JP2012010680A - Combine harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To avoid occurrence of troubles in which a reaping part is plunged into the ground surface and damaged, etc.SOLUTION: In the combine harvester equipped with a machine body liftably and lowerably disposed between a pair of right and left traveling parts and the reaping part liftably and lowerably mounted on the front end part of the machine body, a work end operation for disengaging a clutch of an operation part mounted on the machine body is interlocked with a drop return control for lowering the machine body to a set position and a ground height control for controlling a ground height so as not to make the reaping part land on the ground surface. When the work end operation for disengaging the clutch of the operation part is performed, the drop return control for lowering the machine body to the set position (for example, the lowest position) is performed and the ground height control for controlling the ground height not to make the reaping part land on the ground surface is carried out.

Description

  The present invention relates to a combine that can return control of a machine body and a cutting unit to a work end posture.

  Conventionally, there exists what was disclosed by patent document 1 as one form of a combine. That is, Patent Document 1 includes a body body that is installed between a pair of left and right traveling units to control pitching control for controlling the tilt posture in the front-rear direction and rolling control for controlling the tilt posture in the left-right direction, There is disclosed a structure including a cutting portion that is attached to a front end portion so as to be movable up and down and that can control cutting height to control cutting height. In such a combine, even when the field scene has irregularities, the traveling unit travels on the irregularities, and the body main body is appropriately subjected to pitching control and rolling control so as to maintain a substantially horizontal posture at all times. The cutting height is controlled so that the cutting height of the cutting unit is kept constant even when the machine body is subjected to pitching control and rolling control.

JP 2002-95328 A

  By the way, the above-described combine performs an operation end operation for disengaging the clutch of a working unit (such as a threshing unit) provided in the main body when the operation such as the cutting operation in the field is completed. When this is done, the aircraft body is automatically lowered to the lowest position so that stable running on the road can be ensured. At this time, the cutting height control is in an OFF state. For this reason, when there is a possibility that the cutting unit will be pushed into the field scene and be damaged when the machine body is lowered to the lowest position, it is necessary for the operator to perform a manual operation for appropriately raising the cutting unit.

  However, it is difficult for an operator with little experience to determine whether or not there is a possibility that the cutting unit may rush into the farm scene from the ground height (ground height) and posture of the main body and the cutting unit when performing the work ending operation. In spite of the necessity of raising the mowing part, the operation may be forgotten. Therefore, the raising operation of the cutting unit at the time of the work ending operation has been a mental burden on the operator.

  Therefore, an object of the present invention is to provide a combine in which ground height control is performed to control the ground height so that the cutting portion is not automatically grounded to the ground surface when a work end operation is performed.

In order to achieve the above object, the present invention has the following features.
A combine according to a first aspect of the present invention is a combine provided with a machine body main body that can be raised and lowered between a pair of left and right traveling parts, and a cutting part that is attached to the front end of the machine body to be raised and lowered. The work end operation to disengage the clutch of the working part provided, the descent return control to lower the machine body to the set position, and the ground height control to control the ground height so that the cutting part does not touch the ground surface are linked. It is characterized by that.

  In such a combine, when a work ending operation for cutting the clutch of the working unit is performed, a lowering return control for lowering the main body to a set position (for example, the lowest position) is performed, and the cutting unit is not grounded to the ground surface. The ground height control is performed to control the ground height. Therefore, it is possible to avoid the occurrence of a problem that the cutting part is pushed into the ground surface and damaged.

  The combine according to the invention of claim 2 is the combine according to the invention of claim 1, wherein the ground height control is performed only when the cutting unit collides with the ground surface when the aircraft body is lowered to the set position. The cutting part is raised to control the ground height of the cutting part.

  In such a combine, when a work end operation is performed to disengage the clutch of the working unit, the main body is lowered to the set position. At this time, when the cutting unit collides with the ground surface, control is performed to raise the cutting unit. Even when the machine body is lowered to the set position, if the cutting unit does not collide with the ground surface, unnecessary control for raising the cutting unit is not performed.

