JP3683145B2

JP3683145B2 - Mowing harvester

Info

Publication number: JP3683145B2
Application number: JP35913099A
Authority: JP
Inventors: 一浩高原; 宙相田
Original assignee: Kubota Corp
Current assignee: Kubota Corp
Priority date: 1999-12-17
Filing date: 1999-12-17
Publication date: 2005-08-17
Anticipated expiration: 2019-12-17
Also published as: JP2001169642A

Description

【０００１】
【発明の属する技術分野】
本発明は、走行装置を備えた走行機体に対して刈取部を昇降操作する刈取部昇降手段と、前記刈取部の上昇指令及び下降指令を指令する手動操作式の昇降指令手段と、前記昇降指令手段の指令情報に基づいて、前記刈取部昇降手段の作動を制御する制御手段とが設けられている刈取収穫機に関する。
【０００２】
【従来の技術】
上記構成の刈取収穫機において、従来では、例えば特開平９‐７４８５４号公報に示すように、走行装置の一例であるクローラ式走行装置を備えた走行機体の前部側に、圃場の植立穀稈を刈り取るための刈取部が、刈取部昇降手段としての刈取部昇降用の油圧シリンダにて、走行機体に対して所定の昇降調節範囲にわたり昇降調節自在な状態で備えられ、手動操作式の昇降指令手段としての刈取昇降レバーの手動操作による上昇指令に基づいて上記油圧シリンダを作動させて刈取部を上昇させたり、刈取昇降レバーの手動操作による下降指令に基づいて上記油圧シリンダを作動させて刈取部を下降させるようにしている。
【０００３】
【発明が解決しようとする課題】
しかしながら、上記したような従来技術においては、次のような面で未だ改善の余地があった。
上記したような刈取収穫機にて刈取作業を行う場合に、刈取対象となる圃場が軟弱な圃場であれば、走行装置を駆動して機体を走行させながら刈取作業を実行すると、例えば、図７に示すように、走行装置による泥土の掻き込み等により走行機体Ｖが大きく後に傾く前上がり状態になってしまうことがある。このとき、刈取部による刈高さを設定高さにするために、運転者は刈取昇降レバーを操作して刈取部を走行機体に対して下降させることになる。しかし、上記従来技術においては、機体の前上がりの程度が大きい場合には、図７に仮想線で示すように、刈取部を走行機体に対して前記昇降調節範囲の下限位置まで下降させても、刈高さが所望の設定高さになるまで刈取部Ａを降ろすことができず、刈高さが設定高さよりも高い値になってしまうおそれがある。
【０００４】
又、上記したような刈取収穫機にてある圃場で刈取作業を行う場合、畦を乗り越えながら圃場内に進入することがある。このとき、例えば図８に示すように、畦の方が圃場面よりも高いために畦を乗り越えて圃場内に進入するときに機体が前下がり状態になるが、このときに、刈取部Ａが圃場面に接触したり、突っ込まないようにするために、運転者は刈取昇降レバーを操作して刈取部Ａを走行機体Ｖに対して上昇させることになる。しかし、上記従来技術では、機体の前下がりの程度が大きい場合には、図８に仮想線で示すように、刈取部を走行機体に対する昇降調節範囲の上限位置まで上昇させても、刈取部を充分上昇させることができずに刈取部の先端が圃場面に接触したり、突っ込んだりして、刈取部等を損傷させるおそれがあった。
【０００５】
本発明はかかる点に着目してなされたものであり、その目的は、上述したような従来技術の不利を解消して、操縦操作性を低下させない状態で、刈取部の上昇指令及び下降指令を指令する手動操作式の昇降指令手段による指令によって、畦越え時に刈取部が土中に突っ込むことを回避したり、軟弱な圃場での刈取作業であっても刈高さを極力設定高さにできるようにすることが可能となる刈取収穫機を提供する点にある。
【０００６】
【課題を解決するための手段】
請求項１に記載の特徴構成によれば、走行装置を備えた走行機体に対して刈取部を昇降操作する刈取部昇降手段と、前記刈取部の上昇指令及び下降指令を指令する手動操作式の昇降指令手段と、前記昇降指令手段の指令情報に基づいて、前記刈取部昇降手段の作動を制御する制御手段とが設けられている刈取収穫機において、前記走行機体を前記走行装置の接地部に対して前後方向に傾ける前後姿勢変更手段が設けられ、前記制御手段は、前記昇降指令手段の前記上昇指令に基づいて、前記刈取部が前記走行機体に対して上昇するように前記刈取部昇降手段を作動させる刈取部上昇動作、並びに、前記走行機体を前記走行装置の接地部に対して後傾姿勢側に傾けるように前記前後姿勢変更手段を作動させる機体後傾動作を実行し、前記昇降指令手段の前記下降指令に基づいて、前記刈取部が前記走行機体に対して下降するように前記刈取部昇降手段を作動させる刈取部下降動作、並びに、前記走行機体を前記走行装置の接地部に対して前傾姿勢側に傾けるように前記前後姿勢変更手段を作動させる機体前傾動作を実行するように構成され、動作併用モードと、刈取部単独昇降モードとに切り換え自在な手動操作式のモード切換スイッチを備え、このモード切換スイッチを動作併用モードに切り換えておくと、前記昇降指令手段の上昇指令に基づいて前記刈取部上昇動作並びに前記機体後傾動作を実行し、前記昇降指令手段の下降指令に基づいて、前記刈取部下降動作並びに前記機体前傾動作を実行する状態となり、刈取部単独昇降モードに切り換えると、前記昇降指令手段に指令に基づいて刈取部上昇動作と刈取部下降動作だけを行う状態となるように構成されている。
【０００７】
すなわち、手動操作により昇降指令手段の上昇指令が指令されると、刈取部が走行機体に対して上昇する刈取部上昇動作、並びに、走行機体を走行装置の接地部に対して後傾姿勢側に傾ける機体後傾動作を実行するので、刈取部が走行機体に対して上昇するとともに走行機体が後傾姿勢側に傾くことにより、刈取部が大きく上昇することになり、例えば畦から圃場内への進入時に走行機体が大きく前下がり状態になるような場合であっても、従来技術のように、刈取部が走行機体に対して昇降調節範囲内で上昇するだけのものに比べて、刈取部を圃場面に対してより高い位置まで上昇操作することが可能となる。
【０００８】
又、昇降指令手段の手動操作にて下降指令を指令されると、刈取部が走行機体に対して下降する刈取部下降動作、並びに、走行機体を走行装置の接地部に対して前傾姿勢側に傾ける機体前傾動作を実行するので、刈取部が走行機体に対して下降するとともに走行機体が前傾姿勢側に傾くことにより、従来技術のように刈取部が走行機体に対して昇降するだけのものに比べて、刈取部を圃場に対してより低く下降させることが可能となる。
【０００９】
しかも、前記昇降指令手段の手動操作によって、上記刈取部の昇降動作並びに走行機体の前後姿勢変更動作を実行するようにしたので、例えば刈取部の昇降を指令する操作具と、走行機体の前後姿勢変更動作を指令する操作具とを各別に操作するものに比べて運転者の操作負担を増加させることがなくなる。さらに、上記したような走行機体の前後姿勢変更動作は、走行機体の姿勢を前上がり姿勢や前下がり姿勢の状態から水平姿勢に近づくように変更させるものであるから、前後姿勢変更動作が走行機体に搭乗している運転者に違和感を与えることなく、むしろ安心感を与えるようになる。
【００１０】
従って、運転者への操作負担を増加することなく、操縦操作性を低下させないようにしながら、しかも、運転者に安心感を与える状態で、例えば畦越え進入時に刈取部を走行装置の接地部に対して大きく上昇させて圃場面への接触や突っ込み等を適切に回避させることが可能となり、軟弱な圃場での刈取作業を行う場合に走行機体が大きく後に傾く前上がり状態になっても、刈取部を走行装置の接地部に対して大きく下降させて刈高さを極力設定高さにすることが可能となる刈取収穫機を提供できるに至った。
【００１１】
また、請求項１に記載の特徴構成によれば、前記制御手段は、前記上昇指令に基づいて、前記刈取部上昇動作を優先的に実行し、その刈取部上昇動作によって前記刈取部が前記走行機体に対する昇降調節範囲の上限位置に達すると前記機体後傾動作を実行するとともに、前記下降指令に基づいて、前記刈取部下降動作を優先的に実行し、その刈取部下降動作によって前記刈取部が前記走行機体に対する昇降調節範囲の下限位置に達すると前記機体前傾動作を実行するように構成されている。
【００１２】
すなわち、前記制御手段は、上昇指令又は下降指令に基づいて、前記刈取部上昇動作や前記刈取部下降動作を、前記機体後傾動作や前記機体前傾動作よりも優先して実行することにより、走行機体に比べて質量が少ない刈取部を優先的に昇降操作させることで、質量の多い走行機体の姿勢変更を優先するものに比べて迅速に刈取部を昇降させることができる。そして、前記刈取部上昇動作や前記刈取部下降動作では昇降量が充分でないときに、前記機体後傾動作や前記機体前傾動作を実行することで、刈取部を大きく昇降させることが可能となるのである。
尚、前記刈取部上昇動作と前記機体後傾動作とを同時に実行する、及び、前記刈取部下降動作と前記機体前傾動作と同時に実行する、構成とすることも考えられるが、このように構成した場合には、昇降操作の指令あれば常に走行機体が前後に姿勢変更することになり、機体が前後に傾くので運転者が不快感を感じる不利があるが、上記構成によれば、前記刈取部上昇動作や前記刈取部下降動作では昇降量が充分でないときにだけ、前記機体後傾動作や前記機体前傾動作を実行することにより、上記したような不利を回避させることが可能となった。
