JP3666122B2 - Combine traveling device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a traveling device for an agricultural vehicle, and belongs to the field of, for example, raising a vehicle body with respect to the traveling device when moving backward and then tilting the vehicle forward in a wet field where the soil surface is soft.
[0002]
[Prior art]
When the combine is moved backward in the wet field, the traveling device sinks due to the soft soil surface, the driving reaction force increases, and the rear part of the vehicle body is lifted.
[0003]
[Problems to be solved by the invention]
As described above, when to reverse the combine in Shitsuden state, the traveling device subsidence to drive reaction force becomes large because of the soft soil surface, when the upper has the vehicle body rear portion that, the front soil surface equivalents There is a risk of hindering backward movement due to the forward leaning posture. Especially when the grain is stored in the grain tank in the combine as an agricultural vehicle, etc., the forward leaning phenomenon of the vehicle body appears remarkably, and the lower side of the reaping device sinks into the soil surface. As a result, mud soil is easily clogged, which hinders the subsequent cutting operation, and takes time for maintenance and the like, resulting in a significant reduction in work efficiency. In the worst case, the cutting blade or the like may be damaged.
[0004]
Therefore, the present invention prevents the front part of the vehicle body from leaning forward and coming into contact with the soil surface when moving backward on a soft soil surface in a wet paddy field.
[0005]
[Means for Solving the Problems]
The invention of claim 1, wherein the left and right vertical frame fixed to the chassis 7 - front of the left and right lower front of the arm 21 b - lingua - pivoted the arm 25 rotatably, said front The lower ends of the rolling arms 25, 25 and the front portions of the wheel frames 26, 26 are rotatably connected, and the pitching arms are connected to the rear lower portions of the left and right vertical frames 21, 21. One end of each of the arms 30 and 30 is pivotally fixed, and the other end of the pitching arms 30 and 30 and the connecting arm 31 are rotatably connected to each other. The left and right rear rolling arms 34, 34 are pivotally supported so that the lower ends of the rear rolling arms 34, 34 and the rear portions of the wheel frames 26, 26 are pivoted. The movable side piston 36a of the pitching cylinder 36 is connected to the other end side of the pitching arm 30; The part rolling arms 25, 25 and the rear part rolling arms 34, 34 are connected by connecting rods 37, 37, and the rolling cylinders 38, 38 can be moved to the rear part rolling arms 34, 34. The side pistons 38a and 38a are connected, the fixed side of the rolling cylinders 38 and 38 and the other end side of the pitching arms 30 and 30 are connected by holding plates 39 and 39, and the rolling cylinder 38 is connected. , 38 and the holding plates 39, 39 are connected to the vertical frames 21, 21 via links 39a, 39a in a swingable manner so that the left and right front rolling arms are connected. The vehicle bodies 25, 25, the rear rolling arms 34, 34 and the rolling cylinders 38, 38 constitute vehicle body lifting means 5 for moving the vehicle body 2 up and down or tilting left and right, and the pitching arms 30, 30 Pi The front and rear tilting means 6 for tilting the vehicle body 2 forward and backward is constituted by the chucking cylinder 36, and a front and rear tilt sensor 47 for detecting the front and rear tilt of the vehicle body 2 and a left and right tilt sensor 48 for detecting the left and right tilt of the vehicle body 2 are provided on the chassis 7. A wetland selection switch that is arranged in the lower space of the grain tank 10 and that is provided with a reverse detection means 3 that detects the reverse state of the vehicle body 2 so as to be detected from the reverse operation of the main transmission lever 51, and selects the wetland state of the field. 1, a front / rear switch 49 and a left / right switch 50 for automatically adjusting the vehicle body 2 to a horizontal state by detection of a tilt state by the front / rear tilt sensor 47 and the left / right tilt sensor 48; A tilt switch 53 and a manual vehicle height switch 54 for raising and lowering the vehicle body 2 relative to the traveling device 4 are provided. The pitching cylinder 36 is actuated by turning on the switch 49 and detecting the tilt by the front / rear tilt sensor 47, and the left and right rear rolling arms 34, 34 are moved up and down by the vertical rotation of the pitching arm 30. The vehicle body 2 can be automatically adjusted to a horizontal state by rotating the rear sides of the wheel frames 26, 26 up and down around the rotation shafts of the front rolling arms 25, 25. On the other hand, when the vehicle body 2 is tilted to the left and right, the left and right rolling cylinders 38 and 38 are operated by turning on the left / right switch 50 and detecting the tilt by the left / right tilt sensor 48, thereby turning the left and right wheels. frame - shall be able to automatically adjust the vehicle body 2 in a horizontal state by parallel vertically moving the arm 26, Shitsuden mode to oN the Shitsuden selection switch 1 - a de One in cutting state of being elevated device, when the the reverse detecting means 3 detects the reverse state of the vehicle body 2 by the switching operation to the reverse from the forward main transmission lever -51, I'm on the vehicle body elevating means 5 after automatically raise the vehicle body 2 until a preset vehicle height position, the configuration of the combine running and wherein the tilting before raising the vehicle body 2 I by the longitudinal inclination means 6.
