 3 that the deviation is outside the dead zone on the forward inclined side of the body V, normal pitching control is executed as shown in steps 10-13. That is, it is determined whether one of the left rear cylinder C3 and the right rear cylinder C5 has been operated to the lower limit position based on the detection information of the left and right stroke sensors 19 and 21 located at the rear of the fuselage. , C5
Are not operated to the lower limit position, until either of the two cylinders C3 and C5 reaches the lower limit position.
The left rear cylinder C3 and the right rear cylinder C5 are shortened. If one of the left rear cylinder C3 and the right rear cylinder C5 is operated to the lower limit position, the left front cylinder C2 and the right front cylinder C4 are shortened until one of the left front cylinder C2 and the right front cylinder C4 reaches the upper limit position.

[Another Embodiment] Next, another embodiment will be described. In the above-described embodiment, in the constrained pitching control, the integrated value of the deviation is periodically compared with the set value after the forward running is started, and the posture changing operation means 100 is operated by a fixed amount based on the comparison result. By performing pitching control so that the control sensitivity in the restricted pitching control is set to be insensitive,
Only one of the pitching control for periodically operating the attitude change operation means 100 and the pitching control for operating the attitude change operation means 100 by a fixed amount based on the result of comparison between the integral value of the deviation and the set value is executed. With such a configuration, the control sensitivity in the restricted pitching control may be set to be less sensitive than in the case of the normal pitching control. In addition, by widening the dead zone for pitching control, or by lowering the operating speed of the hydraulic cylinders C2 to C5,
The control sensitivity in the constrained pitching control may be set to be less sensitive than in the case of the normal pitching control.

In the above-described embodiment, the traveling device is constituted by the pair of left and right crawler traveling devices 1L and 1R. However, the traveling device is not limited to this. For example, a single traveling device may be used.
Further, a wheel type traveling device may be used instead of the crawler type.

In the above embodiment, the left-right inclination angle detecting means 2
3 and the front and rear inclination angle detecting means 24 are constituted by gravity type inclination angle sensors 23 and 24, but the invention is not limited thereto. For example, a detection signal of a sensor for detecting an angular velocity such as a laser gyro is integrated to integrate the inclination. Means for detecting a corner may be used.

In the above embodiment, the posture changing operation means 10
0 is constituted by four driving means C2 to C5 located at four positions on the front, rear, left and right of the body main body V. For example, a pair of left and right driving means (a rolling hydraulic Cylinder) and one drive type means (pitching hydraulic cylinder) for integrally inclining the left and right traveling devices in the front-rear direction. Also, when the above four driving means C2 to C5 are configured, other driving means including an electric motor and a screw feed mechanism may be used in addition to the hydraulic cylinder.

In the above embodiment, the power from the engine E is shifted by the hydraulic type continuously variable transmission 47 to be transmitted to the traveling devices 1L and 1R, and the traveling state detecting means 40 is provided.
0, a neutral switch 52 for detecting whether or not a shift lever 51 for shifting the continuously variable travel device 47 is operated to a neutral position N, and a shift lever 51 for a forward operation range F.
Although it is configured with the forward switch 54 for detecting whether or not the operation is performed, the present invention is not limited to this. For example, in the case where power transmitted by a stepped transmission that can be switched to a plurality of stages (for example, three stages of low speed, medium speed, and high speed) by a switch operation instead of a continuously variable transmission is transmitted to a traveling device. May be constituted by a detection switch for detecting that the gear is switched to each of the shift positions (low speed, middle speed, high speed).

In the above embodiment, the work state detecting means 30
0 is constituted by the stock sensor 53 provided in the mowing unit 10, but in addition to this, the work state detecting means 300 is constituted by a grain culm sensor for detecting the presence or absence of a grain culm inside the threshing device 3. Thus, when the state changes from the state with grain culm to the state without grain culm, it may be detected that the state has changed from the reaping work state to the non-rearing work state. It may be configured by a sensor that detects the on / off state of the reaping clutch that turns on / off the transmission to the reaping unit 10.

In the above embodiment, the running surface state detecting means is constituted by the wetland switch 35, but is not limited to this. For example, in the case of a running surface such as a sandy ground, since it is in a soft state even if it does not contain moisture, the running surface state detecting means is constituted by a sandy ground running switch or the like which is turned on when running on a sandy ground. Alternatively, the configuration may be such that the forced inclination control is executed when traveling on a sandy ground.

In the above embodiment, a combine harvester is exemplified as a reaper. However, a reaper other than the combine may be used.

[Brief description of the drawings]

FIG. 1 is a side view showing a front part of a combine.