従って、昇降操作の指令がある毎に機体が前後に傾くことにより運転者に不快感を与えるおそれが少ない好適な手段が得られる。
【００１３】
また、請求項１に記載の特徴構成によれば、前記制御手段は、前記上昇指令が指令されたときに、前記刈取部が前記走行機体に対する昇降調節範囲の下限位置で且つ前記走行機体が前記走行装置の接地部に対して前傾姿勢になっていると、前記刈取部上昇動作に先立って、前記走行機体を前記走行装置の接地部に対して平行となる水平姿勢へ戻す操作を優先的に実行するとともに、前記下降指令が指令されたときに、前記刈取部が前記走行機体に対する昇降調節範囲の上限位置で且つ前記走行機体が前記走行装置の接地部に対して後傾姿勢になっていると、前記刈取部下降動作に先立って、前記走行機体を前記走行装置の接地部に対して平行となる水平姿勢へ戻す操作を優先的に実行するように構成されている。
【００１４】
すなわち、刈取部が前記下限位置にあり且つ走行機体が前記前傾姿勢になっている状態で前記上昇指令が指令されたときには、走行機体を不安定な前傾姿勢に維持しておく必要がなく、刈取部が前記上限位置にあり且つ走行機体が前記後傾姿勢になっている状態で前記下降指令が指令されたときにも同様に、走行機体を不安定な後傾姿勢に維持しておく必要がないので、このようなときは、前記走行機体を前記水平姿勢へ戻す操作を優先的に実行することにより、走行機体を水平姿勢にして姿勢が安定した状態で刈取部の昇降操作を実行することができる。
従って、走行機体を水平姿勢にして姿勢が安定した状態で刈取部の昇降操作を実行することにより、運転者に不快感を与えるおそれをより少なくさせることが可能となる好適な手段が得られる。
【００１５】
請求項２に記載の特徴構成によれば、請求項１において、前記前後姿勢変更手段は、前記走行機体の前部側を前記接地部に対して昇降操作自在な前部側機体昇降手段と、前記走行機体の後部側を前記接地部に対して昇降操作自在な後部側機体昇降手段とを備えて構成され、前記前部側機体昇降手段が前記走行機体の前部側を前記走行装置の接地部に接近させるとともに、前記後部側機体昇降手段が前記走行機体の後部側を前記走行装置の接地部から離間させることにより、前記走行機体を前記前傾姿勢側に傾けるように構成され、前記前部側機体昇降手段が前記走行機体の前部側を前記走行装置の接地部から離間させるとともに、前記後部側機体昇降手段が前記走行機体の後部側を前記走行装置の接地部に接近させることにより、前記走行機体を前記後傾姿勢側に傾けるように構成されている。
【００１６】
前部側機体昇降手段によって走行機体の前部側を走行装置の接地部に接近させるとともに、後部側機体昇降手段によって走行機体の後部側を走行装置の接地部から離間させることにより、走行機体を前傾姿勢側に傾けることができる。又、前部側機体昇降手段によって走行機体の前部側を走行装置の接地部から離間させるとともに、後部側機体昇降手段によって走行機体の後部側を走行装置の接地部に接近させることにより、走行機体を後傾姿勢側に傾けることができるのである。
従って、例えば、走行機体を走行装置に対して一つの横軸芯周りで回動自在に支持して、アクチュエータ等によって走行機体を走行装置に対して前記横軸芯周りで回動させることにより、前記前傾姿勢や後傾姿勢にさせる構成とすることも考えられるが、このように構成した場合には、前傾姿勢から後傾姿勢にわたる広い範囲で回動させるためにアクチュエータによる操作量が大になるが、上記構成によれば、走行機体の前後両側夫々を各別に前記接地部に接近・離間させることで、姿勢変更用の操作量を少ないものにしながら、前傾姿勢から後傾姿勢にわたる広い範囲で姿勢変更させることが可能となる状態で、請求項１を実施するのに好適な手段が得られる。
【００１７】
【発明の実施の形態】
以下、本発明の実施の形態を、図面に基づいて説明する。
図１に示すように、左右一対のクローラ走行装置１Ｒ，１Ｌ（走行装置に相当する）、刈取穀稈を脱穀処理する脱穀装置３、脱穀された穀粒を貯留する穀粒タンク４、搭乗運転部２等を備えた走行機体Ｖに対して、稲や麦等の植立穀稈を刈り取って脱穀装置３に供給する刈取部Ａが昇降調節自在に備えられて、刈取収穫機としてのコンバインを構成してある。
【００１８】
刈取部Ａは、先端部に設けた分草具６、分草具６にて分草された植立穀稈を引き起こす引起し装置５、引き起こされた穀稈の株元側を切断するバリカン型の刈刃７、刈取穀稈を徐々に横倒れ姿勢に変更しながら後方側に搬送する縦搬送装置８等にて構成され、走行機体Ｖの前部に横軸芯Ｐ１周りに刈取部昇降手段の一例としての油圧式の刈取シリンダＣ１によって揺動昇降自在に設けられている。
尚、上記分草具６の後方側箇所に、刈取部Ａの地面に対する高さを検出する刈高さ検出手段としての超音波式の刈高さセンサ９が設けられている。詳述はしないが、この刈高さセンサ９は、下方側に向けて超音波を発信してから受信するまでの時間を計測することで、刈取部Ａの地面に対する高さを検出するように非接触式に構成されている。
又、上記横軸芯Ｐ１の機体箇所には、刈取部Ａの揺動に伴って出力値が変化するポテンショメータ式の昇降位置センサ１０が設けられている。つまり、この昇降位置センサ１０が刈取部Ａの走行機体Ｖに対する昇降位置を検出する昇降位置検出手段を構成する。
【００１９】
そして、このコンバインでは、走行機体Ｖを左右のクローラ走行装置１Ｒ，１Ｌの接地部に対して前後方向に傾ける前後姿勢変更手段が設けられている。以下、その構成について説明する。
先ず、左右のクローラ走行装置１Ｒ，１Ｌの走行機体Ｖへの取付構造を説明する。尚、左右のクローラ走行装置１Ｒ，１Ｌは夫々同一構成であるから、そのうち左側のクローラ走行装置１Ｌについて以下に説明し、右側のクローラ走行装置１Ｒについてはその説明を省略する。
図２に示すように、走行機体Ｖを構成する前後向き姿勢の主フレーム１１に対して固定される支持フレーム１２の前端側には駆動スプロケット１３が回転自在に支持されるとともに、この複数個の遊転輪体１４を前後方向に並べた状態で枢支され、且つ、後端部にテンション輪体１５を支持したトラックフレーム１６が前記支持フレーム１２に対して上下動可能に装着されている。そして、前記駆動スプロケット１３とテンション輪体１５及び各遊転輪体１４にわたり無端回動体であるクローラベルトＢが巻回されている。
前記支持フレーム１２の前部側には水平軸芯Ｐ２周りで回動可能に側面視で略Ｌ字形に構成される前ベルクランク１７ａが枢支され、支持フレーム１２の後部側には水平軸芯Ｐ３周りで回動可能に側面視で略Ｌ字形に構成される後ベルクランク１７ｂが枢支されている。そして、前ベルクランク１７ａの下方側端部がトラックフレーム１６の前部側個所に枢支連結され、後ベルクランク１７ｂの下方側端部は、ストローク吸収用の補助リンク１７ｂ１を介して、トラックフレーム１６の後部側個所に枢支連結されている。
一方、前後ベルクランク１７ａ，１７ｂの夫々の上方側端部には、夫々、油圧シリンダＣ２，Ｃ３のシリンダロッドが連動連結されている。前記各油圧シリンダＣ２，Ｃ３のシリンダ本体側は主フレーム１１における横フレーム部分に枢支連結されており、前記各油圧シリンダＣ２，Ｃ３は夫々複動型の油圧シリンダにて構成されている。
【００２０】
そして、前ベルクランク１７ａに対応する油圧シリンダＣ２（以下、左前シリンダという）を最も伸張させるとともに、後ベルクランク１７ｂに対応する油圧シリンダＣ３（以下、左後シリンダという）を最も短縮させると、図２に示すように、トラックフレーム１６が支持フレーム１２に受け止め支持され、トラックフレーム１６が主フレーム１１に最も近づいてほぼ平行状態となる。この状態を下限基準姿勢という。
この下限基準姿勢にある状態から、左後シリンダＣ３をそのままの状態に維持しながら左前シリンダＣ２を短縮作動させると、図３に示すように、走行機体Ｖの前部側を接地部に対して離間する方向に姿勢変更（即ち、上昇操作）することになる。又、前記下限基準姿勢にある状態から、左前シリンダＣ２をそのままの状態に維持しながら左後シリンダＣ３を伸長作動させると、図４に示すように、走行機体Ｖの後部側を接地部に対して離間する方向に姿勢変更（即ち、上昇操作）することになる。
【００２１】
尚、図５に示すように、右側のクローラ走行装置１Ｒにおいても同様に、機体前部側に位置する右前シリンダＣ４と、機体後部側に位置する右後シリンダＣ５とが夫々備えられ、左側のクローラ走行装置１Ｌと同様な動作を行うことになる。
【００２２】
従って、前記下限基準姿勢にある状態から、左後シリンダＣ３及び右後シリンダＣ５を、夫々、そのままの状態に維持しながら、左前シリンダＣ２及び右前シリンダＣ４を同時に短縮作動させると、走行機体Ｖの前部側が左右クローラ走行装置１Ｒ，１Ｌの夫々の接地部に対してほぼ同量づつ上昇して後傾姿勢に姿勢変化することになる。又、前記下限基準姿勢にある状態から、左前シリンダＣ２及び右前シリンダＣ４を、夫々、そのままの状態に維持しながら、左後シリンダＣ３及び右後シリンダＣ５を同時に伸長作動させると、走行機体Ｖの後部側が左右クローラ走行装置１Ｒ，１Ｌの夫々の接地部に対してほぼ同量づつ上昇して前傾姿勢に姿勢変化することになる。このようにして、前記走行機体Ｖを前記接地部に対して前後方向に傾けるピッチング作動を実行することができる。そして、上述したような、前記左前シリンダＣ２及び右前シリンダＣ４が前部側機体昇降手段に対応し、左後シリンダＣ３及び右後シリンダＣ５が後部側機体昇降手段に対応して、これら４個の機体姿勢変更用のシリンダＣ２〜Ｃ５にて前後姿勢変更手段が構成されることになる。
【００２３】