[0006]
In the invention of claim 1, wherein, when agricultural work vehicles of the work in Shitsuden, in a state where the selected set of Shitsuden by Shitsuden selection switch 1, when to reverse the vehicle body 2 is traveling apparatus 4 subsidence for soft soil surface The driving reaction force becomes large and the rear part of the vehicle body 2 is lifted up and the front part is in a forward leaning posture where the front part comes into contact with the soil surface. At this time, by detecting the reverse state by the reverse detection means 3, for example, are vehicle height position, i.e. Konbai cutting blade portion, etc. of the brush winding devices at the down until contact avoidable vehicle height position to dive into the mud by the soil surface, the vehicle body elevating to travel assembly 4 of the vehicle body 2 The vehicle 5 is automatically raised by the means 5 and, after reaching the set vehicle height position, the vehicle body 2 is tilted forward by the front / rear tilting means 6 to avoid the cutting blade portion or the like from coming into contact with the soil surface.
[0007]
The invention of claim 2, wherein the As described above, after being inclined before raising the vehicle body 2 by front after tilting means 6, further to be increased by the vehicle body elevating means 5 of the vehicle body 2 to the most raised vehicle height position It is set as the structure of the traveling apparatus of the combine of Claim 1 characterized by these.
[0008]
In the invention of claim 2, as described above, when the wetland is selected and set and the vehicle body 2 is moved backward, the vehicle body 2 is automatically raised to the set vehicle height position, and at the set vehicle height position, the front and rear After the vehicle body 2 is tilted forward by the tilting means 6, the vehicle body 2 is further automatically raised to the highest vehicle height position by the vehicle body lifting / lowering means 5.
[0009]
【The invention's effect】
According to the first aspect of the present invention, when the agricultural vehicle is moved backward on the soft soil surface, the vehicle is lifted to a preset vehicle height position, and is tilted forward at the set vehicle height position, so that the driving reaction at the time of reverse drive is achieved. Due to the force, the vehicle body 2 is tilted forward, and its front part comes into contact with the soil surface. Especially in a combine, etc., the cutting blade part of the mowing device is submerged in the mud, causing problems in the next mowing operation. Since it can prevent, the fall of work efficiency can be suppressed and there is no possibility that a cutting blade part etc. may be damaged.
[0010]
In the second aspect of the invention, when the backward movement state of the vehicle body 2 is detected, the vehicle is temporarily raised to a set vehicle height position where it is possible to avoid the cutting blade portion of the mowing device from coming into contact with the soil surface. After performing a forward climbing inclination at a high position, the vehicle body 2 is raised to the highest position in two steps while further moving backward, so that the vehicle body 2 is raised to the minimum necessary at the time of first reverse detection, and quickly lifted forward. Since tilting can be performed, it is possible to prevent a reduction in work efficiency as much as possible. In addition , when the vehicle body 2 is tilted forward to the highest position, the front / rear balance is moved rearward to improve the running posture, and the vehicle body is lifted or tilted automatically. Therefore, the operation of the operator becomes easy.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, a combine for harvesting cereals as an agricultural vehicle will be described with reference to the drawings.