  The combine according to the invention described in claim 3 is the combine according to the invention described in claim 1 or 2, characterized in that the ascending operation of the cutting part and the descending operation of the main body are performed simultaneously. To do.

  In such a combine, since the lowering control for lowering the main body to the set position is performed while the cutting part is raised to a height that does not contact the ground surface, the main body can be lowered and returned efficiently, Can be moved.

  The present invention has the following effects. That is, when the work end operation is performed, the ground height control is performed so that the ground height of the reaping unit is automatically maintained above the ground surface (farm scene). It is reduced. Specifically, there is no need for the operator himself to determine whether or not there is a possibility that the cutting unit may rush into the field when the aircraft body is lowered from the current ground height of the main body and the cutting unit. Therefore, in particular, for an operator having little experience, the operability is improved because there is no trouble of manually performing the lifting / lowering operation of the reaper part and forgetting the lifting / lowering operation.

Side explanatory drawing of the combine which concerns on this invention. Explanatory drawing of a driving | operation part. Side surface explanatory drawing of a driving | running | working part. Plane explanatory drawing of a traveling part. Explanatory drawing of a raising / lowering mechanism. Hydraulic circuit diagram. Control block diagram. flowchart.

Embodiments of the present invention will be described below with reference to the drawings.
An overall configuration of a combine A according to an embodiment of the present invention will be described with reference to FIG. In other words, the combine A is constructed such that the main body 2 is installed between the pair of left and right crawler type traveling units 1 so as to be movable up and down. A cutting part 4 is attached to the left front part of the machine body 2 via a cutting frame 3 so as to be movable up and down. The cutting unit 4 is provided with a transport unit 5. A threshing unit 7 and a sorting unit 8 are arranged in the upper and lower stages on the left side of the machine body 2, and a waste disposal unit 9 is arranged on the rear part of the machine body 2. Reference numeral 6 denotes a cereal transfer unit disposed on the side of the threshing unit 7. On the other hand, the cabin 10 is disposed in the right front portion of the machine body 2, and the grain storage unit 11 is disposed in the middle part on the right side of the machine body 2. The grain storage unit 11 includes an auger 12 for general grain delivery. The combine A includes a prime mover unit 13 including an engine 14 as a drive source at the front of the machine body 2. The prime mover unit 13 supplies the power of the engine 14 to the drive unit of each unit. The power transmitted from the engine 14 to the threshing unit 7 via a threshing clutch (not shown) can be connected and disconnected. In addition, power transmitted from the engine 14 to the cutting unit 4 via a cutting clutch (not shown) can be connected and disconnected. The threshing clutch and the reaping clutch are connected and disconnected by an actuator via the work controller 100 by operating a reaping switch 31 and a work clutch switch 32, which will be described later.

  A mission unit 15 is provided in front of the prime mover unit 13. The transmission unit 15 adjusts (shifts) before transmitting the power of the engine 14 of the prime mover unit 13 to the traveling unit 1, the cutting unit 4, and the like.

  The combine A having the above-described configuration harvests the culm by the reaping unit 4, conveys the harvested culm to the rear cereal transporting unit 6, and sends it to the culm transporting unit 6. Hand over. The cereals delivered to the cereal transporting unit 6 are transported backward in a state where the stock is sandwiched by the cereal transporting unit 6 and the tip is inserted into the threshing unit 7.

  Thereby, the cereal is threshed by the threshing unit 7. The grain obtained by threshing is sorted by the sorting unit 8, and only the refined grains are transported and stored in the grain storage unit 11, and are carried out via the auger 12 as necessary.

  Further, the threshed cereal is transported to the slaughter processing unit 9 as slaughter, and is shredded and discharged by the slaughter processing unit 9.

  The cabin 10 is formed in a substantially rectangular box shape as a whole, and as shown in FIG. A steering case 21 is provided in the driving unit 19, and a steering wheel 22 as steering means is attached to the upper end of the steering case 21. A driver's seat 23 is disposed behind the steering wheel 22, and a side column 24 is disposed from the front of the driver's seat 23 to the left side.

