JP2010200686A - Combine harvester - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a combine harvester not impairing left/right inclination control function of a traveling machine body while can arrange a front/rear inclination hydraulic cylinder between the traveling machine body and a traveling part at low cost and in compact. <P>SOLUTION: In the combine harvester, a traveling machine body 1 is constituted inclinably in a left/right direction or a back and forth direction by connecting the traveling machine body 1 to the left and right traveling parts 2. Left and right vehicle height adjustment hydraulic cylinders 38 and the front/rear inclination hydraulic cylinder 55 are arranged below an upper surface of the traveling machine body 1 within back and forth width of a track frame 21 toward the back and forth direction of the traveling machine body 1. The front/rear inclination hydraulic cylinder 55 is arranged between the left and right vehicle height adjustment hydraulic cylinders 38 and in parallel to them so as to be directed in the back and forth direction. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a combine in which a threshing device or the like is mounted on a traveling machine body. .

  Conventionally, it has left and right vehicle height adjustment hydraulic cylinders that tilt the traveling machine body in the left and right direction, and a front and rear tilt hydraulic cylinder that tilts the traveling machine body in the front and rear direction, via the front and rear rolling fulcrum shafts or the pitching link mechanism, There is a technique in which the traveling machine body is connected to the left and right traveling units to tilt the traveling machine body in the left-right direction or the front-rear direction (Patent Document 1). In addition, a technique for correcting the support position of the vehicle height adjusting hydraulic cylinder when the traveling machine body is tilted in the front-rear direction by the front-rear tilting hydraulic cylinder is also known (see Patent Document 2).

JP 2005-304399 A JP 2006-204171 A

  In the prior art, when the front rolling arm and the rear rolling arm are connected by the rolling frame, the front rolling arm is connected to the rear rolling arm when the tilt angle in the front-rear direction of the traveling body is corrected by the rotation of the rear rolling arm. In addition, there is a problem that the connection length of the vehicle height adjusting hydraulic cylinder changes. That is, when the forward / backward tilt hydraulic cylinder is activated, a force is generated to move the piston of the vehicle height adjusting hydraulic cylinder forward or backward, and the space between the connecting support shaft of the vehicle height adjusting hydraulic cylinder and the connecting support shaft of the piston is generated. When the hydraulic oil is changed and the hydraulic oil is drawn into or discharged from the vehicle height adjusting hydraulic cylinder, there is a problem that air is mixed in or leaked from the hydraulic oil of the vehicle height adjusting hydraulic cylinder. Therefore, as shown in the prior art, it is necessary to configure the rolling link mechanism or the pitching link mechanism so that the amount of change in the connecting length of the rolling cylinder is reduced. There is a problem that the vehicle height adjusting hydraulic cylinder or the hydraulic cylinder for tilting forward and backward cannot be easily assembled. Although there is a technique for tilting the traveling machine body in the left-right direction or the front-rear direction by providing four front and rear and left and right hydraulic cylinders, it is necessary to handle the left-right tilt control structure and the front-rear tilt control structure integrally. There is a problem that the manufacturing cost of the hydraulic control structure or the like cannot be easily reduced.

  An object of the present invention is to combine a hydraulic cylinder for front and rear tilting between a traveling machine body and a traveling part at a low cost and in a compact manner so that the left and right inclination control function of the traveling machine body is not impaired. Is to provide.

  In order to achieve the above object, a combine according to an embodiment of the present invention includes a traveling machine body in which left and right traveling units are arranged, left and right vehicle height adjusting hydraulic cylinders that tilt the traveling machine body in the left-right direction, and the traveling machine body. A hydraulic cylinder for forward and backward tilting that tilts in the front-rear direction is provided, and the travel aircraft body is connected to the left and right travel parts via front and rear rolling fulcrum shafts or pitching link mechanisms, and the travel is performed in the left-right direction or the front-rear direction. In a combine configured to tilt the airframe, the left and right vehicle height adjusting hydraulic cylinders and the front and rear tilt hydraulic cylinders are oriented in the front-rear direction of the traveling airframe within the front-rear width of the track frame and the upper surface of the traveling airframe. Between the left and right vehicle height adjusting hydraulic cylinders in parallel with the left and right vehicle height adjusting hydraulic cylinders, The oblique hydraulic cylinder in which is arranged toward the longitudinal direction.

  According to a second aspect of the present invention, in the combine according to the first aspect, the left and right traveling units each include a traveling crawler and a track frame, and the pitching link mechanism that is operated by the front / rear tilting hydraulic cylinder. The rear rolling fulcrum shaft is disposed on the rear end side of the rolling fulcrum frame that is rotatably connected to the traveling machine body, and the pitching is performed on the rear end side of the rolling fulcrum frame via the rear rolling fulcrum shaft. A link mechanism is connected so that the traveling machine body tilts in the front-rear direction around the front rolling fulcrum shaft.

  According to a third aspect of the present invention, in the combine according to the first aspect, an intermediate roller that supports a non-grounded side of a traveling crawler as the traveling unit is disposed on the traveling machine body side, and is disposed on a front end side of the traveling crawler. A drive sprocket and a transmission case are arranged, and a structure is provided with a rolling fulcrum frame that supports the front rolling arm and the rear rolling arm, and the rear rolling fulcrum shaft far from the drive sprocket is connected to the rear rolling fulcrum via the pitching link mechanism. The front / rear tilt hydraulic cylinder is connected.

  According to a fourth aspect of the present invention, the combine according to the first aspect is provided with a rolling fulcrum frame that supports the front rolling arm and the rear rolling arm, and is rotated about the front rolling fulcrum axis. The front end side of the rolling fulcrum frame is connected to the traveling machine body, while the front and rear tilting hydraulic cylinders are connected to the high rigidity frame of the traveling machine body, and the projecting directions of the piston rods of the left and right vehicle height adjusting hydraulic cylinders The piston rod of the forward / backward tilt hydraulic cylinder is projected in the same direction.

  According to the first aspect of the present invention, a traveling machine body in which left and right traveling units are arranged, left and right vehicle height adjusting hydraulic cylinders that tilt the traveling machine body in the left-right direction, and front and rear that tilt the traveling machine body in the front-rear direction. An inclination hydraulic cylinder is provided, and the traveling machine body is connected to the left and right traveling parts via front and rear rolling fulcrum shafts or a pitching link mechanism so that the traveling machine body can tilt in the left-right direction or the front-rear direction. In the combine, the left and right vehicle height adjusting hydraulic cylinders and the front and rear tilt hydraulic cylinders are disposed below the upper surface of the traveling machine body within the front and rear width of the track frame in the longitudinal direction of the traveling machine body. The front-rear tilt hydraulic cylinder is arranged in the front-rear direction between the left and right vehicle height adjustment hydraulic cylinders in parallel with the left and right vehicle height adjustment hydraulic cylinders. Since those disposed toward, at the lower surface side of the traveling machine body, it can be supported in a compact parallel the left and right height adjusting hydraulic cylinder and the longitudinal inclination hydraulic cylinders in the left-right width direction. The connecting structure of the vehicle height adjusting hydraulic cylinder and the pitching link mechanism of the front and rear tilt hydraulic cylinder can be easily assembled to the bottom of the body between the traveling body and the track frame. Moreover, the inclination angle in the front-rear direction of the traveling machine body can be changed without changing the connection length of the vehicle height adjusting hydraulic cylinder (the total length of the cylinder body and the piston rod). The front / rear tilt hydraulic cylinder can be controlled to tilt forward / backward without impairing the left / right tilt control function of the vehicle height adjusting hydraulic cylinder.

  According to a second aspect of the present invention, the left and right traveling units each include a traveling crawler and a track frame, and the pitching link mechanism that is actuated by the front / rear hydraulic cylinder is provided. The rear rolling fulcrum shaft is disposed on the rear end side of the rolling fulcrum frame to be pivotally connected to the rolling fulcrum frame, and the pitching link mechanism is connected to the rear end side of the rolling fulcrum frame via the rear rolling fulcrum shaft, Since the traveling machine body is configured to tilt in the front-rear direction around the front rolling fulcrum shaft, the distance between the lower surface of the traveling machine body and the upper surface of the traveling crawler can be easily secured, The vehicle height adjusting hydraulic cylinder mechanism and the forward / backward tilt hydraulic cylinder mechanism can be compactly supported. In addition, the traveling machine body can be largely tilted back and forth by moving the rear side of the traveling unit toward and away from the traveling machine body. From the lower surface of the traveling machine body and the upper surface on the front side of the traveling unit, the mud carried around by the traveling unit can be smoothly discharged forward. Maintenance workability and the like can be improved by reducing the amount of mud deposited on the traveling machine body.