[0012]
A traveling device 4 having a pair of left and right traveling crawlers 8 that travel on the soil surface is disposed on the lower side of the combine chassis 7, and the cereal grains that are sandwiched and fed by the feed chain 9 are provided on the chassis 7. A threshing device 11 having a grain tank 10 for threshing, sorting and collecting the threshed grain and temporarily storing it is placed. A weeding body 12 for weeding napped cereals from the front end position on the front side of the threshing device 11, a pulling part 13 for causing the weeded cereals, a cutting blade part 14 for cutting the induced cereals, and this A reaping device 16 having a scraping and transporting portion 15 that transfers the cut cereal to the feed chain 9 while transferring it to the rear side while transporting it to the rear side is attached to the front end portion of the chassis 7 by a suspension portion 17. In addition to supporting the suspension, it is installed so as to be movable up and down with respect to the soil surface by a hydraulic cylinder 18.
[0013]
An operating device 19 for controlling the operation of the combine and an operation seat 20 for this operation are provided on one side of the mowing device 16, and the grain tank 10 is disposed on the rear side of the operation seat 20, and these The combined vehicle body 2 is composed of the traveling device 4, the threshing device 11, the reaping device 16, the operation device 19, and the like.
[0014]
Support frames 22 are respectively provided at the front lower portions of the left and right vertical frames 21 that are vertically fixed to the left and right sides of the center of the chassis 7, and rolling metals 23 are fixed to the left and right support frames 22, respectively. An upper arm 25a and a lower arm 25b are respectively pivotally fixed to the inner end and the outer end of the front rolling shaft 24 pivotally supported by the shaft 23 in the shape of a side view. The lower end position of the lower arm 25b of the left and right front rolling arms 25 and the front side position of the left and right wheel frames 26 respectively located below the left and right vertical frames 21 are rotated. The pins 27 are connected to each other as possible.
[0015]
A pitching shaft 29 is pivotally supported on a pitching metal 28 fixed to the rear lower portion of each of the left and right vertical frames 21, and one end of each of the left and right pitching arms 30 is attached to the left and right sides of the pitching shaft 29. The shaft is fixed and the other end portion and the left and right end portions of the connecting arm 31 having a H shape in a plan view are connected by a pin 32 so as to be rotatable. The upper and lower arms 34a and 34b are pivotally fixed to the inner and outer ends of the left and right rear rolling shafts 33, respectively, to form a rear rolling arm 34, and the left and right rear rolling shafts are formed. Between the upper arm 34a and the lower arm 34b of the shaft 33, the other end portions on the left and right sides of the connecting arm 31 are pivotally supported. A lower end position of the lower arm 34b of the left and right rear rolling arms 34 and a rear side position of the left and right wheel frame 26 are rotatably connected by a pin 35.
[0016]
The other end of the right pitching arm 30 is extended upward, and the upper end thereof is pin-connected to the tip of the movable piston 36a of the pitching cylinder 36 that expands and contracts by hydraulic pressure or the like. Is fixedly connected to the upper projection of the right vertical frame 21 by a pin. The upper end portion of the upper arm 25a of the left and right front rolling arms 25 and the middle portion of the upper arm 34a of the left and right rear rolling arms 34 are respectively rotated by left and right connecting rods 37 so that a four-point parallel link can be formed. It is configured by connecting pins as possible.
[0017]
The upper arms 34a of the left and right rear rolling arms 34 are extended further upward than the connecting position of the connecting rod 37, and the upper ends thereof and the tips of the movable side pistons 38a of the left and right rolling cylinders 38 that are expanded and contracted by hydraulic pressure or the like. In the state where the fixed side of the left and right rolling cylinders 38 and the protrusions protruding from the other end portions of the left and right pitching arms 30 are pinched from both sides by the belt-shaped holding plates 39, respectively. A pin is connected so as to be rotatable, and this connecting portion is connected to the left and right vertical frames 21 via a link 39a so as to be swingable.