尚、前記４個の機体姿勢変更用のシリンダＣ２，Ｃ３，Ｃ４，Ｃ５を利用して、左右のクローラ走行装置１Ｒ，１Ｌの接地部に対して走行機体Ｖの左右傾斜角を変更操作するローリング作動を実行することができる。
例えば、左右クローラ走行装置１Ｒ，１Ｌが夫々前記下限基準姿勢にある状態から、左前シリンダＣ２を短縮作動させるとともに、左後シリンダＣ３を伸長作動させると、走行機体Ｖの右側がそのままに維持されて走行機体Ｖの左側が接地部に対して上昇して、機体が左上がり傾斜姿勢に変更することになる。同様にして右側のクローラ走行装置１Ｒを作動させると、機体が右上がり傾斜姿勢に変更することになる。尚、図５にも示すように、左右クローラ走行装置１Ｒ，１Ｌにおける前記各ベルクランク１７ａ，１７ｂの回動支点部に対応する箇所に、その回動量に基づいて前記各油圧シリンダＣ２，Ｃ３，Ｃ４，Ｃ５の伸縮作動したストローク量を検出するポテンショメータ形のストロ−クセンサ１８，１９，２０２１が設けられている。
【００２４】
図５に示すように、マイクロコンピュータ利用の制御装置２２（制御手段の一例）が設けられ、この制御装置２２に、前記各ストロークセンサ１８〜２１、昇降位置センサ１０、刈高さセンサ９、及び、走行機体Ｖの水平基準面に対する左右傾斜角を検出する重力式の左右傾斜角センサ２３、走行機体Ｖの水平基準面に対する前後傾斜角を検出する重力式の前後傾斜角センサ２４の各検出情報が入力されている。又、搭乗運転部２には、走行機体Ｖの水平基準面に対する左右傾斜角を設定する左右傾斜角設定器２５、走行機体Ｖの水平基準面に対する前後傾斜角を設定する前後傾斜角設定器２６、及び、走行機体Ｖに対する刈取部Ａの地面に対する高さ即ち刈取高さを設定するボリューム式の刈高さ設定器２７が設けられ、その各情報も制御装置２２に入力されている。
【００２５】
更に、搭乗運転部２には、刈取部Ａの上昇指令及び下降指令を指令する手動操作式の昇降指令手段としての刈取昇降レバー２８が設けられている。つまり、この刈取昇降レバー２８を中立位置から上昇位置に操作すると上昇スイッチＳＷ１がオンするとともに、下降位置に操作すると下降スイッチＳＷ２がオンするように構成され、その各スイッチＳＷ１，ＳＷ２の検出情報（指令情報）が制御装置２２に入力されている。従って、上昇スイッチＳＷ１がオンする上昇指令が指令され、下降スイッチＳＷ２がオンすると下降指令が指令されることになる。
一方、制御装置２２からは、前記刈取シリンダＣ１及び前記４個の機体姿勢変更用のシリンダＣ２〜Ｃ５を油圧制御するための油圧制御用の電磁弁２９〜３３に対する駆動信号が夫々出力される構成となっている。
【００２６】
前記制御装置２２は、刈取作業中等において、自動入切スイッチ３４にて自動制御モードが設定されていると、刈高さセンサ９の検出値が刈高さ設定器２７にて設定された設定刈高さに維持されるように刈取シリンダＣ１を作動させる刈高さ制御、左右傾斜角センサ２３の検出値が左右傾斜角設定器２５にて設定された値になるように自動でローリング作動するローリング制御、前後傾斜角センサ２４の検出値が前後傾斜角設定器２６にて設定された値になるように自動でピッチング作動するピッチング制御の夫々を実行するように構成されている。
【００２７】
そして、制御装置２２は、刈取昇降レバー２８の手動操作による昇降指令があれば、後述するような手動による刈取部昇降操作を実行するように構成されている。尚、自動制御モードがオフになっているときには、この手動による昇降操作を実行し、上記したような自動制御モードにて各制御が実行されているときであっても、刈取昇降レバー２８による昇降指令があれば、手動による昇降操作がそれらの制御に優先して実行することになる。
【００２８】
制御装置２２は、刈取昇降レバー２８の上昇指令に基づいて、刈取部Ａが走行機体Ｖに対して上昇するように刈取シリンダＣ１を作動させる刈取部上昇動作、並びに、走行機体Ｖを左右クローラ走行装置１Ｒ，１Ｌの接地部に対して後傾姿勢側に傾けるように前記４個の機体姿勢変更用のシリンダＣ２〜Ｃ５のうちのいずれかのシリンダを作動させる機体後傾動作を実行するように構成され、しかも、刈取部上昇動作を優先的に実行し、その刈取部上昇動作によって刈取部が走行機体Ｖに対する昇降調節範囲の上限位置に達すると前記機体後傾動作を実行するように構成されている。
又、刈取昇降レバー２８による手動の下降指令に基づいて、刈取部Ａが走行機体Ｖに対して下降するように刈取シリンダＣ１を作動させる刈取部下降動作、並びに、走行機体Ｖをクローラ走行装置１Ｒ，１Ｌの接地部に対して前傾姿勢側に傾けるように前記４個の姿勢変更用のシリンダＣ２〜Ｃ５のうちのいずれかのシリンダを作動させる機体前傾動作を実行するように構成され、しかも、刈取部下降動作を優先的に実行し、その刈取部下降動作によって刈取部が走行機体Ｖに対する昇降調節範囲の下限位置に達すると機体前傾動作を実行するように構成されている。
【００２９】
更に、制御装置２２は、前記上昇指令が指令されたときに、刈取部Ａが走行機体Ｖに対する昇降調節範囲の下限位置で且つ走行機体Ｖが前記接地部に対して前傾姿勢になっていると、前記刈取部上昇動作に先立って、走行機体Ｖを接地部に対して平行となる水平姿勢へ戻す操作を優先的に実行するとともに、前記下降指令が指令されたときに、刈取部Ａが走行機体Ｖに対する昇降調節範囲の上限位置で且つ走行機体Ｖが接地部に対して後傾姿勢になっていると、前記刈取部下降動作に先立って、走行機体Ｖを接地部に対して平行となる水平姿勢へ戻す操作を優先的に実行するように構成されている。
【００３０】
前記機体後傾動作について説明を加えると、左後シリンダＣ３と右後シリンダＣ５の夫々に対応するストロークセンサ１９，２１の検出値により、走行機体Ｖの後部側が接地部に対して昇降調節範囲の下限位置に達していなければ、左後シリンダＣ３と右後シリンダＣ５とを同時に短縮作動させて後傾姿勢に傾ける動作を実行する。又、走行機体Ｖの後部側が前記昇降調節範囲の下限位置に達していれば、左前シリンダＣ２と右前シリンダＣ４とを同時に短縮作動させて後傾姿勢に傾ける動作を実行する。
【００３１】
前記機体前傾動作について説明を加えると、左前シリンダＣ２と右前シリンダＣ４の夫々に対応するストロークセンサ１８，２０の検出値により、走行機体Ｖの前部側が前記接地部に対して昇降調節範囲の下限位置に達していなければ、左前シリンダＣ２と右前シリンダＣ４とを同時に伸長作動させて前傾姿勢に傾ける動作を実行する。又、走行機体Ｖの前部側が前記昇降調節範囲の下限位置に達していれば、左後シリンダＣ３と右後シリンダＣ５とを同時に伸長作動させて前傾姿勢に傾ける動作を実行する。
尚、上記刈取部Ａの走行機体Ｖに対する昇降調節範囲の上限位置又は下限位置に達しているか否かは前記昇降位置センサ１０の検出値に基づいて判断するようになっている。
【００３２】
次に、刈取昇降レバー２８の指令情報に基づく刈取部昇降制御について、図６のフローチャートに基づいて説明する。尚、制御装置２２は、この制御を実行する際に、４個の機体姿勢変更用のシリンダＣ２〜Ｃ５を作動制御するとき、機体姿勢を図２に示す下限基準姿勢にするように制御する構成としている。
図６に示すように、刈取昇降レバー２８の手動操作にて上昇スイッチＳＷ１がオンして上昇指令が指令されたときは、昇降位置センサ１０の検出情報に基づいて、刈取部Ａが昇降調節範囲の上限位置又は下限位置になくそれらの中間位置にあることが判断されると、刈取シリンダＣ１を作動させて刈取部Ａを上昇操作する（ステップ１、２、３）。この動作が刈取部上昇動作に対応する。そして、ステップ３における上記したような上昇操作が実行されることにより刈取部Ａが上限位置に達した後にも上昇指令が指令されていれば、又は、刈取昇降レバー２８にて上昇指令が指令されたときに刈取部Ａが既に上限位置にあれば、前記各ストロークセンサ１８〜２１の検出結果に基づいて、走行機体Ｖの後部側が左右クローラ走行装置１Ｒ、１Ｌの接地部に対して昇降調節範囲の下限位置に達しているか否かが判断され（ステップ４）、下限位置に達していなければ、左後シリンダＣ３と右後シリンダＣ５とを同時に短縮作動させて機体後部側を下降させて後傾姿勢に傾ける動作を実行する（ステップ５）。ステップ４にて、走行機体Ｖの後部側が前記昇降調節範囲の下限位置に達していれば、左前シリンダＣ２と右前シリンダＣ４とを同時に短縮作動させて機体前部を上昇させて後傾姿勢に傾ける動作を実行する（ステップ６）。前記ステップ５及びステップ６の動作が機体後傾動作に対応する。
従って、刈取部Ａが昇降調節範囲の中間位置にあれば、刈取部上昇動作を優先的に実行し、その刈取部上昇動作によって刈取部が走行機体Ｖに対する昇降調節範囲の上限位置に達すると機体後傾動作を実行することになる。
【００３３】
そして、前記上昇指令が指令されたときに、刈取部が走行機体Ｖに対する昇降調節範囲の下限位置であるときに、前記各ストロークセンサ１８〜２１の検出結果に基づいて、走行機体Ｖの後部側が左右クローラ走行装置１Ｒ，１Ｌの接地部に対して昇降調節範囲の下限位置に達しているか否かが判断され（ステップ７）、下限位置に達していなければ、つまり、走行機体Ｖが前記接地部に対して前傾姿勢になっていれば、左後シリンダＣ３と右後シリンダＣ５とを同時に短縮作動させて機体後部側を下降させて、前記走行機体Ｖを前記接地部に対して平行となる水平姿勢へ戻す操作を優先して実行する（ステップ８）。
【００３４】