  According to the third aspect of the present invention, the intermediate roller that supports the non-grounded side of the traveling crawler as the traveling unit is disposed on the traveling machine body side, and the drive sprocket and the transmission case are disposed on the front end side of the traveling crawler. The rolling cylinder for supporting the front rolling arm and the rear rolling arm is provided with a rolling fulcrum frame, and the rear rolling fulcrum shaft far from the drive sprocket is attached to the front / rear tilt hydraulic cylinder via the pitching link mechanism. Since they are connected, the distance (the distance on the drive sprocket side) between the lower surface of the traveling machine body and the upper front portion of the traveling crawler can be easily secured. When the traveling machine body is lifted upward and crossed over the heel, the angle of attack of the traveling crawler necessary for over the heel can be formed. The running performance of the running crawler can be improved.

  According to a fourth aspect of the present invention, there is provided a structure including a rolling fulcrum frame for supporting the front rolling arm and the rear rolling arm, and the traveling vehicle body is configured to be rotatable about the front rolling fulcrum axis. While connecting the front end side of the rolling fulcrum frame, connecting the hydraulic cylinder for front and rear tilt to the high rigidity frame of the traveling machine body, and in the same direction as the protruding direction of the piston rod of the left and right vehicle height adjustment hydraulic cylinders, Since the piston rod of the forward / backward tilt hydraulic cylinder is configured to protrude, the left / right tilt control structure including the vehicle height adjusting hydraulic cylinder, and the front / back tilt control structure including the front / back tilt hydraulic cylinder, It can be installed compactly at a low position on the lower surface side of the traveling aircraft. For example, the threshing device or the like on the upper surface side of the traveling machine body or the forward / backward tilting hydraulic cylinder or the like is not limited to each other, so that the assembly / disassembly workability of the traveling unit or the threshing device can be improved.

It is a left view of a combine. It is a top view of a combine. It is side surface explanatory drawing of a driving | running | working part. It is a plane explanatory view of a run part. It is side surface explanatory drawing of a left-right inclination control structure and a front-back inclination control structure. It is side surface explanatory drawing of a driving | running | working part. It is a plane explanatory view of a run part. It is side surface explanatory drawing of a left-right inclination control structure and a front-back inclination control structure. It is a raising operation explanatory drawing of a traveling machine body. It is an explanatory view of the forward tilting operation of the traveling machine body. FIG. 6 is an explanatory diagram of a rising and forward tilting operation of a traveling machine body. FIG. 6 is an explanatory diagram of a rising and backward tilting operation of a traveling machine body. It is a block diagram of left-right inclination control, front-back inclination control, and cutting height control. It is a flowchart of combine attitude control. It is a flowchart of cutting height control. It is a flowchart of left-right inclination control and front-back inclination control.

  DESCRIPTION OF EMBODIMENTS Embodiments embodying the present invention will be described below with reference to the drawings. FIG. 1 is a left side view of the combine, and FIG. 2 is a plan view of the combine. The overall structure of the combine will be described with reference to FIGS. 1 and 2. In the following description, the left side in the forward direction of the traveling machine body 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.

  The combine according to the present embodiment includes a traveling machine body 1 supported by a pair of left and right traveling crawlers 2. At the front part of the traveling machine body 1, a cutting device 3 for 6-line cutting that is taken in while harvesting the grains is mounted so that it can be adjusted up and down around the cutting rotation fulcrum shaft 4 a by a single action type hydraulic cylinder 4 for cutting lifting. Has been. A threshing device 5 having a feed chain 6 and a grain tank 7 for storing grain after threshing are mounted on the traveling machine body 1 side by side. As shown in FIG. 2, the threshing device 5 is disposed on the left side in the forward direction of the traveling machine body 1, and the grain tank 7 is disposed on the right side in the forward direction of the traveling machine body 1. A swivelable grain discharge auger 8 is provided at the rear of the traveling machine body 1. The grains collected inside the grain tank 7 are configured to be discharged from the culling throw hole 9 of the grain discharge auger 8 to a truck bed or a container. An operation cabin 10 is provided on the right side of the reaping device 3 and on the front side of the grain tank 7.

  In the driving cabin 10, a steering handle 11, a driving seat 12, and the like are arranged. Although not shown, the driving cabin 10 includes a step in which an operator boardes, a handle column provided with a steering handle 11, a traveling main transmission lever and a traveling auxiliary transmission lever provided in a lever column on the left side of the driving seat 12, A work clutch lever or the like for turning on and off a work clutch such as a reaping clutch and a threshing clutch is disposed. A diesel engine 20 as a power source is disposed in the traveling machine body 1 below the driver seat 12.

  As shown in FIGS. 1 and 2, left and right track frames 21 are arranged on the lower surface side of the traveling machine body 1. The track frame 21 includes a drive sprocket 22 that transmits the power of the diesel engine 20 to the traveling crawler 2, a tension roller 23 that maintains the tension of the traveling crawler 2, and a plurality of tracks that hold the grounding side of the traveling crawler 2 in a grounded state. A roller 24 and an intermediate roller 25 that holds the non-grounded side of the traveling crawler 2 are provided. The driving sprocket 22 supports the front side of the traveling crawler 2, the tension roller 23 supports the rear side of the traveling crawler 2, the track roller 24 supports the grounding side of the traveling crawler 2, and the intermediate roller 25 supports the non-traveling crawler 2. Support the ground side. The output of the diesel engine 20 is transmitted to the transmission case 19, the output of the diesel engine 20 is shifted by the transmission case 19, and the traveling crawler 2 is driven by the transmission output of the transmission case 19.

  As shown in FIGS. 1 and 2, below the cutting frame 221 connected to the cutting rotation fulcrum shaft 4 a of the cutting device 3, there is a clipper type cutting blade device 222 that cuts the stock of uncut grain culm in the field. Is provided. In front of the mowing frame 221, a stalk raising apparatus 223 for 6 stalks that raises uncut cereals in the field is arranged. Between the culm pulling device 223 and the front end (feed start side) of the feed chain 6, a culm conveying device 224 that conveys the chopped culm harvested by the cutting blade device 222 is arranged. In addition, in front of the lower part of the grain culling pulling device 223, a weeding body 225 for six strips for weeding the uncut grain culm in the field is projected. While the traveling crawler 2 is driven by the diesel engine 20 to move within the field, the reaping device 3 is driven to continuously shave the uncut grain culm on the field.

  As shown in FIG. 1 and FIG. 2, the threshing device 5 includes a handling cylinder 226 for threshing threshing, a rocking sorter 227 as a sorting mechanism for sorting shed matter falling below the handling cylinder 226, and a tang fan. 228, a processing cylinder 229 that reprocesses the threshing waste taken out from the rear part of the handling cylinder 226, and a dust exhaust fan 230 that discharges dust at the rear part of the swing sorter 227. In addition, the rotating shaft of the handling cylinder 226 extends along the conveying direction of the cereal by the feed chain 6 (in other words, the traveling direction of the traveling machine body 1). The stock source side of the corn straw conveyed from the reaping device 3 by the corn straw conveying device 224 is inherited by the feed chain 6 and is nipped and conveyed. Then, the tip side of the cereal cocoon is carried into the handling chamber of the threshing device 5 and threshed by the handling drum 226.

  As shown in FIGS. 1 and 2, on the lower side of the rocking sorter 227, a first conveyor 231 for picking up the grain (the first thing) sorted by the rocking sorter 227, a grain with a branch, etc. And a second conveyor 232 for taking out the second item. Each of the conveyors 231 and 232 is installed on the upper surface side of the traveling machine body 1 above the rear part of the traveling crawler 2 in a side view in order of the first conveyor 231 and the second conveyor 232 from the front side in the traveling direction of the traveling machine body 1. Has been. The swing sorter 227 reciprocally swings back and forth and up and down at a substantially constant speed by a swing drive shaft (not shown). As a result, the cereals that have leaked from the receiving net 237 stretched below the handling cylinder 226 are subjected to peristaltic sorting (specific gravity sorting) by the feed pan 238 and the chaff sheave 239 of the swing sorter 227.