  A main transmission lever 26 serving as a transmission means protrudes upward from the front surface of the side column 24 and an auxiliary transmission lever 27 protrudes upward from the rear side of the inner side surface of the side column 24. . On the upper surface of the side column 24, a pitching control switch 28, a rolling control switch 29, a left / right tilt setting device 30, a cutting switch 31, a working clutch switch 32, a cutting height setting device 33, and the like are arranged.

  The pitching control switch 28, the rolling control switch 29, and the cutting switch 31 are ON / OFF type switches. The left / right inclination setting device 30 and the cutting height setting device 33 are manual dial switching potentiometer type setting devices. The left / right tilt setting device 30 is rotated leftward (counterclockwise) or rightward (clockwise) with respect to the central portion so as to initially set a reference value of the tilt angle in the left / right direction of the main body 2. I have to. When the left / right tilt setting device 30 is set at the central portion serving as a reference, rolling control is performed so as to hold the airframe body 2 in a substantially horizontal posture, and the tilt angle is set by rotating to the left or right. Thus, the rolling control is performed so as to hold the body 2 in the set inclination posture. The cutting switch 31 is a switch for operating or stopping the cutting unit 4. The work clutch switch 32 can be rotated by a certain angle around the vertical axis, and can be pushed downward. When the work clutch switch 32 is rotated by a certain angle from the reference position, the threshing clutch 7 and the reaping part 4 can be operated by connecting the threshing clutch and the reaping clutch. And if the operation clutch switch 32 in the same state is pushed down, the threshing clutch and the reaping clutch can be disconnected and the threshing portion 7 and the reaping portion 4 can be deactivated. In addition, when the cutting switch 31 is turned off while the threshing unit 7 and the cutting unit 4 are operating, only the threshing unit 7 can be operated. Then, when the cutting switch 31 is turned on, the operation of the cutting unit 4 is resumed.

  As shown in FIG. 1, the traveling unit 1 includes a traveling frame 40 extending in the front-rear direction, a drive wheel 41 linked to the transmission unit 15, a tension type driven wheel 42, and a winding between both wheels 41, 42. The crawler belt 43, a plurality of lower rolling wheels 44 that hold the grounding side of the crawler belt 43 in a grounded state, and an upper rolling wheel 45 that holds the non-grounding side of the crawler belt 43 are provided.

  As shown in FIGS. 3 and 4, the machine body frame 50 that forms the lower part of the machine body 2 is formed in a rectangular frame shape in plan view, and is disposed immediately above the pair of left and right traveling units 1. And between the body frame 50 and the pair of left and right traveling frames 40, a pair of left and right rolling mechanisms 60 that change the tilt angle in the left-right direction of the body body 2 and the tilt angle in the front-rear direction of the body body 2 are changed. A pair of left and right pitching mechanisms 70 are interposed. The rolling mechanism 60 has a rolling cylinder 61, and the pitching mechanism 70 has a pitching cylinder 71. Both mechanisms 60 and 70 cause the rolling body 61 and the pitching cylinder 71 to appropriately extend (cooperate) to hold the main body 2 in a substantially horizontal posture (the ground inclination angle is a set angle) regardless of the formation of the ground. In addition, at the same time, the main body 2 can be appropriately moved up and down in a substantially horizontal posture or a constant tilt posture.

  As shown in FIG. 5, the cutting unit 4 is configured to be movable up and down to the main body 2 by a lifting mechanism 80. The lifting mechanism 80 is attached to the front part of the machine body frame 50 so that the cutting frame 3 is pivotably mounted between left and right support bodies 79 and 81 provided facing the left and right sides. It is designed to rotate up and down. The cutting frame 3 includes a cylindrical first frame forming piece 83 extending in the left-right direction, a cylindrical second frame forming piece 84 extending in the front-rear direction, and a cylindrical third frame forming piece extending in the left-right direction. 85. The first frame forming piece 83 lies between the left and right support bodies 79 and 81 facing left and right so that the first frame forming piece 83 can rotate about its axis. The second frame forming piece 84 has a base end portion connected in an orthogonal state in the middle of the first frame forming piece 83, and a middle portion of the third frame forming piece 85 in a perpendicular state connected in a distal end portion. ing. The first, second, and third transmission shafts 75, 76, and 77 are pivoted in the first to third frame forming pieces 83, 84, and 85, respectively, and linked to each other to connect the reaping interlock mechanism 78. Forming. The mowing interlock mechanism 78 transmits power to a drive unit such as the transport unit 5. The elevating cylinder 82 is interposed between the front end portion of the body frame 50 and the middle portion of the second frame forming piece 84. The upper half of the left support 79 is rotatable about the axis of the left support 79, so that the cutting unit 4 can be moved to the left outward.