[0018]
In this way, the left and right front and rear rolling arms 25 and 34 and the left and right rolling cylinders 38 and the like constitute the vehicle body lifting means 5 for moving the vehicle body 2 up and down or left and right, and the pitching arm 30. By means of the action of the pitching cylinder 36 or the like, the front / rear tilting means 6 for tilting the vehicle body 2 back and forth is configured.
[0019]
A rear wheel receiver 41a that rotatably supports the left and right rear wheel 40, and a support arm that holds the rear wheel receiver 41a so as to be adjustable in the front-rear direction. And a plurality of grounding wheels 42 are rotatably supported on the lower portions of the outer side surfaces of the left and right wheel frames 26 at predetermined intervals. These left and right rear wheels 40 and a plurality of ground wheels 42 and the left and right traveling wheels are connected to driving wheels 44 that transmit power from a traveling mission case 43 mounted on the front end of the chassis 7. Each of the rollers 8 is wound and stretched. Reference numeral 42a denotes an auxiliary wheel.
[0020]
A front / rear stroke sensor 45 for detecting the expansion / contraction stroke of the pitching cylinder 36 is provided adjacent to the cylinder 36. The working arm of the sensor 45 and the vicinity of the upper end of the pitching arm 30 are connected by a lot 45a. A left / right stroke sensor 46 for detecting an expansion / contraction stroke of the rolling cylinder 38 is provided on the left and right cylinders 38, and an operating arm of the sensor 46 and an upper end connecting portion of the rolling arm 38 are connected by a lot 46a.
[0021]
A front / rear tilt sensor 47 for detecting the front / rear tilt due to the pitching action of the vehicle body 2 and a left / right tilt sensor 48 for detecting the left / right tilt due to the rolling action of the vehicle body 2 are arranged on the chassis 7 in the lower space of the grain tank 10. At the same time, the reverse detection means 3 (reverse switch) for detecting the reverse state of the vehicle body 2 is engaged and disposed at a position that can be detected by the reverse operation of the main shift lever 51, and the vehicle speed sensor 52 for detecting the vehicle speed is provided in the transmission case. It is configured by engaging and arranging in 43 transmission paths.
[0022]
The wet field selection means 1 (the wet field switch) for selecting the wet field state of the field, the illumination lamp 1a of this wet field switch, and the adjustment control of the vehicle body 2 to the horizontal state by detecting the tilt state by the front and rear and left and right tilt sensors 47 and 48 are performed. The forward / backward switch 49 and the left / right switch 50 to be automatically performed, the manual tilt switch 53 including four push buttons for appropriately tilting the vehicle body 2 forward / backward / left / right, and the vehicle body 2 is moved up and down with respect to the traveling device 4. A manual vehicle height switch 54, a power steering lever 56 that engages a cutting up / down switch 55 that raises and lowers the cutting device 16 with respect to the soil surface, and a cutting / cutting switch that detects the operation of the threshing device 11 and the cutting device 16. The cutting lever 58 that engages with the main gear 57 and the main transmission lever 51 are arranged on one side of the operating device 19.
[0023]
A controller 59 for controlling the vehicle height, the tilt state and the vehicle speed of the vehicle body 2 with a CPU as a main body is provided in the vicinity of the operating device 19, and the wetland switch 1 is connected to the input side of the controller 59 as shown in FIG. (Wet field selection means), reverse switch 3 (reverse detection means), front / rear stroke sensor 45, left / right stroke sensor 46, front / rear tilt sensor 47, left / right tilt sensor 48, front / rear switch 49, left / right switch 50, vehicle speed sensor 52, tilt switch 53, a vehicle height switch 54, a cutting up / down switch 55, a cutting / removing switch 57, etc., respectively, and at the output side, an extension side pitching solenoid valve 60 and a shortening side pitching solenoid valve 61 for operating the pitching cylinder 36, The left and right rolling solenoid valves 62 on the extension side for operating the left and right rolling cylinders 38 and the left and right rolling solenoid valves 62 are operated. -Ring solenoid valve 63 is constructed by connecting each of the unloading valve 64 and the like.