  When the cereal is subjected to peristaltic sorting by the rocking sorter 227, the grain being shed is dropped downward from a grain sieve (not shown) of the rocking sorter 227. The grain that has fallen from the grain sieve has dust in the grain removed by the sorting air from the tang fan 228 and falls first onto the conveyor 231. A grain raising conveyor 233 extending in the vertical direction is connected to a terminal portion of the first conveyor 231 that protrudes outward from one side wall (right side wall) near the grain tank 7 in the threshing device 5. The grain taken out from the first conveyor 231 is carried into the grain tank 7 via the cereal conveyor 233 and collected in the grain tank 7. In addition, along the inclination of the rear surface of the grain tank 7, the raising conveyor 233 is erected on the rear side of the grain tank 7 in a backward inclined posture in which the upper end side of the raising conveyor 233 is inclined backward.

  Also, as shown in FIGS. 1 and 2, the swing sorter 227 causes the second thing such as the grain with branches to fall from the chaff sheave 239 to the second conveyor 232 by peristaltic sorting (specific gravity sorting). It is composed. A sorting fan 241 for wind-selecting the second thing falling below the chaff sheave 239 is provided. As for the second thing that has fallen from the chaff sheave 239, dust and swarf in the grain are removed by the sorting air from the sorting fan 241 and dropped onto the second conveyor 232. The terminal portion of the second conveyor 232 that protrudes outward from one side wall near the grain tank 7 in the threshing device 5 crosses the cereal conveyor 233 and extends in the front-rear direction through the feed conveyor 238. The second item is returned to the upper surface side of the feed pan 238 and re-sorted.

  On the other hand, a waste chain 234 is disposed on the rear end side (feed end side) of the feed chain 6. The slag passed from the rear end side of the feed chain 6 to the sewage chain 234 (the slag from which the grain has been threshed) is discharged to the rear of the traveling machine body 1 in a long state, or the rear side of the threshing device 5 After being cut to a suitable length by the waste cutter 235 provided on the rear, the paper is discharged to the lower rear side of the traveling machine body 1.

  Next, a structure for adjusting the tilt angle in the left-right direction of the traveling machine body 1 according to the first embodiment will be described with reference to FIGS. 3 to 5. As shown in FIGS. 3 and 4, a pair of left and right rolling fulcrum frames 26 provided on the lower surface side of the traveling machine body 1, a pair of left and right front bearing bodies 27, and a pair of left and right rear bearing bodies 28 are provided. The front end sides of the pair of left and right rolling fulcrum frames 26 are connected to the traveling bracket 1 a fixed to the lower surface side of the traveling machine body 1 via the pair of left and right front bearing bodies 27. A pair of left and right rear bearing bodies 28 are respectively disposed on the rear end side of the pair of left and right rolling fulcrum frames 26. A pair of left and right front rolling fulcrum shafts 29 are passed through the left and right front bearing bodies 27, and a pair of left and right rear rolling fulcrum shafts 30 are passed through the left and right rear bearing bodies 28, respectively. A drive sprocket 22 (mission case 19) is disposed on the lower surface side of the traveling machine body 1 via a traveling bracket 1a.

  The base end sides of the pair of left and right upper front rolling arms 31 extended in the vertical direction are integrally fixed to one end side of the pair of left and right front rolling fulcrum shafts 29 extended in the left and right direction. To the other end side of the pair of left and right front rolling fulcrum shafts 29, the base end sides of the pair of left and right lower front rolling arms 33 extending in the front-rear direction are fixed integrally. Further, the base end sides of the pair of left and right upper rear rolling arms 32 are integrally fixed to one end side of the rear rolling fulcrum shaft 30 extended in the left-right direction. To the other end side of the pair of left and right rear rolling fulcrum shafts 30, the base end sides of the pair of left and right lower rear rolling arms 34 are integrally fixed. That is, the pair of left and right upper front rolling arms 31 and the pair of left and right lower front rolling arms 33 rotate integrally around the pair of left and right front rolling fulcrum shafts 29, respectively. On the other hand, the pair of left and right upper rear rolling arms 32 and the pair of left and right lower rear rolling arms 34 are configured to rotate integrally around the pair of left and right rear rolling fulcrum shafts 30, respectively.

  As shown in FIGS. 3 and 4, a pair of left and right front / rear connecting rolling frames 36 with turnbuckles and adjustable for expansion and contraction are provided. The long rod-like front / rear connecting rolling frame 36 extends in the front / rear direction parallel to the traveling machine body 1 at a position lower than the upper surface of the traveling machine body 1. The front end side of the front / rear connecting rolling frame 36 is connected to the front end side of the pair of left and right upper front rolling arms 31 via the shaft body 35. The rear end side of the front and rear connection rolling frame 36 is connected to the upper end side of the upper rear rolling arm 32 via a shaft body 37 (connection link frame 42).

  As shown in FIGS. 3 and 4, a pair of left and right vehicle height adjusting hydraulic cylinders 38 that change the inclination angle of the traveling body 1 in the left and right direction are provided. One end side of a pair of left and right cylinder support frames 39 is rotatably connected to a pair of left and right front rolling fulcrum shafts 29, respectively. A pair of left and right vehicle height adjusting hydraulic cylinders 38 are connected to the other end sides of the pair of left and right cylinder support frames 39 via shafts. Piston rods 41 of a pair of left and right vehicle height adjustment hydraulic cylinders 38 are connected to a pair of left and right front and rear connection rolling frames 36 via a connection link frame 42, respectively. In addition, the front portion of the track frame 21 is connected to the distal end side of the lower front rolling arm 33 via a connecting shaft body 40. The rear portion of the track frame 21 is connected to the front end side of the lower rear rolling arm 34 via a connecting shaft body 40.

  As shown in FIG. 5, when either or both of the pair of left and right vehicle height adjusting hydraulic cylinders 38 are actuated to advance the piston rod 39 of either one or both of the pair of left and right vehicle height adjusting hydraulic cylinders 38. Then, either one or both of the pair of left and right track frames 21 are moved downward, and the grounding side of one or both of the pair of left and right traveling crawlers 2 is pushed down to increase the vehicle height on the left side, right side, or both of the traveling machine body 1. It is configured as follows.

  Further, when either one or both of the pair of left and right vehicle height adjusting hydraulic cylinders 38 are operated and either one or both of the pair of left and right vehicle height adjusting hydraulic cylinders 38 are retracted, One or both of the truck frames 21 are moved upward to push up the grounding side of either one or both of the pair of left and right traveling crawlers 2 so that the vehicle height of the left or right side or both of the traveling body 1 is lowered. is doing. That is, by operating the pair of left and right vehicle height adjusting hydraulic cylinders 38 to change the heights of the contact surfaces of the left and right traveling crawlers 2 with respect to the traveling machine body 1, the inclination angle of the traveling machine body 1 in the horizontal direction can be increased. It adjusts and it is comprised so that the traveling body 1 may be supported substantially horizontally.

  Next, with reference to FIG. 3 and FIG. 5, the adjustment structure of the inclination angle of the traveling body 1 of the traveling body 1 in the front-rear direction will be described. As shown in FIGS. 3 and 4, a pair of left and right pitching bearing bodies 48 are arranged on the lower surface side of the traveling machine body 1. The left and right ends of the pitching fulcrum shaft 49 are pivotally supported by a pair of left and right pitching bearing bodies 48 so as to be rotatable. A pitching link mechanism 50 for connecting a pitching fulcrum shaft 49 to the pair of left and right rear rolling fulcrum shafts 30 is provided. The pitching link mechanism 50 includes a main drive link 51 in which a front and rear tilting arm 58 is integrally formed, and a driven link 52 in which a rear bearing body 28 is integrally formed. The lower end side of the main drive link 51 is pivotally supported on the pitching fulcrum shaft 49 so as to be rotatable. A rear rolling fulcrum shaft 30 is pivotally supported on one end side of the driven link 52 via a rear bearing body 28. The front end side of the main drive link 51 and the other end side of the follower link 52 are connected by an interlocking shaft body 53 so that they can be bent.