次に、刈取昇降レバー２８の手動操作にて下降スイッチＳＷ２がオンして下降指令が指令されたときは、昇降位置センサ１０の検出情報に基づいて、刈取部Ａが昇降調節範囲の上限位置又は下限位置になくそれらの中間位置にあることが判断されると、昇降シリンダＣ１を作動させて刈取部Ａを下降操作する（ステップ１、９、１０）。この動作が刈取部下降動作に対応する。そして、ステップ１０における上記したような下降操作が実行されることにより刈取部Ａが下限位置に達した後にも下降指令が指令されていれば、又は、刈取昇降レバー２８にて下降指令が指令されたときに既に刈取部Ａが下限位置にあれば、前記各ストロークセンサ１８〜２１の検出結果に基づいて、走行機体Ｖの前部側が前記接地部に対して昇降調節範囲の下限位置に達しているか否かが判断され（ステップ１１）、下限位置に達していなければ、左前シリンダＣ２と右前シリンダＣ４とを同時に短縮作動させて機体前部側を下降させて前傾姿勢に傾ける動作を実行する（ステップ１２）。ステップ１１にて、走行機体Ｖの前部側が前記昇降調節範囲の下限位置に達していれば、左後シリンダＣ３と右後シリンダＣ５とを同時に伸長作動させて機体後部を上昇させて前傾姿勢に傾ける動作を実行する（ステップ１３）。前記ステップ１２及びステップ１３の動作が機体前傾動作に対応する。
従って、刈取部Ａが昇降調節範囲の中間位置にあれば、刈取部下降動作を優先的に実行し、その刈取部下降動作によって刈取部が走行機体Ｖに対する昇降調節範囲の下限位置に達すると機体前傾動作を実行することになる。
【００３５】
そして、前記下降指令が指令されたときに、刈取部が走行機体Ｖに対する昇降調節範囲の上限位置であるときに、前記各ストロークセンサ１８〜２１の検出結果に基づいて、走行機体Ｖの前部側が接地部に対して昇降調節範囲の下限位置に達しているか否かが判断され（ステップ１４）、下限位置に達していなければ、つまり、走行機体Ｖが前記接地部に対して後傾姿勢になっていれば、左前シリンダＣ２と右前シリンダＣ４とを同時に伸長作動させて機体前部側を下降させて、前記走行機体Ｖを前記走行装置の接地部に対して平行となる水平姿勢へ戻す操作を優先して実行する（ステップ１５）。
【００３６】
上記したように構成することで、刈取昇降レバー２８による手動の昇降指令に伴う刈取部Ａの昇降調節可能な範囲を、刈取シリンダＣ１による昇降調節範囲よりも大きくすることができる。その結果、乾田圃場等での刈取作業を実行するときには、刈取部の昇降操作は、前記刈取シリンダＣ１による昇降操作にて充分対応することができるが、例えば、非常に軟弱な圃場で刈取作業を行う場合において、刈取作業走行を行うと、図７に仮想線で示すようにクローラ走行装置１Ｒ、１Ｌによる泥土の掻き込みや機体重量の慣性力等により走行機体Ｖが極端な後傾姿勢になってしまうことがあり、このとき、刈取シリンダＣ１による昇降操作だけでは、刈取部Ａの下降量が充分でないおそれがあるが、このような場合であっても、上記したような機体前傾動作を実行することで、図７に実線で示すように刈取部Ａを適切な位置にまで下降させることができる。
【００３７】
又、ある圃場での刈取作業を開始する場合に、図８に示すように、畦越えして圃場内に進入するように走行しながら刈取作業を開始する場合があるが、このとき、畦を越えて圃場内に進入するときに、図８に仮想線で示すように極端な前傾姿勢になってしまうおそれがある。このとき、刈取シリンダＣ１による昇降操作だけで刈取部Ａを上昇させると、上昇量が充分でなく、圃場面に刈取部Ａの先端が突っ込んでしまうおそれがあるが、このとき、上記したような機体後傾動作を実行することで、図８に実線で示すように刈取部Ａの突っ込みを回避できる位置まで上昇させることができるのである。しかも、上記構成によれば、一つの刈取昇降レバー２８の前後揺動操作によって、上記刈取部の昇降動作並びに走行機体の前後姿勢変更動作を実行するようにしたので、例えば刈取部の昇降を指令する操作具と、走行機体の前後姿勢変更動作を指令する操作具とを各別に操作するものに比べて、操作負担を軽減させることができる。
そして、動作併用モードと、刈取部単独昇降モードとに切り換え自在な手動操作式のモード切換スイッチを備え、このモード切換スイッチを動作併用モードに切り換えておくと、前記刈取昇降レバー２８の上昇指令に基づいて前記刈取部上昇動作並びに前記機体後傾動作を実行し、前記刈取昇降レバー２８の下降指令に基づいて、前記刈取部下降動作並びに前記機体前傾動作を実行する状態となり、刈取部単独昇降モードに切り換えると、前記刈取昇降レバー２８に指令に基づいて刈取部上昇動作と刈取部下降動作だけを行う状態となるように構成されている。
尚、前記刈取部単独昇降モードにおいて前記前後姿勢変更手段を作動させる指令手段を別途設ける構成としてもよい。
【００３８】
〔別実施形態〕
次に別実施形態を列記する。
【００４１】
（１）上記実施形態では、前記上昇指令が指令されたときに刈取部が上限位置になければ、前記刈取部上昇動作を機体後傾動作に優先して実行し、前記下降指令が指令されたときに刈取部が下限位置になければ、前記刈取部下降動作を機体前傾動作に優先して実行する構成としたが、このような構成に代えて、次のように構成してもよい。
例えば、図９に示すように、刈取昇降レバー２８の握り部２８ａの先端部に押しボタン式のスイッチＳＷ３を備えて、このスイッチＳＷ３を押し操作しながら上昇指令や下降指令が指令されると、上昇指令に基づいて刈取部上昇動作と機体後傾動作とを同時に行い、下降指令に基づいて刈取部下降動作と機体前傾動作とを同時に行う同時操作構成とし、前記押しボタン式のスイッチを押し操作しなけば、上記したような刈取部上昇動作や機体下降動作を、機体後傾動作や機体前傾動作よりも優先して実行する優先動作構成としてもよい。
又、上記したような押し操作式のスイッチに代えて、２位置切換式で且つ位置保持形のスイッチにて、上記した同時操作構成と優先動作構成とを切り換える構成でもよい。その場合、このスイッチは刈取昇降レバーの握り部でなく搭乗運転部のパネルに備えてもよい。
【００４２】
（２）上記実施形態では、前記上昇指令に基づいて、刈取部上昇動作を行って刈取部Ａが上限位置に達した後、すぐに、機体後傾動作を行う構成としたが、このような構成に代えて、刈取部上昇動作を行って刈取部Ａが上限位置に達した後、前記上昇指令が設定時間以上継続して指令されているときにのみ、機体後傾動作を行うようにしてもよい。
このような動作は、上昇指令に限らず、下降指令に対しても同様に実施してもよい。
【００４４】
（３）上記実施形態では、前記前後姿勢変更手段が、前部側機体昇降手段（前記左前シリンダＣ２及び前記右前シリンダＣ４）と、後部側機体昇降手段（前記左後シリンダＣ３及び前記右後シリンダＣ５）とを備えて構成されるものを例示したが、このような構成に代えて、次のように構成してもよい。
例えば、走行機体を走行装置のフレーム（トラックフレーム）に対して、一つの横軸芯周りで前後傾動操作自在に支持して一つのアクチュエータにて、走行機体を走行装置の接地部に対して前後方向に傾動させる構成としてもよい。このとき、前記横軸芯の配置箇所は機体前部側でもよく後部側箇所でもよく、前後中間位置でもよい。
【００４５】
（４）上記実施形態では、走行装置を、左右一対のクローラ走行装置１で構成したが、これに限るものではなく、例えば、単一の走行装置でもよく、又、クローラ式ではなく車輪式の走行装置でもよい。又、上記実施形態では、刈取部昇降手段、前部側機体昇降手段、及び、後部側機体昇降手段の夫々を油圧シリンダにて構成したが、これに限るものではなく、電動モータとネジ送り機構等、他の駆動機構にて構成してもよい。
【００４６】
（５）上記実施形態では、手動操作式の昇降指令手段を、刈取昇降レバーにて構成したが、これに限るものではなく、例えば刈取部の上昇と下降を各別に指令する一対の押しボタン式のスイッチ等で構成してもよい。
【００４７】
（６）上記実施形態では、コンバインを自脱型のコンバインにて構成したが、これ以外に、全稈投入式の普通型コンバイン等でもよい。
【図面の簡単な説明】
【図１】コンバインの前部を示す側面図
【図２】走行装置の昇降操作構成を示す側面図
【図３】走行装置の昇降操作構成を示す側面図
【図４】走行装置の昇降操作構成を示す側面図
【図５】制御構成を示すブロック図
【図６】制御作動を示すフローチャート
【図７】湿田での刈取作業状態を示すコンバインの側面図
【図８】畦越え進入時のコンバインの側面図
【図９】別実施形態の昇降操作レバーの斜視図
【符号の説明】
１Ｒ，１Ｌ走行装置
２２制御手段
２８昇降指令手段
Ａ刈取部
Ｃ１刈取部昇降手段
Ｃ２，Ｃ４前部側機体昇降手段
Ｃ３，Ｃ５後部側機体昇降手段
Ｖ走行機体[0001]
BACKGROUND OF THE INVENTION
The present invention includes a cutting unit lifting / lowering unit that lifts and lowers a cutting unit with respect to a traveling machine body including a traveling device, a manually operated lifting / lowering command unit that commands a lifting command and a lowering command of the cutting unit, and the lifting command. The present invention relates to a harvesting and harvesting machine provided with control means for controlling the operation of the harvesting part lifting means based on command information of the means.