[0024]
In the front / rear / left / right horizontal control of the vehicle body 2, when the vehicle body 2 causes pitching and tilts to the front / rear side, the pitching cylinder 36 is controlled by the controller 59 by turning on the front / rear switch 49 and detecting the tilt by the front / rear tilt sensor 47. By moving the pitching arm 30 up and down, the left and right rear rolling arms 34 are moved up and down via the connecting arm 31, and the rear rolling arms 34 move the rear side of the left and right rolling frame 26 to the front rolling. By moving the shaft 24 up and down with the shaft 24 as a fulcrum and simultaneously raising and lowering the left and right traveling rollers 8 with respect to the chassis 7, the vehicle body 2 can be relatively inclined and adjusted to a horizontal state.
[0025]
Further, when the vehicle body 2 rolls and tilts to the left and right, the left or right rolling cylinder 38 is operated under the control of the controller 59 by turning on the left / right switch 50 and detecting the tilt by the left / right tilt sensor 48. The left or right wheel frame 26 is moved up and down in parallel by the parallel link action of the front and rear rolling arms 25 and 34 and the connecting rod 37, and the left or right traveling crawler 8 is moved up and down with respect to the chassis 7. By doing so, the vehicle body 2 can be relatively inclined and adjusted to a horizontal state.
[0026]
Further, when the vehicle body 2 is caused to pitch and roll at the same time and tilt to the front and rear sides and the left and right sides, the controller is activated by turning on the front and rear switches 49 and 50 and detecting the tilt by the front and rear tilt sensors 47 and 48. Under the control of 59, the pitching cylinder 36 and the left or right rolling cylinder 38 are separately operated, and the left or right wheel frame 26 is inclined or parallel to each other by the action of the pitching arm 30 and both rolling arms 25 and 34. By moving up and down and raising or lowering the left or right traveling crawler 8 individually with respect to the chassis 7, the vehicle body 2 can be adjusted to a horizontal state by being inclined forward and backward and left and right.
[0027]
Further, when the vehicle body 2 is moved up and down in parallel with the travel crawler 8, the left and right rolling cylinders 38 are simultaneously operated by the same amount by turning on the vehicle height switch 54, and the left and right rolling arms 25, 34 are moved up and down. By rotating, the left and right wheel frames 26 are moved up and down in parallel, and the left and right traveling crawlers 8 are lifted and lowered in the same manner relative to the chassis 7 so that the vehicle body 2 is lifted and lowered relatively in parallel. Can do.
[0028]
At the time of the combine work in the wet field, the wet pad switch 1 (wet pad selection means) is turned on to enter the wet paddy mode, the cut-off switch 57 is turned on by the operation of the cut-off lever 58, the front / rear switch 49 and the left / right switch 50 are turned on, When the main shift lever 51 is switched from forward to reverse as shown in the flowchart of FIG. 5 and the work pattern of FIG. 6 in a state where the harvesting device 16 is raised by turning on the harvesting up / down switch 55 by operating the power steering lever 56. When the reverse switch 3 (reverse detection means) is turned ON and the set vehicle height position set by the controller 59 during forward operation is when the vehicle body 2 is tilted forward, the rear portion of the vehicle body 2 is A vehicle height (specifically, the rear portion of the chassis 7 and the traveling crawler 8) that can be pitched up by raising and lowering the front portion relatively. When the vehicle height (which does not interfere) position is confirmed, the pitching cylinder 36 is automatically extended by the forward / backward tilting means 6 to rotate the pitching arm 30, and the left and right rear parts are connected from the pitching arm 30 via the connecting arm 31. The rear rolling arm 34 is raised by the rolling shaft 33, and the left and right wheel frames 26 are pulled up by the rolling arm 34 to relatively pitch the vehicle body 2 forward.