  That is, as shown in FIGS. 3 and 5, the main link 51 is disposed on the lower surface side of the traveling machine body 1 via the pitching fulcrum shaft 49. A driven link 52 is rotatably connected to the main link 51 via an interlocking shaft 53. The upper rear rolling arm 32 and the lower rear rolling arm 34 are connected to the driven link 52 via the rear rolling fulcrum shaft 30. When the main drive link 51 and the front and rear tilting arm 58 swing together, the interlocking shaft 53 moves in the vertical direction, and the pair of left and right rear bearing bodies 28 and the pair of left and right rear rolling fulcrum shafts 30 move up and down. Thus, the traveling machine body 1 rotates around the front rolling fulcrum shaft 29. Further, the traveling machine body 1 rotates around the front rolling fulcrum shaft 29 and the rear part of the traveling machine body 1 and the intermediate roller 25 move up and down so that the inclination angle of the traveling machine body 1 in the front-rear direction is changed. It is composed.

  As shown in FIG. 3 and FIG. 4, a front / rear tilt hydraulic cylinder 55 that changes the tilt angle of the traveling machine body 1 in the front / rear direction is provided. A cylinder base 56 is fixed to the high-rigidity frame 1 b of the traveling machine body 1, and a hydraulic cylinder 55 for front and rear inclination is connected to the cylinder base 56 via a shaft body 57. Further, the base end side of the front / rear tilt arm 58 (main drive link 51) is pivotally supported on the pitching fulcrum shaft 49, and the front / rear tilt hydraulic cylinder 55 is connected to the piston rod 59 via the connecting link frame 60. The tip side of the tilting arm 58 is connected. The intermediate roller 25 that holds the non-grounded side of the traveling crawler 2 is rotatably supported by a roller shaft 64 that protrudes laterally from the traveling machine body 1.

  As shown in FIG. 3, the pair of left and right vehicle height adjusting hydraulic cylinders 38 and the front and rear tilt hydraulic cylinders 55 are arranged in parallel in the vertical direction as viewed from the side, at the center of gravity of the entire body of the combine. Yes. Further, the diesel engine 20 is placed on the upper surface side of the traveling machine body 1 so that the center of gravity of the diesel engine 20 is between the vehicle height adjusting hydraulic cylinder 38 or the front / rear tilting hydraulic cylinder 55 and the front rolling fulcrum shaft 29. 20 is mounted.

  In the piston rod 41 advanced state (or the piston rod 41 retracted state where the vehicle height is low) shown in FIG. 5, the front / rear tilt hydraulic cylinder 55 is operated to move the piston rod 59 of the front / rear tilt hydraulic cylinder 55. When retracted, the pitching link mechanism 50 operates, the left and right rear rolling fulcrum shafts 30 are pushed downward, and the rear end sides of both the pair of left and right track frames 21 move down simultaneously. As a result, the ground contact side of the rear part of the pair of left and right traveling crawlers 2 is pushed down without changing the parallel posture of the lower front rolling arm 33 and the lower rear rolling arm 34, and the vehicle on the rear end side of the traveling machine body 1 is pushed. The height is increased, and the traveling machine body 1 is configured to tilt forward and downward. By moving the piston rod 59 of the forward / backward tilting hydraulic cylinder 55 forward, both rear end sides of the pair of left and right track frames 21 move up simultaneously, and the vehicle on the rear end side of the traveling machine body 1 Needless to say, the height is lowered and the traveling machine body 1 is inclined downwardly.

  That is, the rear end side of the traveling machine body 1 is moved up around the front rolling fulcrum shaft 29 so that the rear end side of the traveling machine body 1 is tilted to a forward inclined posture (front downward inclined posture) that is higher than the front end side. It is composed. As a result, when moving on a traveling road surface that is inclined forwardly upward, the longitudinal inclination of the traveling machine body 1 can be maintained substantially horizontal. Even when the forward / backward tilting hydraulic cylinder 55 is operated, the parallel postures of the rolling arms 31, 32, 33, and 34 are maintained at a constant posture, and no external force is applied to move the piston rod 41 of the vehicle height adjusting hydraulic cylinder 38 back and forth. Further, deformation damage of the rolling arms 31, 32, 33, 34 or oil leakage of the vehicle height adjusting hydraulic cylinder 38 can be prevented, and their durability can be improved.

  Next, a structure for adjusting the tilt angle in the left-right direction of the traveling machine body 1 according to the second embodiment will be described with reference to FIGS. As shown in FIGS. 6 and 7, a pair of left and right rolling fulcrum frames 26 provided on the lower surface side of the traveling machine body 1, a pair of left and right front bearing bodies 27, and a pair of left and right rear bearing bodies 28 are provided. The front end sides of the pair of left and right rolling fulcrum frames 26 are connected to the traveling bracket 1 a fixed to the lower surface side of the traveling machine body 1 via the pair of left and right front bearing bodies 27. A pair of left and right rear bearing bodies 28 are respectively disposed on the rear end side of the pair of left and right rolling fulcrum frames 26. A pair of left and right front rolling fulcrum shafts 29 are passed through the front bearing body 27, and a pair of left and right rear rolling fulcrum shafts 30 are passed through the rear bearing body 28. A driving sprocket 22 is disposed on the lower surface side of the traveling machine body 1 via the traveling bracket 1a.

  The base end sides of the pair of left and right upper front rolling arms 31 extended in the vertical direction are integrally fixed to one end side of the pair of left and right front rolling fulcrum shafts 29 extended in the left and right direction. To the other end side of the pair of left and right front rolling fulcrum shafts 29, the base end sides of the pair of left and right lower front rolling arms 33 extending in the front-rear direction are fixed integrally. Further, the base end sides of the pair of left and right upper rear rolling arms 32 are integrally fixed to one end side of the rear rolling fulcrum shaft 30 extended in the left-right direction. To the other end side of the pair of left and right rear rolling fulcrum shafts 30, the base end sides of the pair of left and right lower rear rolling arms 34 are integrally fixed. That is, the pair of left and right upper front rolling arms 31 and the pair of left and right lower front rolling arms 33 rotate integrally around the pair of left and right front rolling fulcrum shafts 29, respectively. On the other hand, the pair of left and right upper rear rolling arms 32 and the pair of left and right lower rear rolling arms 34 are configured to rotate integrally around the pair of left and right rear rolling fulcrum shafts 30, respectively.

  As shown in FIGS. 6 and 7, a pair of left and right front and rear connecting rolling frames 36 with a turnbuckle and adjustable in expansion and contraction are provided. The long rod-like front / rear connecting rolling frame 36 extends in the front / rear direction parallel to the traveling machine body 1 at a position lower than the upper surface of the traveling machine body 1. The front end side of the front / rear connecting rolling frame 36 is connected to the front end side of the pair of left and right upper front rolling arms 31 via the shaft body 35. The rear end side of the front / rear connecting rolling frame 36 is connected to the upper end side of the upper rear rolling arm 32 via a shaft body 37.

  As shown in FIGS. 6 and 7, a pair of left and right vehicle height adjusting hydraulic cylinders 38 that change the inclination angle in the left and right direction of the traveling machine body 1 are provided. One end side of a pair of left and right cylinder support frames 39 is rotatably connected to a pair of left and right front rolling fulcrum shafts 29, respectively. A pair of left and right vehicle height adjusting hydraulic cylinders 38 are connected to the other end sides of the pair of left and right cylinder support frames 39 via shafts. Piston rods 41 of a pair of left and right vehicle height adjustment hydraulic cylinders 38 are connected to a pair of left and right front and rear connection rolling frames 36 via a connection link frame 42, respectively. In addition, the front portion of the track frame 21 is connected to the distal end side of the lower front rolling arm 33 via a connecting shaft body 40. The rear portion of the track frame 21 is connected to the front end side of the lower rear rolling arm 34 via a connecting shaft body 40.

  As shown in FIG. 9, when one or both of the pair of left and right vehicle height adjusting hydraulic cylinders 38 are operated, and either one or both of the pair of left and right vehicle height adjusting hydraulic cylinders 38 are advanced. Then, either one or both of the pair of left and right track frames 21 are moved downward, and the grounding side of one or both of the pair of left and right traveling crawlers 2 is pushed down to increase the vehicle height on the left side, right side, or both of the traveling machine body 1. It is configured as follows.

  As shown in FIG. 8, either one or both of the pair of left and right vehicle height adjusting hydraulic cylinders 38 are actuated to retract the piston rod 39 of either one or both of the pair of left and right vehicle height adjusting hydraulic cylinders 38. In this case, either one or both of the pair of left and right track frames 21 moves upward, pushes up the grounding side of either one or both of the pair of left and right traveling crawlers 2, and lowers the vehicle height on the left side, right side, or both of the traveling body 1. It is configured to do. That is, by operating the pair of left and right vehicle height adjusting hydraulic cylinders 38 to change the heights of the contact surfaces of the left and right traveling crawlers 2 with respect to the traveling machine body 1, the inclination angle of the traveling machine body 1 in the horizontal direction can be increased. It adjusts and it is comprised so that the traveling body 1 may be supported substantially horizontally.