FIG. 2 is a side view showing an elevating operation configuration of the traveling device.

FIG. 3 is a side view showing a lifting operation configuration of the traveling device.

FIG. 4 is a side view showing an elevating operation configuration of the traveling device.

FIG. 5 is a side view showing the configuration of a lifting / lowering operation of the traveling device.

FIG. 6 is a power transmission diagram of the combine.

FIG. 7 is a block diagram showing a control configuration.

FIG. 8 is a front view of a switch unit for a posture changing operation.

FIG. 9 is a diagram showing set values of a left-right inclination angle.

FIG. 10 is an explanatory diagram showing a procedure for detecting an inclined state of the body of the aircraft.

FIG. 11 is an explanatory view showing a harvesting run by a combine.

FIG. 12 is a flowchart showing a control operation.

FIG. 13 is a flowchart showing a control operation.

FIG. 14 is a flowchart showing rolling control.

FIG. 15 is a flowchart showing pitching control.

FIG. 16 is a flowchart showing constrained pitching control;

[Explanation of symbols]

 1L, 1R Traveling device 10 Mowing part 24 Front / rear inclination angle detecting means 100 Attitude change operating means 200 Control means 300 Working state detecting means 400 Running state detecting means 500 Traveling distance detecting means C2-C5 Driving means V Body main body

Claims (6)

[Claims] 1. A posture changing operation means for freely changing a front-rear inclination angle of a body body provided with a mowing part movably at a front part with respect to a ground part of a traveling device, and a posture change operation means with respect to a horizontal reference plane of the body body. A front-rear inclination angle detecting means for detecting a front-rear inclination angle, and the attitude change based on the detection information of the front-rear inclination angle detecting means such that the front-rear inclination angle with respect to a horizontal reference plane of the body of the aircraft is maintained at a set inclination angle. A control device for performing pitching control for controlling an operation of an operation means, the attitude control device of a reaper being provided with a running state detecting means for detecting a running state of a body body, and a running distance of the body body. The traveling distance detecting means for detecting the traveling distance is provided. The control means, based on the detection information of the traveling state detecting means and the traveling distance detecting means, the set distance after the body body starts traveling forward Until the vehicle travels, as the pitching control, a constrained pitching control for controlling the operation of the attitude change operation means by setting a control sensitivity that is less sensitive than the control sensitivity set after traveling the set distance is performed. The composed harvester's attitude control device. 2. A work state detection means for detecting whether the state is a cutting work state or a non-cutting work state, wherein the control means detects a state of the cutting work state based on detection information of the work state detection means. The attitude control device of a reaper and harvester according to claim 1, wherein the restricted pitching control is executed for a set time after the change to the non-rearing work state is detected. 3. When the control means executes the restricted pitching control, when the attitude change operation means is operated in a direction in which the longitudinal tilt angle of the body changes to the backward tilt side, the longitudinal tilt of the body is controlled. 3. The control device according to claim 1, wherein a control sensitivity is set to be more sensitive than when the posture changing operation unit is operated in a direction in which an angle changes to the forward tilt side. 4.
The attitude control device of the reaper described in the above. 4. The method according to claim 1, wherein the control means performs the pitching control when a deviation between a detection signal of the front-rear inclination angle detection means and a set signal value corresponding to the set inclination angle deviates from a dead zone for attitude control. It is configured to execute an operation of operating the attitude change operation means so that the deviation enters the dead zone, and when executing the restricted pitching control, periodically after the aircraft body starts forward traveling. ,
The integrated value obtained by integrating the deviation with respect to a set reference distance for measurement is compared with a set value, and if the integrated value is larger than the set value, the attitude change operation means is operated to reduce the control sensitivity. The attitude control device for a reaper according to any one of claims 1 to 3, wherein the attitude control device is configured to operate the front / rear attitude changing operation means by setting the angle at the position. 5. When the control means performs the restricted pitching control, the control sensitivity is set to be insensitive by performing an operation of actuating the attitude change operation means by a fixed amount at a time. The attitude control device of a reaper according to any one of claims 1 to 4, wherein the attitude control device is configured to operate the means. 6. The apparatus according to claim 6, wherein said attitude changing operation means is capable of independently changing and adjusting the height of said traveling device with respect to a ground contact portion at each of a left front portion, a left rear portion, a right front portion, and a right rear portion of the body. The driving means, and the control means controls the four
And two driving means acting on the left front part and the right front part, and two driving means acting on the left rear part and the right rear part.
The driving device according to any one of claims 1 to 5, wherein one of the two driving units is driven to be driven while the other two driving units are stopped. The attitude control device of the reaper described in the above.