  Further, a rotation potentiometer type lift sensor 86 is interposed between the upper end portion of the left support 79 and the left end of the first frame forming piece 83, so that the left support 79 on the side of the main body 2. By detecting the relative position around the same axis line with the first frame forming piece 83 on the side of the cutting part 4, the relative height between the main body 2 and the cutting part 4 is detected.

  As shown in FIG. 1, a non-contact type cutting height sensor 131 is provided via a bracket 74 at the lower front side of the transport unit 5 so that the height of the ground between the cutting unit 4 and the agricultural field G that is the ground surface is adjusted. I try to detect it. Here, an ultrasonic sensor is employed as the cutting height sensor 131, and the transmitter of the transmitter 132 and the receiver of the receiver 133 are arranged facing the farm scene G.

  FIG. 6 is an explanatory diagram of the hydraulic circuit, FIG. 6 (a) is a hydraulic circuit diagram of a lifting cylinder 82 that raises and lowers the cutting part 4, and FIG. 6 (b) is another functional part cylinder, that is, the rolling cylinder 61 and pitching. 2 is a hydraulic circuit diagram of an auger cylinder 20 that raises and lowers a cylinder 71 and an auger 12. FIG.

  The elevating cylinder 82 is fluidly connected to the hydraulic pump P and the oil tank T via a cutting unit elevating hydraulic circuit 150. The mowing unit elevation hydraulic circuit 150 is provided with a first electromagnetic valve 151, a second electromagnetic valve 152, and a third electromagnetic valve 153. Further, by energizing one side b of the first electromagnetic valve 151, the elevating cylinder 82 can be operated at low speed. While exciting one side part b of the first electromagnetic valve 151 and exciting the other side part a of the second electromagnetic valve 152, the lifting cylinder 82 can be operated at high speed. By turning on the third electromagnetic valve 153, the elevating cylinder 82 can be operated at a low speed. While exciting one side b of the first electromagnetic valve 151 and exciting one side b of the second electromagnetic valve 152, the elevating cylinder 82 can be operated at high speed.

  The function part cylinder is fluidly connected to the hydraulic pump P and the oil tank T via the function part actuating hydraulic circuit 160. The functional unit actuating hydraulic circuit 160 is provided with fourth to ninth electromagnetic valves 161 to 166. The oil supply circuit to the auger cylinder 20, the rolling cylinder 61, and the pitching cylinder 71 can be switched by the fourth solenoid valve 161, and the auger cylinder 20, the left and right rolling cylinder 61, and the left and right pitching cylinder by the fifth to ninth solenoid valves 162 to 166. The oil supply circuit to 71 can be switched.

  Thus, the elevating cylinder 82 and the other functional unit cylinders can be extended and contracted independently. Accordingly, it is possible to secure a lowering return control function and a ground height control function, which will be described later, while raising and lowering the cutting unit 4 by the lifting cylinder 82 and lowering the machine body 2.

  As shown in the functional block diagram of FIG. 7, the rolling mechanism 60, the pitching mechanism 70, and the lifting mechanism 80 described above are automatically controlled by the work controller 100 formed by a microcomputer or the like, the cutting height control, the descent return control, and the ground. It is configured to perform high control. The work controller 100 is a central processing unit (CPU) for executing various arithmetic processes and controls, a read-only memory (ROM) that stores a control program, and can read and write at any time to temporarily store various detection values and data. A memory (RAM), a nonvolatile memory (flash memory) that retains stored data even when the power of the work controller 100 is turned off, a clock as a timer function, an interface, a bus, and the like are provided.