  Next, with reference to FIGS. 6 and 7 and FIGS. 7 to 12, the structure for adjusting the tilt angle in the front-rear direction of the traveling machine body 1 of the traveling machine body 1 will be described. As shown in FIGS. 6 and 7, the pair of left and right rolling fulcrum frames 26 connected to the traveling bracket 1 a on the lower surface side of the traveling machine body 1 via a pair of left and right front bearing bodies 27 rotate around the front bearing body 27. Supported as possible. That is, the rear end sides of the pair of left and right rolling fulcrum frames 26 are swung in the vertical direction, and the pair of left and right rear bearing bodies 28 and the pair of left and right rear rolling fulcrum shafts 30 are configured to move up and down. .

  As shown in FIGS. 6 and 7, a pair of left and right pitching bearing bodies 48 are arranged on the lower surface side of the traveling machine body 1. The left and right ends of the pitching fulcrum shaft 49 are pivotally supported by a pair of left and right pitching bearing bodies 48 so as to be rotatable. A pitching link mechanism 50 for connecting a pitching fulcrum shaft 49 to the pair of left and right rear rolling fulcrum shafts 30 is provided. The pitching link mechanism 50 has a main link 51 and a driven link 52. The base end side of the main link 51 is fixed to the pitching fulcrum shaft 49. The proximal end side of the driven link 52 is pivotally supported so as to be rotatable. The leading end side of the main driving link 51 and the leading end side of the driven link 52 are connected by an interlocking shaft body 53 so that they can be bent.

  As shown in FIGS. 6 and 7, a front-rear tilt hydraulic cylinder 55 that changes the front-rear direction tilt angle of the traveling machine body 1 is provided. A cylinder base 56 is fixed to the high-rigidity frame 1 b of the traveling machine body 1, and a hydraulic cylinder 55 for front and rear inclination is connected to the cylinder base 56 via a shaft body 57. Further, the base end side of the front / rear tilting arm 58 is fixed to the pitching fulcrum shaft 49, and the front end side of the front / rear tilting arm 58 is connected to the piston rod 59 of the front / rear tilting hydraulic cylinder 55 via the connecting link frame 60. ing. The intermediate roller 25 that holds the non-grounded side of the traveling crawler 2 is rotatably supported by a roller shaft 64 that protrudes laterally from the traveling machine body 1.

  As shown in FIG. 8, the pair of left and right vehicle height adjusting hydraulic cylinders 38 and the front and rear tilt hydraulic cylinders 55 are arranged in parallel in the vertical direction as viewed from the side, at the center of gravity of the entire body of the combine. Yes. Further, the diesel engine 20 is placed on the upper surface side of the traveling machine body 1 so that the center of gravity of the diesel engine 20 is between the vehicle height adjusting hydraulic cylinder 38 or the front / rear tilting hydraulic cylinder 55 and the front rolling fulcrum shaft 29. 20 is arranged.

  In either the piston rod 41 retracted state with a low vehicle height shown in FIG. 10 or the piston rod 41 advanced state with a high vehicle height shown in FIG. When the piston rod 59 of the tilting hydraulic cylinder 55 is retracted, the pitching link mechanism 50 is operated, and the rear end sides of both the pair of left and right track frames 21 are moved downward simultaneously, and the rear portions of the pair of left and right traveling crawlers 2 are moved. The grounding side is pushed down, and the vehicle height on the rear end side of the traveling machine body 1 is increased. That is, the rear end side of the traveling machine body 1 is moved up around the front rolling fulcrum shaft 29 so that the rear end side of the traveling machine body 1 is tilted to a forward inclined posture that is higher than the front end side. As a result, when moving on a traveling road surface that is inclined forwardly upward, the longitudinal inclination of the traveling machine body 1 can be maintained substantially horizontal.

  On the other hand, as shown in FIG. 12, when the front and rear tilt hydraulic cylinder 55 is operated in the direction opposite to that in FIG. 11 and the piston rod 59 of the front and rear tilt hydraulic cylinder 55 is advanced, the pitching link mechanism 50 is operated. Thus, both rear end sides of the pair of left and right track frames 21 are simultaneously moved upward to push up the ground contact side of the rear portions of the pair of left and right traveling crawlers 2 so that the vehicle height on the rear end side of the traveling machine body 1 is lowered. ing. That is, the rear end side of the traveling machine body 1 is moved downward around the front rolling fulcrum shaft 29 so that the rear end side of the traveling machine body 1 is tilted to a rearward inclined posture that is lower than the front end side. As a result, even when the piston rod 41 is retracted at a low vehicle height or the piston rod 41 is advanced at a high vehicle height, the traveling vehicle body 1 is moved when moving on a traveling road surface inclined forward and downward. The tilt in the front-rear direction can be maintained substantially horizontal.

  As shown in FIGS. 1, 3, 4, 6, and 7, a traveling machine body 1 in which a traveling crawler 2 as a left and right traveling unit is disposed, and left and right vehicle height adjustment hydraulic pressures that tilt the traveling machine body 1 in the left-right direction. A cylinder 38 and a hydraulic cylinder 55 for tilting the traveling machine body 1 in the front-rear direction are provided, and the traveling machine body 1 is connected to the left and right traveling crawlers 2 via the front and rear rolling fulcrum shafts 29 and 30 or the pitching link mechanism 50. And the traveling machine body 1 is configured to be tiltable in the left-right direction or the front-rear direction. Further, a vehicle height adjusting hydraulic cylinder 38 is connected to either the front rolling fulcrum shaft 29 or the rear rolling fulcrum shaft 30, and the rear rolling fulcrum shaft 29 or the front The other rolling fulcrum shaft 30 is connected to the other, and the traveling machine body 1 is tilted in the front-rear direction around the front rolling fulcrum shaft 28 or the rear rolling fulcrum shaft 30 to which the vehicle height adjusting hydraulic cylinder 38 is connected. ing.

  Therefore, the front-rear direction inclination angle of the traveling machine body 1 can be changed without changing the connection length of the vehicle height adjusting hydraulic cylinder 38 (the total length of the cylinder 38 main body and the piston rod 42). The hydraulic structure of the vehicle height adjusting hydraulic cylinder 38 or the front / rear tilting hydraulic cylinder 55 can be easily configured, and the vehicle height adjusting hydraulic cylinder 38 or the front / rear tilting hydraulic cylinder 55 or the like can be provided at a low cost between the traveling machine body 1 and the traveling crawler 2. And it can arrange compactly. The front / rear tilt hydraulic cylinder 55 can be controlled to be tilted back and forth without impairing the right / left tilt control function of the vehicle height adjusting hydraulic cylinder 38.

  As shown in FIGS. 3, 4, 6, and 7, the vehicle height adjusting hydraulic cylinder 38 is connected to the front rolling fulcrum shaft 29, and the rear rolling fulcrum shaft is connected to the front and rear tilt hydraulic cylinder 55 via the pitching link mechanism 50. 30, and the traveling machine body 1 is configured to tilt in the front-rear direction around the front rolling fulcrum shaft 29. Therefore, the traveling machine body 1 can be largely tilted back and forth by moving the rear side of the traveling crawler 2 toward and away from the traveling machine body 1. Even if the traveling machine body 1 is largely inclined to a posture in which the front side is lowered by lifting the rear side of the traveling machine body 1 and separating the rear side of the traveling machine body 1 and the traveling crawler 2, the lower surface of the traveling machine body 1 And the muddy soil carried by the traveling crawler 2 can be smoothly discharged forward from between the front upper surface of the traveling crawler 2. For example, a transmission case 19 for transmitting a driving force to the traveling crawler 2 can be easily installed in the traveling machine body 1 on the front side of the traveling crawler 2. In addition, the amount of mud deposited on the traveling machine body 1 can be reduced, and maintenance workability can be improved.