[0002]
[Prior art]
In the harvesting and harvesting machine having the above-described configuration, conventionally, as shown in, for example, Japanese Patent Laid-Open No. 9-74854, planted cereal grains on the front side of a traveling machine body provided with a crawler traveling apparatus which is an example of a traveling apparatus. A mowing unit for mowing the cocoon is a hydraulic cylinder for raising and lowering the mowing unit as a mowing unit raising and lowering means, and is provided in a state in which the hoisting unit can be raised and lowered over a predetermined raising and lowering adjustment range. Actuating the hydraulic cylinder based on a manual operation of the lifting / lowering lever as a command means to raise the cutting part, or operating the hydraulic cylinder based on a manual operation of the cutting / lifting lever to perform the harvesting. The part is lowered.
[0003]
[Problems to be solved by the invention]
However, the conventional techniques as described above still have room for improvement in the following aspects.
When the harvesting work is performed with the harvesting and harvesting machine as described above, if the field to be harvested is a soft field, when the traveling apparatus is driven and the body is run, the harvesting work is performed, for example, FIG. As shown in FIG. 2, the traveling machine body V may be in a state of being lifted forward by being largely inclined due to the mud scraping by the traveling device. At this time, in order to set the cutting height by the cutting unit to the set height, the driver operates the cutting lift lever to lower the cutting unit with respect to the traveling machine body. However, in the above-described prior art, when the degree of forward ascent of the aircraft is large, as shown by the phantom line in FIG. 7, even if the cutting part is lowered to the lower limit position of the elevation adjustment range with respect to the traveling aircraft. The cutting part A cannot be lowered until the cutting height reaches a desired setting height, and the cutting height may be higher than the setting height.
[0004]
In addition, when a cutting operation is performed in a certain farm using the harvesting and harvesting machine as described above, the farm may enter the farm while getting over the fence. At this time, for example, as shown in FIG. 8, since the cocoon is higher than the farm scene, the aircraft is in a front-lowering state when it gets over the cocoon and enters the farm field. In order not to come into contact with the farm scene or to be pushed in, the driver operates the cutting lift lever to raise the cutting unit A relative to the traveling machine body V. However, in the above prior art, when the degree of forward drop of the aircraft is large, as shown by the phantom line in FIG. 8, even if the harvesting portion is raised to the upper limit position of the lifting adjustment range with respect to the traveling aircraft, There was a risk that the cutting portion or the like could be damaged by the tip of the cutting portion coming into contact with or thrusting into the field without being raised sufficiently.
[0005]
The present invention has been made paying attention to such a point, and its purpose is to eliminate the disadvantages of the prior art as described above, and to issue an instruction for raising and lowering the reaping part without lowering the maneuverability. By the command by the manual operation type lifting command means to command, it is possible to avoid the cutting part plunging into the soil when over the heel, or to set the cutting height as much as possible even in the cutting work in a soft field It is in the point which provides the harvesting harvester which becomes possible to do so.
[0006]
[Means for Solving the Problems]
  According to the characteristic configuration of the first aspect of the present invention, the cutting unit lifting / lowering means for moving the cutting unit up and down with respect to the traveling machine body including the traveling device, and the manually operated type commanding the lifting command and the lowering command of the cutting unit. In a harvesting and harvesting machine provided with a raising / lowering command means and a control means for controlling the operation of the harvesting part raising / lowering means based on command information of the raising / lowering command means, the traveling machine body is connected to the grounding portion of the traveling device. Front / rear posture changing means for inclining in the front / rear direction is provided, and the control means is configured to raise the reaping part lifting / lowering means so that the reaping part ascends with respect to the traveling machine body based on the elevation command of the lifting / lowering instruction means. A lifting part raising operation for actuating the aircraft and a rearward tilting action for actuating the front / rear posture changing means to tilt the traveling vehicle body toward the backward tilting posture side with respect to the grounding part of the traveling device, Based on the lowering command of the means, a cutting part lowering operation for operating the cutting part lifting means so that the cutting part is lowered with respect to the traveling machine body, and the traveling machine body with respect to the grounding part of the traveling device The forward and backward posture changing means is operated so as to actuate the forward / backward posture changing means so as to tilt toward the forward leaning posture side., Equipped with a manually operated mode changeover switch that can be switched between the operation combined mode and the mowing unit single lifting mode, and when this mode changeover switch is switched to the operation combined mode, based on the ascending command of the lifting command means The mowing unit ascending operation and the machine body tilting operation are executed, and the mowing unit descending operation and the machine body tilting operation are executed based on the descending command of the ascending / descending command means, and the mode is switched to the mowing unit single ascending / descending mode. Then, only the cutting part ascending operation and the cutting part descending operation are performed based on the command to the elevation command means.
[0007]
That is, when a raising command of the raising / lowering command means is commanded by a manual operation, the cutting unit ascends with respect to the traveling machine body, and the traveling machine body is tilted backward with respect to the grounding unit of the traveling device. Since the tilting machine rearward tilting operation is performed, the cutting unit ascends with respect to the traveling aircraft body and the traveling aircraft body tilts to the backward tilting posture side, so that the cutting unit rises greatly. Even in the case where the traveling machine body is greatly lowered at the time of entry, the cutting part is compared with the conventional technique in which the cutting part rises within the lifting adjustment range with respect to the traveling machine body. It is possible to perform the ascending operation to a higher position with respect to the field scene.
[0008]
Further, when a lowering command is commanded by manual operation of the lifting command means, the cutting unit descends when the cutting unit descends with respect to the traveling machine body, and the traveling machine body is tilted forward with respect to the grounding part of the traveling device. As the cutting unit descends with respect to the traveling vehicle body and the traveling vehicle body tilts forward, the cutting unit moves up and down with respect to the traveling vehicle body as in the prior art. Compared to the above, the cutting part can be lowered relative to the field.
[0009]
In addition, since the raising / lowering operation of the cutting unit and the front / rear posture changing operation of the traveling machine body are executed by manual operation of the raising / lowering command means, for example, the operating tool that commands raising / lowering of the cutting unit and the front / rear posture of the traveling machine body The operation burden on the driver is not increased as compared with the case of operating the operation tool for instructing the changing operation separately. Further, the front and rear posture changing operation of the traveling aircraft as described above is to change the posture of the traveling aircraft from the state of the front rising posture or the front lowering posture so as to approach the horizontal posture. It gives a sense of security without giving the driver a sense of incongruity.
[0010]
Therefore, without increasing the operating burden on the driver, while not reducing the maneuverability, and in a state that gives the driver a sense of security, for example, when approaching over the heel, the reaping part is used as the grounding part of the traveling device. It is possible to avoid the contact with the farm scene and the rush and so on properly. It has come to be able to provide a harvesting and harvesting machine that can greatly reduce the height of the cutting unit with respect to the grounding part of the traveling device and set the cutting height as high as possible.
[0011]
  Also,Claim1According to the feature configuration described in,PreviousThe control means preferentially executes the cutting part ascending operation based on the ascent command, and when the cutting part reaches the upper limit position of the lifting adjustment range with respect to the traveling machine body by the cutting part ascending operation, In addition to performing a tilting operation, based on the lowering command, the mowing unit lowering operation is preferentially performed, and when the mowing unit reaches the lower limit position of the lifting adjustment range with respect to the traveling machine body by the mowing unit lowering operation, The vehicle is configured to perform a forward tilting operation.
[0012]
  That is, the control means, based on the ascending command or the descending command, by executing the mowing part ascending operation and the mowing part descending operation in preference to the aircraft backward tilting operation and the aircraft forward tilting operation, By raising and lowering a cutting part having a smaller mass than that of the traveling machine body, the cutting part can be moved up and down more quickly than when a priority is given to changing the posture of the traveling machine body having a large mass. Then, when the lifting amount is not sufficient in the cutting unit raising operation and the cutting unit lowering operation, the cutting unit can be greatly raised and lowered by executing the aircraft rearward tilting operation and the aircraft forward tilting operation. It is.
  It is also possible to adopt a configuration in which the cutting unit ascending operation and the machine body tilting operation are performed simultaneously, and the cutting unit descending operation and the machine body tilting operation are performed simultaneously. In this case, if the lifting operation command is given, the traveling aircraft will always change its posture back and forth, and the aircraft will tilt forward and backward, so there is a disadvantage that the driver feels uncomfortable. It is possible to avoid the disadvantages described above by performing the airframe backward tilting operation and the airframe forward tilting operation only when the lifting / lowering amount is not sufficient in the part raising operation and the cutting part lowering operation. .
  Therefore, there is little risk of discomfort to the driver due to the aircraft tilting back and forth each time there is an up / down operation command.GoodA suitable means is obtained.
[0013]
  Also,Claim1According to the feature configuration described in,PreviousThe control means is configured such that, when the ascent command is issued, the reaping portion is at a lower limit position of an elevation adjustment range with respect to the traveling machine body, and the traveling machine body is inclined forward with respect to the grounding part of the traveling device. Prior to the reaping part raising operation, the operation of returning the traveling body to a horizontal posture parallel to the grounding part of the traveling apparatus is preferentially executed, and when the lowering instruction is instructed. When the cutting unit is at the upper limit position of the elevation adjustment range with respect to the traveling machine body and the traveling machine body is tilted backward with respect to the grounding part of the traveling device, the traveling is performed prior to the cutting unit descending operation. An operation for returning the airframe to a horizontal posture parallel to the grounding portion of the traveling device is preferentially executed.
[0014]
  That is, it is not necessary to maintain the traveling aircraft body in an unstable forward leaning posture when the ascent command is issued in a state where the cutting unit is in the lower limit position and the traveling aircraft body is in the forward leaning posture. Similarly, when the lowering command is issued in a state where the cutting unit is at the upper limit position and the traveling vehicle body is in the backward tilting posture, the traveling aircraft body is maintained in an unstable backward tilting posture. Since there is no need, in such a case, the operation to return the traveling vehicle body to the horizontal posture is preferentially executed, so that the lifting operation of the cutting unit is performed in a state where the traveling vehicle body is in a horizontal posture and the posture is stable. can do.
  Therefore, it is possible to further reduce the possibility of giving the driver unpleasantness by performing the lifting operation of the cutting unit in a state where the traveling body is in a horizontal posture and the posture is stable.GoodA suitable means is obtained.