  The work controller 100 is connected to various sensors and switches of the input system. That is, the work controller 100 includes a pitching control switch 28, a rolling control switch 29, a culm sensor 101 that detects a chopped culm cut by the reaping part 4, and an operation sensor 102 that detects the operation of the reaping part 4. A pendulum-type left / right tilt sensor 103 that detects a tilt angle in the left / right direction of the body 2 and a potentiometer-type left vehicle height sensor 104 that detects a relative distance (vehicle height) between the body 2 and the left traveling frame 40. A potentiometer-type right vehicle height sensor 105 that detects a relative distance (vehicle height) between the main body 2 and the right traveling frame 40 is connected to a left / right inclination setting device 30.

  The work controller 100 is connected to various electromagnetic hydraulic valves of the output system. That is, the work controller 100 is connected to the left tilt solenoid valve 110 and the right tilt solenoid valve 111. In this way, the left leaning solenoid valve 110 or the right leaning solenoid valve 111 is switched based on the detection value of the left / right tilt sensor 103, the detection value of the left vehicle height sensor 104, and the detection value of the right vehicle height sensor 105, thereby changing the left vehicle height. The left and right rolling cylinders 61 and 61 that adjust and operate the right vehicle height are expanded and contracted to correct the horizontal inclination of the main body 2 so that the main body 2 is in a substantially horizontal posture or set inclination. Automatic attitude control to achieve attitude.

  The work controller 100 includes a pendulum type front / rear tilt sensor 120 that detects a tilt angle in the front-rear direction of the machine body 2 and a relative distance between the rear portion of the machine body 2 and the rear end side of the travel frame 40 (the travel frame 40). Potentiometer-type machine inclination sensor 121 for detecting the front-rear direction inclination angle of the machine body, and a manual dial-switching potentiometer-type front-back inclination setter for initial setting of the reference value of the front-rear direction inclination angle of the machine body 2 122 is connected.

  In addition, the work controller 100 is connected with a forward / backward tilt electromagnetic valve 123. In this way, the front / rear tilt solenoid valve 123 is switched based on the detected value of the front / rear tilt sensor 120, the detected value of the main unit tilt sensor 121, and the set value of the front / rear tilt setter 122 to adjust the front / rear tilt of the machine body 2. By operating the left and right pitching cylinders 71 to expand and contract to correct the inclination of the machine body 2 in the front-rear direction, automatic attitude control is performed so that the machine body 2 is in a substantially horizontal posture.

  The work controller 100 includes a vehicle speed sensor 130 that detects the rotational speed (vehicle speed) of the crawler belt 43, a potentiometer-type cutting height sensor 131 that detects the ground height of the cutting unit 4, and a ground height reference for the cutting unit 4. A manual dial switching potentiometer type cutting height setting device 33 for initial setting of values is connected.

  The work controller 100 is connected with a cutting lift electromagnetic valve 134. In this manner, the lifting / lowering solenoid valve 134 is switched based on the detected value of the vehicle speed sensor 130, the detected value of the cutting height sensor 131, and the setting value of the cutting height setting device 33, and the lifting / lowering cylinder 82 is expanded / contracted. Thus, the ground height of the cutting unit 4 is corrected, and the cutting height is controlled by the cutting unit 4 so that the cereal cutting height is substantially constant. At this time, ultrasonic waves are transmitted to the transmitter 132 of the cutting height sensor 131 at appropriate time intervals via a transmission drive circuit (not shown) in response to a command from the work controller 100, and non-detection of a farm scene or the like is detected. The reflected wave reflected by the object is received by the receiver 133, and the detection signal is input to the work controller 100 via a reception amplifier circuit (not shown). A detection signal from the lift sensor 86 is also input to the work controller 100 at predetermined time intervals via an A / D converter. The setting value by the cutting height setting unit 33 corresponds to a predetermined value in the detection value of the lifting sensor 86.

  In the present embodiment configured as described above, automatic posture control, cutting height control, descending return control, and ground height control of the main body 2 and the cutting unit 4 are automatically performed.