  As shown in FIGS. 3, 4, 6, and 7, an intermediate roller 25 that supports the non-grounded side of the traveling crawler 2 as a traveling unit is disposed on the traveling machine body 1 side. A forward / backward tilt hydraulic cylinder 55 is connected to the rear rolling fulcrum shaft 30 on the side far from the drive sprocket 22 via a pitching link mechanism 50, and the traveling machine body 1 is moved around the front rolling fulcrum shaft 29 on the side close to the drive sprocket 22. By rotating, the traveling machine body 1 is configured to tilt in the front-rear direction.

  Therefore, by supporting the intermediate roller 25 on the traveling machine body 1, it is possible to prevent the upper surface on the front side of the traveling crawler 2 from approaching the traveling machine body 1 even when the traveling machine body 1 is largely inclined in the front-rear direction. While the muddy soil carried by the traveling crawler 2 can be smoothly discharged forward, the traveling aircraft body 1 can be greatly inclined in the front-rear direction to correct the inclination posture of the traveling aircraft body 1 in the front-rear direction. That is, the space between the lower surface of the traveling machine body 1 and the drive sprocket 22 side of the traveling crawler 2 is sufficiently secured, and the mud that adheres to the transmission case 19 or the traveling machine body 1 that transmits the traveling driving force to the traveling crawler 2 or the like. The amount of deposition can be reduced, and maintenance workability can be improved.

  3, 4, 6, and 7, the upper front rolling arm 31 and the lower front rolling arm 33, and the upper rear rolling via the front rolling fulcrum shaft 29 and the rear rolling fulcrum shaft 30. A rolling fulcrum frame 26 that supports the arm 32 and the lower rear rolling arm 34 is provided. Further, the front end side of the rolling fulcrum frame 26 is connected to the traveling machine body 1 so as to be rotatable around the front rolling fulcrum shaft 29, and the rolling fulcrum frame 26 is connected to the traveling machine body 1 via the pitching link mechanism 50 and the rear rolling fulcrum shaft 30. The front / rear connecting rolling frame 36, the vehicle height adjusting hydraulic cylinder 38, and the front / rear tilting hydraulic cylinder 55 are connected in the front / rear direction to connect the rear end side and connect the upper rear rolling arm 32 to the upper front rolling arm 31. It is arranged.

  Therefore, the left / right tilt control structure including the vehicle height adjusting hydraulic cylinder 38 and the front / rear tilt control structure including the front / rear tilt hydraulic cylinder 55 can be compactly installed at a lower position on the lower surface side of the traveling machine body 1. For example, the threshing device 5 or the like on the upper surface side of the traveling machine body 1 or the hydraulic cylinder 55 for front / rear tilting is not arranged to be restricted to each other, so that the assembly / disassembly workability of the traveling crawler 2 or the threshing device 5 is improved. it can.

  Next, with reference to FIG. 13, the left / right inclination control, the front / rear direction inclination control of the combine (traveling machine body 1), and the lifting control of the reaping device 3 will be described. FIG. 13 is a functional block diagram of the left and right direction tilt control means, the front and rear direction tilt control means of the combine (running vehicle body 1), and the lifting control means of the reaping device 3, and a work controller 71 formed by a microcomputer or the like. Is provided. The work controller 71 has a ROM that stores a control program and a RAM that stores various data.

  As shown in FIG. 13, the work controller 71 includes various sensors and switches of the input system, that is, a crop sensor 72 that detects the harvested culm cut by the harvesting device 3, and a task that detects the operation of the harvesting device 3. A switch 73, a pendulum-type left / right tilt sensor 74 for detecting the tilt angle in the left-right direction of the traveling machine body 1, and a potentiometer-type left vehicle for detecting the relative distance (vehicle height) between the traveling machine body 1 and the left track frame 21 The height sensor 75, a potentiometer-type right vehicle height sensor 76 that detects the relative distance (vehicle height) between the traveling machine body 1 and the right truck frame 21, and a reference value for the inclination angle in the left-right direction of the traveling machine body 1 are initially set. A manual dial switching potentiometer type right / left tilt setting device 77 is connected.

  In addition, the work controller 71 is connected with various electrohydraulic valves of the output system, that is, a left tilt change valve 90 and a right tilt change valve 91. With this configuration, the left inclination change valve 90 or the right inclination change valve 91 is switched based on the detection value of the tilt sensor 64, the detection value of the left vehicle height sensor 65, and the detection value of the right vehicle height sensor 66, and the left The vehicle height adjusting hydraulic cylinder 38 or the right vehicle height adjusting hydraulic cylinder 38 is actuated to correct the inclination of the traveling machine body 1 in the left-right direction so that the traveling machine body 1 is automatically controlled to be substantially horizontal.

  Further, as shown in FIG. 13, the work controller 71 includes a pendulum type front / rear tilt sensor 81 that detects a front / rear tilt angle of the traveling machine body 1, a rear portion of the traveling machine body 1, and a rear end side of the track frame 21. A potentiometer-type main unit inclination sensor 82 for detecting a relative interval (a front-rear direction inclination angle of the track frame 21) and a manual dial switching type potentiometer for initial setting of a reference value of the front-rear direction inclination angle of the traveling machine body 1 A shape front and rear tilt setting device 83 is connected.

  The work controller 71 is connected to a front lowering valve 92 and a front rising valve 93. With this configuration, the front down valve 92 or the front up valve 93 is switched based on the detection value of the front / rear inclination sensor 81, the detection value of the machine inclination sensor 82, and the setting value of the front / rear inclination setter 83, and the front / rear inclination is changed. The hydraulic cylinder 55 is operated to correct the forward / backward inclination of the traveling machine body 1 so that the traveling machine body 1 is automatically controlled to be substantially horizontal.

  On the other hand, as shown in FIG. 13, the work controller 71 includes a vehicle speed sensor 85 that detects the rotational speed (vehicle speed) of the traveling crawler 2, and a potentiometer-type cutting height sensor 86 that detects the ground height of the cutting device 3. A manual dial switching potentiometer type cutting height setting device 87 for initial setting of a ground height reference value of the cutting device 3 is connected.

  Further, a cutting lowering valve 94 and a cutting raising valve 95 are connected to the work controller 71. With this configuration, the cutting lift valve 94 or the cutting lift valve 95 is switched based on the detection value of the vehicle speed sensor 85, the detection value of the cutting height sensor 86, and the setting value of the cutting height setting device 87, and the cutting increase is performed. The hydraulic cylinder 4 is operated, the ground height of the reaping device 3 is corrected, and automatic control is performed so that the culm cutting height of the reaping device 3 becomes substantially constant.

  As shown in FIGS. 1, 3, 4, 6, and 7, a traveling machine body 1 in which a traveling crawler 2 as a left and right traveling unit is disposed, and left and right vehicle height adjustment hydraulic pressures that tilt the traveling machine body 1 in the left-right direction. A cylinder 38 and a hydraulic cylinder 55 for tilting the traveling machine body 1 in the front-rear direction are provided, and the traveling machine body 1 is connected to the left and right traveling crawlers 2 via the front and rear rolling fulcrum shafts 29 and 30 or the pitching link mechanism 50. And the traveling machine body 1 is configured to be tiltable in the left-right direction or the front-rear direction. Further, the left and right vehicle height adjusting hydraulic cylinders 38 and the front / rear tilt hydraulic cylinders 55 are arranged in the front-rear direction of the traveling machine body 1 within the front-rear width of the track frame 21 and below the upper surface of the traveling machine body 1. It is arranged above the upper surface of the frame 21.

  Accordingly, the left and right vehicle height adjusting hydraulic cylinders 38 and the front and rear tilt hydraulic cylinders 55 can be compactly supported on the lower surface side of the traveling machine body 1. The connecting structure of the vehicle height adjusting hydraulic cylinder 38 and the pitching link mechanism 50 of the hydraulic cylinder 55 for tilting forward and backward can be easily configured. Further, the inclination angle of the traveling machine body 1 in the front-rear direction can be changed without changing the connection length of the vehicle height adjusting hydraulic cylinder 38 (the total length of the cylinder body and the piston rod). The front / rear tilt hydraulic cylinder 55 can be controlled to be tilted back and forth without impairing the right / left tilt control function of the vehicle height adjusting hydraulic cylinder 38.