[0015]
  Claim2According to the characteristic configuration described in claim1The front-rear posture changing means includes a front-side body lifting / lowering means that allows the front side of the traveling machine body to be lifted / lowered relative to the grounding part, and a rear side of the traveling machine body is raised / lowered relative to the grounding part. The rear side body lifting / lowering means is configured to be operable, and the front side body lifting / lowering means causes the front side of the traveling body to approach the grounding part of the traveling device, and the rear side body lifting / lowering means By separating the rear side of the traveling machine body from the grounding part of the traveling device, the traveling machine body is configured to be inclined toward the forward leaning posture side, and the front side body lifting / lowering means moves the front side of the traveling machine body. While being separated from the grounding part of the traveling device, the rear side body lifting / lowering means causes the rear side of the traveling body to approach the grounding part of the traveling device, so that the traveling body is tilted to the rearward tilt posture side. Composed .
[0016]
  By moving the front side of the traveling body close to the grounding part of the traveling device by the front side body lifting / lowering means, and separating the rear side of the traveling body from the grounding part of the traveling device by the rear side body lifting / lowering means, Can be tilted forward. Further, the front side body lifting / lowering means separates the front side of the traveling machine body from the grounding part of the traveling apparatus, and the rear side body lifting / lowering means causes the rear side of the traveling body to approach the grounding part of the traveling apparatus. The aircraft can be tilted backwards.
  Therefore, for example, by supporting the traveling machine body so as to be rotatable around one horizontal axis with respect to the traveling device, and rotating the traveling machine body around the horizontal axis with respect to the traveling device by an actuator or the like, It is conceivable to adopt a configuration in which the forward leaning posture or the backward leaning posture is adopted. However, in this case, the amount of operation by the actuator is large in order to rotate in a wide range from the forward leaning posture to the backward leaning posture. However, according to the above-described configuration, the front and rear sides of the traveling machine body are moved from the forward leaning posture to the rearward leaning posture while reducing the amount of operation for posture change by approaching and separating the grounding unit from each other separately. In a state where the posture can be changed over a wide range,1Means suitable for implementation are obtained.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1, a pair of left and right crawler travel devices 1R and 1L (corresponding to travel devices), a threshing device 3 for threshing the harvested cereal, a grain tank 4 for storing the threshed grain, and boarding operation For the traveling machine body V provided with the section 2 and the like, a harvesting part A for harvesting planted cereals such as rice and wheat and supplying it to the threshing device 3 is provided to be adjustable up and down, and a combine as a harvesting harvester is provided. It is configured.
[0018]
The cutting part A includes a weeding tool 6 provided at the tip, a pulling device 5 that causes a planted culm that has been weeded by the weeding tool 6, and a clipper type that cuts the stock side of the induced culm. The cutting blade 7, the vertical conveying device 8 that conveys the harvested cereal rice cake to the rear side while gradually changing the posture to the horizontal position, etc., and the cutting unit lifting and lowering means around the horizontal axis P 1 at the front of the traveling machine body V As an example, a hydraulic cutting cylinder C1 is provided so as to be swingable up and down.
In addition, an ultrasonic cutting height sensor 9 as a cutting height detection means for detecting the height of the cutting portion A with respect to the ground is provided at the rear side portion of the weeding tool 6. Although not described in detail, the cutting height sensor 9 detects the height of the cutting part A relative to the ground by measuring the time from when the ultrasonic wave is transmitted downward to when it is received. It is configured in a non-contact manner.
Also, a potentiometer type lift position sensor 10 whose output value changes with the swinging of the cutting part A is provided at the machine body portion of the horizontal axis P1. That is, the lift position sensor 10 constitutes a lift position detection means for detecting the lift position of the cutting part A with respect to the traveling machine body V.
[0019]
And in this combine, the front-back attitude | position change means which inclines the traveling body V to the front-back direction with respect to the grounding part of right-and-left crawler traveling apparatus 1R, 1L is provided. Hereinafter, the configuration will be described.
First, a structure for attaching the left and right crawler traveling devices 1R, 1L to the traveling machine body V will be described. Since the left and right crawler traveling devices 1R and 1L have the same configuration, the left crawler traveling device 1L will be described below, and the description of the right crawler traveling device 1R will be omitted.
As shown in FIG. 2, a drive sprocket 13 is rotatably supported on the front end side of the support frame 12 fixed to the main frame 11 in the front-rear orientation that constitutes the traveling machine body V. A track frame 16 that is pivotally supported in a state where the idler wheels 14 are arranged in the front-rear direction and that supports a tension wheel 15 at the rear end is mounted to the support frame 12 so as to be movable up and down. A crawler belt B that is an endless rotating body is wound around the drive sprocket 13, the tension ring body 15, and each idler ring body 14.
A front bell crank 17a configured to be substantially L-shaped in a side view so as to be rotatable around a horizontal axis P2 is pivotally supported on the front side of the support frame 12, and a horizontal axis is provided on the rear side of the support frame 12. A rear bell crank 17b configured to be substantially L-shaped in a side view so as to be rotatable around P3 is pivotally supported. The lower end of the front bell crank 17a is pivotally connected to the front side portion of the track frame 16, and the lower end of the rear bell crank 17b is connected to the track frame via an auxiliary link 17b1 for absorbing the stroke. 16 is pivotally connected to the rear side portion.
On the other hand, the cylinder rods of the hydraulic cylinders C2 and C3 are connected to the upper end portions of the front and rear bell cranks 17a and 17b, respectively. The cylinder main body side of each of the hydraulic cylinders C2 and C3 is pivotally connected to the horizontal frame portion of the main frame 11, and each of the hydraulic cylinders C2 and C3 is constituted by a double-acting hydraulic cylinder.
[0020]
When the hydraulic cylinder C2 (hereinafter referred to as the left front cylinder) corresponding to the front bell crank 17a is most extended, the hydraulic cylinder C3 (hereinafter referred to as the left rear cylinder) corresponding to the rear bell crank 17b is most shortened. As shown in FIG. 2, the track frame 16 is received and supported by the support frame 12, and the track frame 16 comes closest to the main frame 11 and becomes substantially parallel. This state is called the lower limit reference posture.
If the left front cylinder C2 is shortened while maintaining the left rear cylinder C3 as it is from the lower limit reference posture, the front side of the traveling machine body V is brought into contact with the grounding portion as shown in FIG. The posture is changed (that is, the ascending operation) in the direction of separation. When the left rear cylinder C3 is extended from the lower limit reference posture while the left front cylinder C2 is maintained as it is, as shown in FIG. Therefore, the posture is changed (ie, the raising operation) in a direction away from the user.
[0021]
As shown in FIG. 5, the crawler travel device 1R on the right side is similarly provided with a right front cylinder C4 located on the front side of the machine body and a right rear cylinder C5 located on the rear side of the machine body. The same operation as that of the crawler traveling device 1L is performed.
[0022]
Accordingly, when the left front cylinder C2 and the right front cylinder C4 are simultaneously shortened while maintaining the left rear cylinder C3 and the right rear cylinder C5 as they are from the state of the lower limit reference posture, The front side rises by almost the same amount with respect to the respective grounding portions of the left and right crawler travel devices 1R, 1L, and changes its posture to a rearward tilt posture. Further, when the left rear cylinder C3 and the right rear cylinder C5 are simultaneously extended while maintaining the left front cylinder C2 and the right front cylinder C4 as they are from the state of the lower limit reference posture, The rear side of the left and right crawler traveling devices 1R, 1L rises by almost the same amount and changes its posture to a forward tilt posture. In this manner, a pitching operation for tilting the traveling machine body V in the front-rear direction with respect to the grounding portion can be executed. As described above, the left front cylinder C2 and the right front cylinder C4 correspond to the front side body lifting / lowering means, and the left rear cylinder C3 and the right rear cylinder C5 correspond to the rear side body lifting / lowering means. The cylinder posture changing cylinders C2 to C5 constitute the front and rear posture changing means.
[0023]
Rolling for changing the right and left tilt angles of the traveling machine body V with respect to the ground contact portions of the left and right crawler traveling devices 1R and 1L using the four cylinder body changing cylinders C2, C3, C4 and C5. The operation can be performed.
For example, when the left front cylinder C2 is shortened and the left rear cylinder C3 is extended from the state where the left and right crawler travel devices 1R and 1L are respectively in the lower limit reference posture, the right side of the traveling machine body V is maintained as it is. The left side of the traveling machine body V rises with respect to the grounding portion, and the machine body is changed to a left-up tilted posture. Similarly, when the right crawler traveling device 1R is operated, the airframe is changed to a right-upward inclined posture. As shown also in FIG. 5, the hydraulic cylinders C2, C3, C3, C3, C3, C3, C1 and C1 at the positions corresponding to the rotation fulcrum portions of the bell cranks 17a, 17b on the left and right crawler travel devices 1R, 1L. There are provided potentiometer type stroke sensors 18, 19, 2021 for detecting the amount of stroke of C4 and C5 which are expanded and contracted.
[0024]
As shown in FIG. 5, a microcomputer-based control device 22 (an example of a control unit) is provided. The control device 22 includes the stroke sensors 18 to 21, the lift position sensor 10, the cutting height sensor 9, and The gravity-type left / right inclination angle sensor 23 for detecting the left / right inclination angle with respect to the horizontal reference plane of the traveling machine body V, and the detection information of the gravity-type front / rear inclination angle sensor 24 for detecting the front / rear inclination angle with respect to the horizontal reference plane of the traveling machine body V. Is entered. Further, the boarding operation unit 2 includes a left / right inclination angle setting device 25 for setting a left / right inclination angle with respect to the horizontal reference plane of the traveling vehicle body V, and a front / rear inclination angle setting device 26 for setting a front / rear inclination angle with respect to the horizontal reference surface of the traveling vehicle body V. In addition, a volume-type cutting height setting device 27 for setting the height of the cutting unit A with respect to the ground with respect to the traveling machine body V, that is, a cutting height, is provided, and each piece of information is also input to the control device 22.