  In the automatic posture control, elevation control, rolling control, and pitching control are performed so that the main body 2 is held in a substantially horizontal posture at a required ground height. In the cutting height control, the culm cutting height is substantially constant. The cutting height of the cutting unit 4 is controlled so that the automatic posture control and the cutting height control are ended when a work ending operation is performed. And the descent | restoration return control to which descent | restoration return to the setting position is carried out automatically, and the ground height of the cutting part 4 is hold | maintained above the ground surface (agricultural scene). Control begins.

  The work ending operation is an operation in which the power transmitted from the engine 14 to the threshing unit 7 is cut by turning off the work clutch switch 32 to cut the threshing clutch. In this case, the work controller 100 determines that the work end operation has been performed by transmitting an OFF operation signal of the work clutch switch 32 to the work controller 100, and performs program control so as to start the descent return control and the ground height control. is doing.

  In the descent return control, the descent control, the rolling control, and the pitching control are performed so that the body 2 is returned to the set position (in the present embodiment, the lowest lowered position) in a substantially horizontal posture.

  In the ground height control, elevation control is performed so as to keep the cutting unit 4 at a predetermined ground level (for example, several centimeters) so that the cutting unit 4 does not contact the ground surface. At this time, the raising operation by the lifting cylinder 82 of the cutting unit 4 and the lowering operation by the rolling cylinder 61 and the pitching cylinder 71 of the machine body 2 are performed simultaneously. In the ground height control, when the airframe body 2 is lowered to the set position, the ground height of the reaping portion 4 is controlled by raising the reaping portion 4 only when the reaping portion 4 collides with the ground surface.

  Here, the hydraulic cylinder 160 for controlling the rolling cylinder 61 and the pitching cylinder 71 for performing rolling control and pitching control for returning the airframe body 2 to a substantially horizontal posture, and raising and lowering for raising and lowering the cutting unit 4. The cutting part lifting hydraulic circuit 150 for controlling the cylinder 82 is individually formed as described above. By doing so, the rolling cylinder 61, the pitching cylinder 71, and the elevating cylinder 82 are appropriately made independent and can be expanded and contracted simultaneously.

  Therefore, in the present embodiment, since the lowering return control is performed to lower the machine body 2 to the lowest position while returning the machine body 2 to the substantially horizontal posture, the machine body 2 can be returned and lowered quickly. At the same time, the ground height control for ensuring the ground height of the cutting unit 4 can be performed steadily.

  FIG. 8 is a flowchart of the automatic mode. When the threshing switch is turned off and the threshing clutch is turned off (S200; Yes), the work controller 100 determines that the work end operation has been performed, and the descent return control (S201) is performed. When the cutting unit 4 is at a position lower than the predetermined ground height (S202; Yes), ground height control (S203) is performed. Further, when the cutting unit 4 is at a position higher than the predetermined ground height (S202; No), or when the ground level of the cutting unit 4 is not at the predetermined height (S204; No), the descent return control ( S201) is resumed.

  Further, the lowering return control can be made to lower to the lowest position after the body 2 is returned to a substantially horizontal posture. In this case, since the descent return control in which the machine body 2 is returned to the substantially horizontal posture and then lowered to the lowest position is performed, the descent return control and the ground height control can be performed steadily.

  The configuration of the rolling mechanism 60 and the pitching mechanism 70 for raising, lowering, rolling, and pitching the machine body 2 will be described in detail with reference to FIGS.

  That is, a pair of left and right link supports 170 extending in the front-rear direction are attached to the lower surface side of the body frame 50. A front bearing body 171 is provided at the front portion of each link support 170, while a rear bearing body 172 is provided at the rear portion. Front and rear link support shafts 173 and 174 having shaft axes directed in the left-right direction are passed through the front and rear bearing bodies 171 and 172, respectively.

  A base end portion of an upper front rolling arm 175 extending in the vertical direction is attached to one side end of each front link support shaft 173. A base end portion of a lower front rolling arm 176 extending in the front-rear direction is attached to the other side end of each front link support shaft 173. In this way, the upper and lower front rolling arms 175 and 176 are pivotally supported by the front link pivot 173 so as to be integrally rotatable. Further, the front end portion of each lower front rolling arm 176 is connected to the front portion of the traveling frame 40 via a connecting shaft 177.