  As shown in FIGS. 3, 4, 6, and 7, the left and right traveling units have a traveling crawler 2 and a track frame 21, respectively, and include a pitching link mechanism 50 that is actuated by a hydraulic cylinder 55 for tilting forward and backward. Then, the front end side of the rolling fulcrum frame 26 is rotatably connected to the traveling machine body 1 via the front rolling fulcrum shaft 29, and the rear rolling fulcrum shaft 30 is disposed on the rear end side of the rolling fulcrum frame 26, and the rolling fulcrum A pitching link mechanism 50 is connected to the rear end side of the frame 26 via a rear rolling fulcrum shaft 30, while a vehicle height adjusting hydraulic cylinder 38 is connected to the front rolling fulcrum shaft 29 to travel around the front rolling fulcrum shaft 29. The airframe 1 is configured to tilt in the front-rear direction.

  Accordingly, the distance between the lower surface of the traveling machine body 1 and the upper surface of the traveling crawler 2 can be easily secured, and the traveling machine body 1 can be largely tilted back and forth by moving the rear side of the traveling crawler 2 toward and away from the traveling machine body 1. Pitching operation performance for tilting the traveling machine body 1 back and forth can be improved. For example, mud soil carried by the traveling crawler 2 can be smoothly discharged forward from between the lower surface of the traveling machine body 1 and the front upper surface of the traveling crawler 2.

  As shown in FIGS. 3, 4, 6, and 7, an intermediate roller 25 that supports the non-grounded side of the traveling crawler 2 as a traveling unit is disposed on the traveling machine body 1 side, and a driving sprocket is disposed on the front end side of the traveling crawler 2. 22 is connected to a rear rolling fulcrum shaft 30 far from the drive sprocket 22 via a pitching link mechanism 50, and a front rolling fulcrum shaft 29 close to the drive sprocket 22 is connected to the front rolling fulcrum shaft 29. The traveling machine body 1 is rotated around, and the traveling machine body 1 is tilted in the front-rear direction.

  Therefore, the distance (the distance on the drive sprocket 22 side) between the lower surface of the traveling machine body 1 and the front upper side of the traveling crawler 2 can be easily ensured. Further, the angle of attack of the traveling crawler 2 on the tension roller 23 side can be easily secured even when the traveling machine body 1 is lifted upward and the vehicle height is raised. For example, when the traveling machine body 1 is lifted upward and passed over the heel, the angle of attack of the traveling crawler 2 can be formed to a size necessary for passing over the heel. The running performance of the running crawler 2 can be maintained.

  3, 4, 6, and 7, a rolling fulcrum frame that supports the front rolling arms 31, 33 and the rear rolling arms 32, 34 via the front rolling fulcrum shaft 29 and the rear rolling fulcrum shaft 30. The hydraulic cylinder 55 for front and rear inclination is connected to the high-rigidity frame 1b of the traveling machine body 1 arranged on the lower surface side of the threshing device 5, and the hydraulic cylinder for front and rear inclination is provided between the left and right traveling crawlers 2. 55, and the front end side of the rolling fulcrum frame 26 is connected to the traveling machine body 1 so as to be rotatable around the front rolling fulcrum shaft 29, while the rear end side of the rolling fulcrum frame 26 is connected to the traveling machine body 1. .

  Therefore, the left / right tilt control structure including the vehicle height adjusting hydraulic cylinder 38 and the front / rear tilt control structure including the front / rear tilt hydraulic cylinder 55 can be compactly installed on the lower surface side of the traveling machine body 1. For example, the attachment position of the threshing device 5 or the like or the front / rear tilt hydraulic cylinder 55 is not restricted to each other, so that the assembly / disassembly workability of the traveling crawler 2 or the threshing device 5 can be improved.

  Next, with reference to the flowcharts shown in FIGS. 14 to 16, the aspect for controlling the height of the harvested culm of the reaping device 3 and the aspect for controlling the inclination of the combine (traveling machine body 1) in the left-right direction and the front-rear direction will be described. As shown in the flowchart of FIG. 14, when the engine 20 is started, the crop sensor 72 value, the left / right tilt sensor 74 value, the left vehicle height sensor 75 value, the right vehicle height sensor 76 value, the left / right tilt setter 77 value, the front / rear tilt The sensor 81 value, the machine inclination sensor 82 value, the front / rear inclination setting device 83 value, the vehicle speed sensor 85 value, the cutting height sensor 86 value, and the cutting height setting device 87 value are read. While the work switch 73 is on, the cutting height control shown in the flowchart of FIG. 15 is executed. Further, the tilt control shown in the flowchart of FIG. 16 is executed regardless of whether the work switch 73 is on or off.

  As shown in the flowchart of FIG. 15, when the crop sensor 72 is turned on during the cutting work with the work switch 73 turned on, the vehicle speed sensor 85 value, the cutting height sensor 86 value, and the cutting height setting unit 87. When it is determined that the harvesting height of the harvesting device 3 is low based on the value, the harvesting hydraulic cylinder 4 is actuated to raise the harvesting device 3 to correct the ground height of the harvesting device 3. . On the other hand, when it is determined that the harvesting height of the harvesting device 3 is high, the harvesting hydraulic cylinder 4 is operated to control the lowering of the harvesting device 3 to correct the ground height of the harvesting device 3. By the cutting height control of FIG. 15, the culm cutting height of the cutting device 3 set by the cutting height setting unit 87 can be automatically maintained.

  As shown in the flowchart of FIG. 16, the traveling machine body 1 is tilted to the left based on the left / right tilt sensor 74 value, the left vehicle height sensor 75 value, the right vehicle height sensor 76 value, and the left / right tilt setter 77 value. If it is determined that the left lean change valve 90 or the right lean change valve 91 is switched, the left vehicle height adjustment hydraulic cylinder 38 or the right vehicle height adjustment hydraulic cylinder 38 is operated to raise the left side of the traveling machine body 1. Or, the right side of the traveling machine body 1 is lowered. On the other hand, when it is determined that the traveling machine body 1 is inclined to the right side, the left inclination change valve 90 or the right inclination change valve 91 is switched to operate the left vehicle height adjustment hydraulic cylinder 38 or the right vehicle height adjustment hydraulic cylinder 38. The right side of the traveling machine body 1 is raised or the left side of the traveling machine body 1 is lowered. The left / right inclination angle of the traveling machine body 1 is automatically corrected by the left / right inclination control of the combine (traveling machine body 1) in FIG. An inclined posture can be maintained.

  Further, as shown in the flowchart of FIG. 16, based on the value of the front / rear tilt sensor 81, the value of the main unit tilt sensor 82, and the value of the front / rear tilt setter 83, it is determined that the traveling machine body 1 is tilted downward to the front side. In this case, the front raising valve 93 is switched and the front / rear tilt hydraulic cylinder 55 is operated to lower the rear end side of the traveling machine body 1. On the other hand, when it is determined that the traveling vehicle body 1 is inclined downward to the rear side, the front lowering valve 92 is switched and the front / rear inclination hydraulic cylinder 55 is operated to raise the rear end side of the traveling vehicle body 1. . The forward / backward tilt control of the combine (running vehicle body 1) in FIG. 16 automatically corrects the forward / backward tilt angle of the traveling vehicle body 1, and based on the value of the forward / backward tilt setting unit 83, An inclined posture can be maintained.

  During the harvesting operation of the cereals, the cutting height control in FIG. 15 is executed in preference to the left-right inclination control or the front-rear inclination control of the combine (running machine body 1) in FIG. 225 can be prevented from plunging into the mud on the surface. After the cutting height control shown in FIG. 15 is executed, the left and right direction tilt control or the front and rear direction tilt control of the combine (running vehicle body 1) shown in FIG. Can prevent the weed body 225 from entering the mud. Even when the ground height of the traveling machine body 1 is increased by performing the left-right direction tilt control or the front-rear direction tilt control of the combine (traveling machine body 1) of FIG. 16 (see FIGS. 9 to 12), The ground crawler angle of the traveling crawler 2 supported by the tension roller 23 and the last track roller 24 is maintained at an appropriate size, and the traveling performance of the traveling crawler is maintained.

  16 is executed in preference to the forward / backward tilt control of the combine (running machine body 1) in FIG. The tilt control in the front-rear direction of the combine (traveling machine body 1) can be executed while maintaining the ground height of the right weed body 225 at a predetermined level or higher. As a result, it is possible to prevent the weeds 225 on the left or right side of the mowing device 3 from entering the mud on the paddy surface by the tilt control in the front-rear direction even during the mowing work where the ground height of the mowing device 3 is low.