[0025]
Further, the boarding operation unit 2 is provided with a cutting lift lever 28 as a manually operated lift command means for instructing a lifting command and a lowering command for the cutting unit A. That is, when the cutting lift lever 28 is operated from the neutral position to the raised position, the raising switch SW1 is turned on, and when it is moved to the lowered position, the lowering switch SW2 is turned on. The detection information ( Command information) is input to the control device 22. Therefore, an ascending command for turning on the ascending switch SW1 is instructed, and a descending command is instructed when the descending switch SW2 is turned on.
On the other hand, the control device 22 outputs drive signals to the hydraulic control solenoid valves 29 to 33 for hydraulic control of the cutting cylinder C1 and the four body posture changing cylinders C2 to C5, respectively. It has become.
[0026]
When the automatic control mode is set by the automatic on / off switch 34 during the cutting operation or the like, the control device 22 sets the cutting value that is detected by the cutting height sensor 9 by the cutting height setting unit 27. Cutting height control that operates the cutting cylinder C1 so as to be maintained at a height, and rolling that automatically performs rolling so that the detected value of the left / right inclination angle sensor 23 becomes a value set by the left / right inclination angle setting device 25. Each of the control and the pitching control for automatically performing the pitching operation so that the detection value of the front / rear inclination angle sensor 24 becomes the value set by the front / rear inclination angle setting unit 26 is executed.
[0027]
The control device 22 is configured to execute a manual lifting / lowering operation of the cutting unit as will be described later if there is a lifting / lowering command by manual operation of the cutting / lifting lever 28. When the automatic control mode is off, the manual lifting operation is executed. Even when each control is executed in the automatic control mode as described above, the lifting / lowering lever 28 is used for the lifting / lowering operation. If there is a command, the manual lifting operation is executed with priority over those controls.
[0028]
The controller 22 raises the cutting unit C1 to operate the cutting cylinder C1 so that the cutting unit A rises with respect to the traveling machine body V based on the raising command of the cutting lift lever 28, and the left and right crawler travels the traveling machine body V. A body rearward tilting operation is performed in which any one of the four body posture changing cylinders C2 to C5 is operated so as to be tilted backward with respect to the ground contact portions of the devices 1R and 1L. The cutting unit ascending operation is preferentially executed, and when the cutting unit reaches the upper limit position of the lifting adjustment range with respect to the traveling vehicle body V by the cutting unit rising operation, the aircraft body tilting operation is executed. ing.
Further, on the basis of a manual lowering command by the cutting lift lever 28, the cutting unit lowering operation for operating the cutting cylinder C1 so that the cutting unit A descends with respect to the traveling machine body V, and the traveling machine body V for the crawler traveling device 1R. , 1L is configured to perform a forward body tilting operation of actuating any one of the four posture changing cylinders C2 to C5 so as to tilt toward the forward tilting posture side with respect to the 1 L grounding portion, In addition, the cutting unit descending operation is preferentially executed, and when the cutting unit reaches the lower limit position of the ascending / descending adjustment range with respect to the traveling vehicle body V by the cutting unit descending operation, the forward body tilting operation is executed.
[0029]
Furthermore, when the raising command is issued, the control device 22 is such that the cutting part A is at the lower limit position of the elevation adjustment range with respect to the traveling machine body V, and the traveling machine body V is in a forward leaning posture with respect to the grounding part. And prior to the lifting operation, the operation of returning the traveling machine body V to a horizontal posture parallel to the grounding portion is preferentially executed, and when the lowering command is instructed, the cutting unit A When the traveling machine body V is in the rearward tilting position with respect to the grounding part at the upper limit position of the elevation adjustment range with respect to the traveling machine body V, the traveling machine body V is made parallel to the grounding part prior to the cutting part lowering operation. The operation for returning to the horizontal posture is preferentially executed.
[0030]
When the aircraft rearward tilting operation is described, the rear side of the traveling machine body V is in the range of the elevation adjustment range with respect to the grounding part by the detection values of the stroke sensors 19 and 21 corresponding to the left rear cylinder C3 and the right rear cylinder C5, respectively. If the lower limit position has not been reached, the left rear cylinder C3 and the right rear cylinder C5 are simultaneously shortened and tilted to a rearward tilting posture. If the rear side of the traveling machine body V has reached the lower limit position of the up-and-down adjustment range, the left front cylinder C2 and the right front cylinder C4 are simultaneously shortened and tilted to the rearward tilt posture.
[0031]
When the aircraft forward tilting operation is described, the front side of the traveling vehicle body V is in the range of elevation adjustment with respect to the grounding portion by the detection values of the stroke sensors 18 and 20 corresponding to the left front cylinder C2 and the right front cylinder C4, respectively. If the lower limit position has not been reached, an operation is performed in which the left front cylinder C2 and the right front cylinder C4 are simultaneously extended and tilted to a forward tilt posture. Further, if the front side of the traveling machine body V has reached the lower limit position of the up-and-down adjustment range, the left rear cylinder C3 and the right rear cylinder C5 are simultaneously extended and tilted to the forward tilt posture.
Whether or not the upper limit position or the lower limit position of the lifting adjustment range with respect to the traveling machine body V of the cutting part A has been reached is determined based on the detection value of the lifting position sensor 10.
[0032]
Next, the cutting part lifting control based on the command information of the cutting lifting lever 28 will be described based on the flowchart of FIG. The control device 22 is configured to control the airframe posture to the lower limit reference posture shown in FIG. 2 when operating the four airframe posture changing cylinders C2 to C5 when executing this control. It is said.
As shown in FIG. 6, when the lift switch SW1 is turned on by manual operation of the cutting lift lever 28 and a lift command is instructed, the cutting unit A moves up and down based on the detection information of the lift position sensor 10. When it is determined that the position is not in the upper limit position or the lower limit position but in the intermediate position, the cutting cylinder C1 is operated to raise the cutting portion A (steps 1, 2, and 3). This operation corresponds to the cutting unit ascending operation. Then, if the ascending command is commanded even after the cutting part A reaches the upper limit position by performing the ascending operation as described above in Step 3, or the ascending command is commanded by the trimming lift lever 28. If the cutting part A is already in the upper limit position, the rear side of the traveling machine body V is raised and lowered with respect to the grounding part of the left and right crawler traveling devices 1R, 1L based on the detection results of the stroke sensors 18-21. It is determined whether or not the lower limit position has been reached (step 4). If the lower limit position has not been reached, the left rear cylinder C3 and the right rear cylinder C5 are simultaneously shortened to lower the rear side of the fuselage and tilt backward. An operation of tilting to the posture is executed (step 5). In step 4, if the rear side of the traveling machine body V has reached the lower limit position of the elevation adjustment range, the left front cylinder C2 and the right front cylinder C4 are simultaneously shortened to raise the front part of the machine body and tilt it to a rearward tilting posture. The operation is executed (step 6). The operations in Step 5 and Step 6 correspond to the backward tilting motion of the aircraft.
Therefore, if the cutting unit A is at an intermediate position of the lifting adjustment range, the cutting unit ascending operation is preferentially executed, and when the cutting unit reaches the upper limit position of the lifting adjustment range with respect to the traveling vehicle body V by the cutting unit lifting operation, the aircraft A backward tilting operation is executed.
[0033]
And when the said raising command is commanded, when the cutting part is the lower limit position of the elevation adjustment range for the traveling machine body V, the rear side of the traveling machine body V is determined based on the detection results of the stroke sensors 18 to 21. It is determined whether or not the lower limit position of the lift adjustment range has been reached with respect to the grounding portions of the left and right crawler traveling devices 1R and 1L (step 7), and if the lower limit position has not been reached, that is, the traveling machine body V is the grounding portion. If the vehicle is in a forward leaning posture, the left rear cylinder C3 and the right rear cylinder C5 are simultaneously shortened to lower the rear side of the machine body so that the traveling machine body V is parallel to the grounding unit. Priority is given to the operation of returning to the horizontal posture (step 8).
[0034]
Next, when the lowering switch SW2 is turned on by manual operation of the cutting lift lever 28 and a lowering command is instructed, the cutting unit A is based on the detection information of the lifting position sensor 10 or the upper limit position of the lifting adjustment range or If it is determined that the intermediate position is not in the lower limit position, the elevating cylinder C1 is actuated to lower the cutting part A (steps 1, 9, 10). This operation corresponds to the cutting unit lowering operation. Then, if the lowering command is commanded even after the cutting part A reaches the lower limit position by performing the lowering operation as described above in Step 10, or the lowering command is commanded by the cutting lift lever 28. If the cutting part A is already in the lower limit position, the front side of the traveling machine body V reaches the lower limit position of the lifting adjustment range with respect to the grounding part based on the detection results of the stroke sensors 18 to 21. (Step 11), if the lower limit position has not been reached, the left front cylinder C2 and the right front cylinder C4 are simultaneously shortened to lower the front side of the fuselage and tilt to a forward leaning posture. (Step 12). If the front side of the traveling machine body V has reached the lower limit position of the lift adjustment range in step 11, the left rear cylinder C3 and the right rear cylinder C5 are simultaneously extended to raise the rear part of the machine body and lean forward. (Step 13). The operations in steps 12 and 13 correspond to the forward tilting operation of the aircraft.
Therefore, if the cutting unit A is at an intermediate position of the lifting adjustment range, the cutting unit lowering operation is preferentially executed, and when the cutting unit reaches the lower limit position of the lifting adjustment range with respect to the traveling machine body V by the cutting unit lowering operation, the machine body A forward tilting operation is executed.
[0035]
Then, when the lowering command is instructed, the front part of the traveling machine body V is determined based on the detection results of the stroke sensors 18 to 21 when the cutting unit is at the upper limit position of the elevation adjustment range with respect to the traveling machine body V. It is determined whether or not the side has reached the lower limit position of the lifting adjustment range with respect to the grounding portion (step 14). If the lower limit position has not been reached, that is, the traveling machine body V is tilted backward with respect to the grounding portion. If this is the case, the left front cylinder C2 and the right front cylinder C4 are simultaneously extended and lowered to lower the front of the body, and the traveling body V is returned to a horizontal posture parallel to the grounding portion of the traveling device. Is executed with priority (step 15).