[0029]
After stopping the extension action of the pitching cylinder 36 at the time of this forward pitching by detecting the stroke end by the front / rear stroke sensor 45, the left and right rolling cylinders 38 are further automatically extended by the vehicle body lifting means 5 to The rear rolling arms 25 and 34 are rotated, and the left and right wheel frames are pushed down evenly by the two rolling arms 25 and 34 so that the vehicle body 2 is relatively raised by the stroke end detection of the left and right stroke sensors 46. Raise to position. These front-up pitching and the highest-up vehicle height position are maintained during reverse travel.
[0030]
Note that when the set vehicle height position set during forward operation is low and the vehicle is tilted up as it is, the interference between the rear portion of the chassis 7 and the traveling crawler 8 is calculated by the controller 59 from the detection position of the front / rear stroke sensor 45. When this happens, the set vehicle height position is automatically raised to a position where interference can be avoided.
[0031]
Thus, when the vehicle body 2 is moved backward during the combine operation in the wet field, the vehicle body 2 sinks due to the soft soil surface, and the driving reaction force is increased, the rear part of the vehicle body 2 is raised, and the front part of the reaping device 16 is the soil. It becomes a forward leaning posture that comes into contact with the surface. In particular, this tendency appears prominently when grains are stored in the grain tank 10, but at this time, if the set vehicle height position is a vehicle height that can be adapted to the forward tilt of the vehicle body 2, it is applied as it is. When the vehicle cannot be raised, the vehicle height is raised by the vehicle body raising / lowering means 5 and then the front raising pitching is performed by automatically raising and lowering the vehicle body 2 by the front / rear inclination means 6.
[0032]
Even if the vehicle body 2 is in a forward leaning posture due to the driving reaction force when moving backward due to this forward raising pitching, the cutting blade part 14 of the reaping device 16 and the front end side of the rake conveying part 15 rise and leave the soil surface, The cutting blade portion 14 and the front end side of the feeding and transporting portion 15 are submerged in the mud, which can prevent problems such as hindering the next cutting operation, can suppress a decrease in work efficiency, and can reduce the cutting blade portion. There is no risk of damaging 14 etc.
[0033]
After performing the forward raising pitching of the vehicle body 2, the vehicle height is further raised to the highest vehicle height position by the vehicle body raising / lowering means 5 in a two-stage manner, so that the vehicle body 2 is kept to the minimum necessary at the time of first reverse detection. In addition, since the forward pitching can be performed quickly, a reduction in work efficiency can be prevented as much as possible.
[Brief description of the drawings]
FIG. 1 is a side view showing an elevating mechanism of a travel crawler in a travel device.
FIG. 2 is a plan view showing an elevating mechanism of a travel crawler in the travel device.
FIG. 3 is a side view showing a state in which the chassis is lifted upward in the traveling device.
FIG. 4 is a block diagram showing an electric circuit that performs automatic horizontal control of the vehicle body.
FIG. 5 is a flowchart showing a procedure for tilting or raising / lowering the vehicle body during reverse travel.
FIG. 6 is a stroke table showing a work pattern for performing front / rear / left / right control or elevation control of the vehicle body.
FIG. 7 is a side view showing the entire combine.