  As shown in FIGS. 1, 3, 4, 6, and 7, a traveling machine body 1 in which a traveling crawler 2 as a left and right traveling unit is disposed, and left and right vehicle height adjustment hydraulic pressures that tilt the traveling machine body 1 in the left-right direction. A cylinder 38 and a hydraulic cylinder 55 for tilting the traveling machine body 1 in the front-rear direction are provided, and the traveling machine body 1 is connected to the left and right traveling parts 2 via the front and rear rolling fulcrum shafts 29 and 30 or the pitching link mechanism 50. , The left and right vehicle height adjusting hydraulic cylinders 38 and the front and rear tilt hydraulic cylinders 55 are directed in the front-rear direction of the travel machine body 1 in a combine configured to tilt the travel machine body 1 in the left-right direction or the front-rear direction. Within the front and rear width of the track frame 21, the structure is disposed below the upper surface of the traveling machine body 1, and the left and right vehicle height adjustment hydraulic cylinders 38 are disposed between the left and right vehicle height adjustment hydraulic cylinders 38. In parallel form, are arranged before and after the tilt hydraulic cylinder 55 toward the front-rear direction. Therefore, the left and right vehicle height adjusting hydraulic cylinders 38 and the front and rear tilt hydraulic cylinders 55 can be compactly supported in parallel in the left-right width direction on the lower surface side of the traveling machine body 1. The connecting structure of the vehicle height adjusting hydraulic cylinder 38 and the pitching link mechanism 50 of the forward / backward tilting hydraulic cylinder 55 can be easily assembled to the bottom of the machine body between the traveling machine body 1 and the track frame 21. Further, the inclination angle of the traveling machine body 1 in the front-rear direction can be changed without changing the connection length of the vehicle height adjusting hydraulic cylinder 38 (the total length of the cylinder body and the piston rod). The front / rear tilt hydraulic cylinder 55 can be controlled to be tilted back and forth without impairing the right / left tilt control function of the vehicle height adjusting hydraulic cylinder 38.

  As shown in FIGS. 3, 4, 6, and 7, the left and right traveling units have a traveling crawler 2 and a track frame 21, respectively, and include a pitching link mechanism 50 that is actuated by a hydraulic cylinder 38 for tilting forward and backward. A rear rolling fulcrum shaft 30 is disposed on the rear end side of the rolling fulcrum frame 26 that is rotatably connected to the traveling machine body 1, and the pitching link mechanism is disposed on the rear end side of the rolling fulcrum frame 26 via the rear rolling fulcrum shaft 30. 50 is connected, and it is comprised so that the traveling body 1 may tilt in the front-back direction around the front rolling fulcrum shaft 29. Therefore, the distance between the lower surface of the traveling machine body 1 and the upper surface of the traveling crawler 2 can be easily ensured. The vehicle height adjustment hydraulic cylinder 38 mechanism and the forward / backward tilt hydraulic cylinder 55 mechanism can be compactly supported. Further, the traveling machine body 1 can be largely tilted back and forth by moving the rear side of the traveling crawler 2 toward and away from the traveling machine body 1. From between the lower surface of the traveling machine body 1 and the upper surface on the front side of the traveling crawler 2, the mud carried around by the traveling crawler 2 can be smoothly discharged forward. Maintenance workability etc. can be improved by reducing the amount of mud deposited on the traveling machine body 1.

  As shown in FIGS. 6 and 7, an intermediate roller 25 that supports the non-grounded side of the traveling crawler 2 as the traveling unit is disposed on the traveling machine body 1 side, and a drive sprocket 22 and a transmission case 19 are disposed on the front end side of the traveling crawler 2. Is arranged, and includes a rolling fulcrum frame 26 that supports the front rolling arms 31 and 33 and the rear rolling arms 32 and 34, and a pitching link mechanism 55 is attached to the rear rolling fulcrum shaft 30 far from the drive sprocket 22. The hydraulic cylinder 55 for front-back inclination is connected through the via. Therefore, the distance (the distance on the drive sprocket 22 side) between the lower surface of the traveling machine body 1 and the front upper side of the traveling crawler 2 can be easily ensured. When the traveling machine body 1 is lifted upward and passed over the heel, the angle of attack of the traveling crawler 2 necessary for crossing the heel can be formed. The running performance of the running crawler 2 can be improved.

  As shown in FIGS. 3, 4, 6, and 7, the structure includes a rolling fulcrum frame 26 that supports the front rolling arms 31 and 33 and the rear rolling arms 32 and 34, and includes a front rolling fulcrum shaft 29. While the front end side of the rolling fulcrum frame 26 is connected to the traveling machine body 1 so as to be able to rotate around, the front and rear tilt hydraulic cylinders 55 are connected to the high-rigidity frame 1b of the traveling machine body 1, and the left and right vehicle height adjusting hydraulic cylinders 38 are connected. The piston rod 59 of the forward / backward tilt hydraulic cylinder 55 is configured to project in the same direction as the projecting direction of the piston rod 41. Therefore, the left / right tilt control structure including the vehicle height adjusting hydraulic cylinder 38 and the front / rear tilt control structure including the front / rear tilt hydraulic cylinder 55 can be compactly installed at a lower position on the lower surface side of the traveling machine body 1. For example, since the threshing device 5 or the like on the upper surface side of the traveling machine body 1 or the hydraulic cylinder 55 for tilting forward and backward is not limited to each other, the assembly / disassembly workability of the traveling crawler 2 or the threshing device 5 can be improved.

1 traveling machine body 2 traveling crawler (traveling section)
5 Threshing device 19 Mission case 21 Track frame 22 Drive sprocket 25 Intermediate roller 26 Rolling fulcrum frame 29 Front rolling fulcrum shaft 30 Rear rolling fulcrum shaft 31 Upper front rolling arm 32 Upper rear rolling arm 33 Lower front rolling arm 34 Below Side rear rolling arm 38 Vehicle height adjusting hydraulic cylinder 41 Vehicle height adjusting hydraulic cylinder piston rod 50 Pitching link mechanism 55 Front / rear tilting hydraulic cylinder 59 Front / rear tilting hydraulic cylinder piston rod

Claims (4)

A front and rear portion including a traveling machine body in which left and right traveling units are arranged, left and right vehicle height adjusting hydraulic cylinders that tilt the traveling machine body in the left-right direction, and a front-rear tilt hydraulic cylinder that tilts the traveling machine body in the front-rear direction. In a combine configured to connect the traveling machine body to the left and right traveling parts via a rolling fulcrum shaft or a pitching link mechanism and to tilt the traveling machine body in the left-right direction or the front-rear direction,
The left and right vehicle height adjustment hydraulic cylinders and the front and rear tilt hydraulic cylinders are arranged below the upper surface of the traveling machine body within the front and rear width of the track frame in the longitudinal direction of the traveling machine body. The combine is characterized in that the forward / backward tilt hydraulic cylinder is arranged in the front-rear direction in parallel with the left / right vehicle height adjustment hydraulic cylinders between the left / right vehicle height adjustment hydraulic cylinders.   The left and right traveling sections each have a traveling crawler and a track frame, and are provided with the pitching link mechanism that is operated by the front / rear tilting hydraulic cylinder, and the rolling fulcrum frame that is rotatably connected to the traveling aircraft body. The rear rolling fulcrum shaft is disposed on the rear end side, the pitching link mechanism is connected to the rear end side of the rolling fulcrum frame via the rear rolling fulcrum shaft, and the traveling body is arranged around the front rolling fulcrum shaft. The combine according to claim 1, wherein the combine is configured to tilt in the front-rear direction.   An intermediate roller that supports the non-grounded side of the traveling crawler as the traveling unit is disposed on the traveling machine body side, a drive sprocket and a transmission case are disposed on the front end side of the traveling crawler, and a front rolling arm and a rear rolling arm are provided. 2. A structure having a rolling fulcrum frame to be supported, wherein the front / rear tilting hydraulic cylinder is connected to the rear rolling fulcrum shaft far from the drive sprocket via the pitching link mechanism. Combine as described in.   A structure including a rolling fulcrum frame for supporting the front rolling arm and the rear rolling arm, wherein the front end side of the rolling fulcrum frame is coupled to the traveling body so as to be rotatable around the front rolling fulcrum axis; The front / rear tilt hydraulic cylinder is connected to the rigid frame of the traveling machine body, and the piston rod of the front / rear tilt hydraulic cylinder projects in the same direction as the piston rod projecting direction of the left / right vehicle height adjustment hydraulic cylinders. The combine according to claim 1, wherein the combine is configured.

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