[0036]
By comprising as mentioned above, the range which can raise / lower the cutting part A accompanying the manual raising / lowering command by the cutting raising / lowering lever 28 can be made larger than the raising / lowering adjustment range by the cutting cylinder C1. As a result, when performing a cutting operation in a dry field, etc., the lifting operation of the cutting unit can be sufficiently handled by the lifting operation by the cutting cylinder C1, but for example, the cutting operation is performed in a very soft field. In this case, when the cutting operation is performed, the traveling machine body V is in an extremely backward tilted position due to the mud scraping by the crawler traveling devices 1R and 1L, the inertial force of the machine weight, and the like, as indicated by phantom lines in FIG. At this time, there is a possibility that the amount of lowering of the cutting part A is not sufficient only by the raising / lowering operation by the cutting cylinder C1, but even in such a case, the above-described forward tilting operation of the airframe is performed. By executing, the cutting part A can be lowered to an appropriate position as shown by a solid line in FIG.
[0037]
  In addition, when starting a cutting operation in a certain farm field, as shown in FIG. 8, there is a case where the cutting operation is started while traveling so as to pass over the basket and enter the field. When entering the agricultural field beyond this, there is a risk of an extreme forward leaning posture as shown in phantom lines in FIG. At this time, if the harvesting part A is raised only by the raising / lowering operation by the harvesting cylinder C1, the raising amount is not sufficient, and there is a possibility that the tip of the harvesting part A will be thrust into the field scene. By performing the backward tilting operation of the airframe, it can be raised to a position where the pruning part A can be avoided as shown by the solid line in FIG. In addition, according to the above-described configuration, the lifting operation of the cutting unit and the forward / backward posture changing operation of the traveling machine body are executed by the forward / backward swing operation of one cutting lifting / lowering lever 28. The operation burden can be reduced as compared with the case where the operating tool for operating and the operating tool for instructing the front and rear posture changing operation of the traveling machine are operated separately.
  Further, a manually operated mode changeover switch that can be switched between the operation combined mode and the mowing unit single up / down mode is provided, and when the mode changeover switch is switched to the operation combined mode, an instruction for raising the cutting up / down lever 28 is given. The cutting unit ascending operation and the machine body tilting operation are executed on the basis of this, and the cutting unit descending operation and the machine body tilting operation are executed on the basis of the lowering command of the cutting lift lever 28. When the mode is switched, the cutting / lifting lever 28 is configured to perform only the cutting portion raising operation and the cutting portion lowering operation based on a command.
  In addition, it is good also as a structure which provides separately the instruction | command means which act | operates the said front-back attitude | position change means in the said reaping part independent raising / lowering mode.
[0038]
[Another embodiment]
Next, another embodiment will be listed.
[0041]
(1In the above embodiment, if the cutting part is not at the upper limit position when the ascent command is commanded, the mowing part ascending operation is executed in preference to the rearward tilting operation, and when the descending command is commanded If the mowing unit is not at the lower limit position, the mowing unit descending operation is performed with priority over the forward body tilting operation. However, instead of such a configuration, the following configuration may be employed.
  For example, the figure9As shown in FIG. 3, when the push button type switch SW3 is provided at the tip of the grip portion 28a of the cutting lift lever 28, and an ascending command or a descending command is instructed while the switch SW3 is being pushed, If the push button type switch is pressed, the mowing part ascending operation and the aircraft tilting action are performed simultaneously, and the mowing part descending action and the aircraft tilting action are simultaneously performed based on the lowering command. The above-described cutting part ascending operation and airframe descending operation may be performed with priority operation configuration prior to the airframe backward tilting operation and the airframe forward tilting operation.
  Further, instead of the push operation type switch as described above, a configuration in which the above-described simultaneous operation configuration and priority operation configuration are switched by a two-position switching type and position holding type switch may be used. In this case, this switch may be provided on the panel of the boarding operation part instead of the grip part of the cutting lift lever.
[0042]
(2) In the above embodiment, based on the ascent command, after the cutting part ascending operation is performed and the cutting part A reaches the upper limit position, the structure is configured to perform the backward tilting operation of the aircraft. Instead, after the cutting part ascending operation is performed and the cutting part A reaches the upper limit position, the aircraft body tilting operation may be performed only when the ascent command is continuously commanded for a set time or more. .
  Such an operation is not limited to the ascending command, and may be performed similarly for the descending command.
[0044]
(3In the above embodiment, the front / rear posture changing means includes a front side body lifting / lowering means (left front cylinder C2 and right front cylinder C4) and a rear side body lifting / lowering means (left rear cylinder C3 and right rear cylinder C5). However, instead of such a configuration, the following configuration may be used.
  For example, a traveling machine body is supported with respect to a frame (track frame) of the traveling apparatus so that it can be tilted back and forth around one horizontal axis, and the traveling body is moved back and forth with respect to the grounding portion of the traveling apparatus with one actuator. It is good also as a structure tilted in the direction. At this time, the location of the horizontal axis core may be the front side of the machine body, the rear side, or the front and rear intermediate positions.
[0045]
(4In the above embodiment, the traveling device is composed of a pair of left and right crawler traveling devices 1, but is not limited to this. For example, a single traveling device may be used, and a wheel-type traveling device is used instead of a crawler type. But you can. Further, in the above embodiment, each of the cutting unit elevating means, the front side body elevating means, and the rear side body elevating means is constituted by a hydraulic cylinder, but the invention is not limited to this, and the electric motor and screw feed mechanism are not limited thereto. For example, other drive mechanisms may be used.
[0046]
(5In the above embodiment, the manually operated lift command means is constituted by the cutting lift lever. However, the present invention is not limited to this. For example, a pair of push button switches for commanding the lifting and lowering of the cutting unit separately. Or the like.
[0047]
(6) In the above-described embodiment, the combine is constituted by a self-removing combine.
[Brief description of the drawings]
FIG. 1 is a side view showing a front portion of a combine.
FIG. 2 is a side view showing a configuration for raising and lowering a traveling device.
FIG. 3 is a side view showing a configuration for raising and lowering a traveling device.
FIG. 4 is a side view showing a configuration for raising and lowering a traveling device.
FIG. 5 is a block diagram showing a control configuration.
FIG. 6 is a flowchart showing a control operation.
FIG. 7 is a side view of a combine showing a state of cutting work in a wet field.
[Fig. 8] Side view of the combine when entering over the ridge
FIG. 9 is a perspective view of a lifting operation lever according to another embodiment.
[Explanation of symbols]
1R, 1L travel device
22 Control means
28 Elevation command means
A mowing department
C1 mowing part lifting means
C2, C4 Front side airframe lifting means
C3, C5 Rear side airframe lifting means
V traveling aircraft

Claims

A mowing unit lifting / lowering means for raising / lowering a mowing unit with respect to a traveling machine body provided with a traveling device, a manually operated lifting / lowering command means for commanding a lifting command and a lowering command for the mowing unit, and command information of the lifting / lowering command means And a harvesting and harvesting machine provided with control means for controlling the operation of the harvesting unit lifting and lowering means,
Front / rear posture changing means for tilting the traveling machine body in the front / rear direction with respect to the grounding portion of the traveling device is provided,
The control means includes
Based on the ascent command of the ascending / descending command means, the reaping part raising operation for operating the reaping part raising / lowering means so that the reaping part ascends with respect to the traveling machine body, and grounding the traveling machine body with the traveling device Performing a backward tilting operation of the aircraft for operating the front / rear posture changing means so as to incline toward the rearward tilt posture with respect to the part,
Based on the descending command of the ascending / descending command means, a cutting part descending operation for operating the harvesting part ascending / descending means so that the harvesting part descends with respect to the traveling machine body, and grounding the traveling machine body to the traveling device Configured to execute a forward body tilting operation of operating the front / rear posture changing means so as to tilt toward the forward leaning posture side with respect to the part,
A manually operated mode changeover switch that can be switched between an operation combined mode and a mowing unit single up / down mode is provided.When this mode changeover switch is switched to the operation combined mode, the above-described up / down command means raises the When the cutting unit ascending operation and the machine body tilting operation are executed, and the cutting unit descending operation and the machine body tilting operation are executed based on the descending command of the ascending / descending command means, and switching to the harvesting unit single ascending / descending mode is performed. The lifting command means is configured to be in a state of performing only the cutting portion raising operation and the cutting portion lowering operation based on the command ,
The control means preferentially executes the cutting part ascending operation based on the ascent command, and when the cutting part reaches the upper limit position of the lifting adjustment range with respect to the traveling machine body by the cutting part raising operation, While performing a tilting motion,
Based on the descending command, the mowing unit descending operation is preferentially performed, and when the mowing unit descends, the mowing unit reaches the lower limit position of the lifting adjustment range with respect to the traveling aircraft, and the aircraft forward tilting operation is performed. Configured as
When the raising command is instructed, if the cutting unit is at the lower limit position of the lifting adjustment range with respect to the traveling machine body and the traveling machine body is in a forward inclined posture with respect to the grounding part of the traveling device, Prior to the part ascending operation, preferentially performs an operation of returning the traveling machine body to a horizontal posture parallel to the grounding part of the traveling device,
When the lowering command is instructed, if the cutting unit is at the upper limit position of the lifting adjustment range with respect to the traveling machine body and the traveling machine body is in a backward inclined posture with respect to the grounding part of the traveling device, Prior to the part lowering operation, the harvesting and harvesting machine is configured to preferentially execute an operation of returning the traveling machine body to a horizontal posture parallel to the grounding part of the traveling device .

The front and rear posture changing means is
Front side body lifting / lowering means that can be operated to raise and lower the front side of the traveling machine body relative to the grounding part, and rear side body lifting / lowering means that can be operated to raise and lower the rear side of the traveling machine body relative to the grounding part. Configured with
The front side body lifting / lowering means causes the front side of the traveling body to approach the grounding part of the traveling apparatus, and the rear side body lifting / lowering means separates the rear side of the traveling body from the grounding part of the traveling apparatus. By this, it is configured to tilt the traveling machine body toward the forward tilt posture side,
The front side body lifting / lowering means separates the front side of the traveling body from the grounding part of the traveling device, and the rear side body lifting / lowering means causes the rear side of the traveling body to approach the grounding part of the traveling device. The harvesting and harvesting machine according to claim 1 , wherein the harvesting and harvesting machine is configured to incline the traveling machine body toward the backward inclined posture .