[Explanation of symbols]
1 Wet field selection means (wet field selection switch)
DESCRIPTION OF SYMBOLS 1a Illumination lamp 2 Car body 3 Reverse detection means 4 Traveling apparatus 5 Car body raising / lowering means 6 Front-back inclination means
7 cars
10 grain tank
21 vertical frame
22 support frame
25 front rolling arm
26 wheel frame
30 pitching arm
31 linked arms
34 rear rolling arm
36 pitching cylinder
36a movable piston
37 connecting rods
38 rolling cylinders
38a movable piston
39 holding plate
39a link a
47 Longitudinal tilt sensor
48 Left / right tilt sensor
49 front and back switch
50 left / right switch
51 Main transmission lever
53 tilt switch
54 height switch

Claims (2)

Left and right front rolling arms 25, 25 are pivotally supported on the lower front sides of the left and right vertical frames 21, 21 fixed to the chassis 7, and the front rolling arms 25, 25 are supported. Are connected to the front portions of the wheel frames 26 and 26 so as to be rotatable, and one end portions of the pitching arms 30 and 30 are provided at the lower rear portions of the left and right vertical frames 21 and 21, respectively. The other end of the pitching arms 30 and 30 and the connecting arm 31 are rotatably connected to each other, and the left and right rear rolling arms are connected to the connecting arm 31. And pivotally connecting the lower ends of the rear rolling arms 34 and 34 to the rear portions of the wheel frames 26 and 26 so that the pitching arms are supported. A movable piston 36a of the pitching cylinder 36 is connected to the other end of the arm 30 so that the front rolling arm 2 25 and the rear rolling arms 34, 34 are connected by connecting rods 37, 37, and the movable side pistons 38a, 38a of the rolling cylinders 38, 38 are connected to the rear rolling arms 34, 34. The fixed side of the rolling cylinders 38, 38 and the other end side of the pitching arms 30, 30 are connected by holding plates 39, 39, and the fixed side of the rolling cylinders 38, 38 is held. The connecting portions with the plates 39 and 39 are connected to the vertical frames 21 and 21 through the links 39a and 39a so as to be swingable, so that the left and right front rolling arms 25 and 25 are connected to the rear rollers. -The ring arm 34, 34 and the rolling cylinder 38, 38 constitute the vehicle body raising / lowering means 5 for raising / lowering the vehicle body 2 or tilting left and right, and the pitching arms 30, 30 and the pitching cylinder 36, Therefore, the front / rear tilting means 6 for tilting the vehicle body 2 forward / backward is configured, and the grain tank 10 on the chassis 7 includes the front / rear tilt sensor 47 for detecting the front / rear tilt of the vehicle body 2 and the left / right tilt sensor 48 for detecting the left / right tilt of the vehicle body 2. A reverse detection means 3 for detecting the reverse state of the vehicle body 2 so as to be detected from the reverse operation of the main transmission lever 51, and a wetland selection switch 1 for selecting the wetland state of the field, A front / rear switch 49 and a left / right switch 50 for automatically adjusting the vehicle body 2 to a horizontal state by detecting a tilt state by the front / rear tilt sensor 47 and the left / right tilt sensor 48, and a manual tilt switch 53 for tilting the vehicle body 2 forward / backward / left / right When the vehicle body 2 is tilted forward and backward by providing a manual vehicle height switch 54 for raising and lowering the vehicle body 2 relative to the traveling device 4, the front and rear switch 49 is turned on and The pitching cylinder 36 is operated by detecting the tilt by the tilt sensor 47, and the left and right rear rolling arms 34, 34 are moved up and down by the vertical rotation of the pitching arm 30 to move the left and right wheel frames 26. , 26 can be automatically adjusted to a horizontal state by rotating the rear side of the vehicle up and down with the rotation axis of the front rolling arms 25, 25 as a fulcrum. Is tilted to the left and right, the left and right rolling cylinders 38 and 38 are actuated by turning on the left and right switch 50 and detecting the tilt by the left and right tilt sensor 48, so that the left and right wheel frames 26 and 26 are moved. automatically and it can be adjusted, Shitsuden mode to oN the Shitsuden selective switch 1 of the vehicle body 2 in a horizontal state by parallel vertically moving the - raise the a to and cutting device de In the state, the main shift the lever -51 when to switch operation from the forward to the reverse is the reverse detecting means 3 detects the reverse state of the vehicle body 2, the vehicle body elevating means a preset ride height I by the 5 after automatically raising the vehicle body 2 to a position, combine the traveling device, characterized in that tilting before raising the vehicle body 2 I by the longitudinal inclination means 6. As described above, after being inclined before raising the vehicle body 2 by front after tilting means 6, claims, characterized in that raising the vehicle body elevating means 5 to further the vehicle body 2 to the most raised vehicle height position first The traveling device for a combine according to item.

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