  A base end portion of an upper rear rolling arm 178 extending in the vertical direction is fitted to one side end of each rear link support shaft 174 so as to be rotatable. The tip of each upper front rolling arm 175 and the tip of each upper rear rolling arm 178 are connected via a connecting rod 180 extending in the front-rear direction. A rolling cylinder 61 is interposed between the tip of each upper rear rolling arm 178 and a midway portion of the traveling frame 40. A base end portion of a pair of left and right lower rear rolling arms 179 extending in the front-rear direction is attached to the other side end of each rear link support shaft 174. Further, the front end portion of each lower rear rolling arm 179 is connected to the rear portion of the traveling frame 40 via a link 181.

  A proximal end portion of a pitching arm 182 extending in the front-rear direction is attached to one side end of each rear link support shaft 174. Thus, the pitching arm 182 and the lower rear rolling arm 179 are pivotally supported via the rear link support shaft 174 so as to be integrally rotatable. A pitching cylinder 71 is interposed between the tip of each upper rear rolling arm 178 and the tip of each pitching arm 182.

  Constructed as described above, the rolling mechanism 60 includes upper and lower front rolling arms 175 and 176, upper and lower rear rolling arms 178 and 179, a connecting rod 180, and a link 181. The upper and lower front rolling arms 175 and 176 rotate integrally around the front link support shaft 173 and the upper and lower rear rolling arms 178 and 179 and the pitching arm 182 The rolling cylinder 61 rotates integrally with the rear link support shaft 174 as a center. When the rolling cylinder 61 expands and contracts, the relative distance between the body frame 50 and the traveling frame 40 is changed while maintaining the tilt angle of the body frame 50 in the front-rear direction with respect to the traveling frame 40. When the amount of subsidence of the left and right crawler belts 43 changes and the body frame 50 (airframe body 2) tilts to the left or right, or when the operator wants to tilt the body frame 50 (airframe body 2) to the left or right, the rolling cylinder 61 The inclination angle in the left-right direction of the body frame 50 (airframe body 2) can be changed by automatic control or manual operation, and the ground inclination angle in the left-right direction of the body frame 50 (airframe body 2) can be maintained in a substantially horizontal posture. .

  The pitching mechanism 70 includes a lower rear rolling arm 179, a link 181 and a pitching arm 182, and the pitching cylinder 71 extends and contracts so that the lower rear rolling arm 179 and the pitching arm 182 move the rear link support shaft 174. The travel frame 40 is rotated about the front link support shaft 173 via the link 181 by integrally rotating about the center. When the pitching cylinder 71 is extended and contracted, the tilt angle in the front-rear direction of the body frame 50 is changed with respect to the traveling frame 40 while maintaining the tilt angle in the left-right direction of the body frame 50. When the traveling road surface for moving the left and right crawler belts 43 is an uphill or downhill slope, or when an operator wants to tilt the body frame 50 (the body body 2), the body frame 50 is automatically controlled or manually operated by the pitching cylinder 71. By changing the tilt angle in the front-rear direction of the (machine body 2), the ground tilt angle in the front-rear direction of the body frame 50 (machine body 2) can be maintained in a substantially horizontal posture.

A Combine 1 Traveling unit 2 Machine body 3 Cutting frame 4 Cutting unit 60 Rolling mechanism 70 Pitching mechanism 80 Lifting mechanism

Claims (3)

In a combine equipped with a machine body that is installed so that it can be raised and lowered between a pair of left and right traveling parts, and a cutting part that is attached to the front end of the machine body so as to be raised and lowered,
Operation completion operation to disengage the clutch of the work unit provided in the machine body, descent return control to lower the machine body to the set position, and ground height control to control the ground height so that the cutting part does not touch the ground surface Combines characterized by being linked.   The ground height control is characterized in that when the airframe body is lowered to a set position, the cutting height is raised only when the cutting portion collides with the ground surface to control the ground height of the cutting portion. Combine according to 1.   The combine according to claim 1 or 2, wherein the ascending operation of the cutting part and the descending operation of the main body are performed simultaneously.

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