JP5693839B2 - Traveling vehicle - Google Patents

Description

  The present invention relates to a combine harvester that harvests cereal grains planted in a field and collects grains, or a feed combine that harvests cereal grains for feed and collects it as feed, or a traveling vehicle such as a transport vehicle that travels on rough terrain. More particularly, the present invention relates to a traveling vehicle configured to be able to change the inclination angle of a traveling machine body provided with traveling parts such as a pair of left and right traveling crawlers to front and rear or left and right.

  Conventionally, a traveling vehicle such as a combiner includes a traveling machine body equipped with an engine, and a pair of left and right traveling crawlers are mounted on the traveling machine body, and the pair of left and right traveling crawlers are driven and controlled to move in a farm field or the like. ing. In addition, the combine cuts the stock of uncut cereal planted in the field with a cutting blade device, conveys the cereal to a threshing device with a cereal conveying device as a cereal conveying means, and The cereals are threshed to collect the grains (see, for example, Patent Document 1). Conventionally, a rolling actuator that corrects the tilting posture of the traveling aircraft in the left-right direction and a pitching actuator that corrects the tilting posture of the traveling aircraft in the front-rear direction, a track frame on which the traveling crawler is mounted, and a parallel link-shaped front side The track frame is connected to the traveling vehicle body via the arm and the rear arm, the rolling actuator is connected to the front arm and the rear arm via the connecting rod via the front and rear tilt arms, and the traveling aircraft is operated by the operation of the rolling actuator. The tilt posture in the left-right direction is changed (see, for example, Patent Document 1 and Patent Document 2). In general-purpose combiners, a reel operation lever is provided in the vicinity of the steering handle, and the reel operation lever is manually operated. A technique for changing the position is also known (see, for example, Patent Document 3).

Japanese Utility Model Publication No. 6-28387 JP 2000-106740 A JP 2001-238520 A

  In the prior art, the rolling operation tool of the rolling actuator that corrects the tilting posture of the traveling aircraft in the left-right direction or the pitching operation tool of the pitching actuator that corrects the tilting posture of the traveling aircraft in the front-rear direction is located away from the steering handle. In the provided structure, it is necessary for the operator to release the control handle and operate the rolling operation tool or the pitching operation tool, and it is troublesome to change the tilting posture of the traveling aircraft in the front-rear direction. There's a problem.

  An object of the present invention is to provide a traveling vehicle in which the inclination posture of the traveling body in the left-right direction or the front-rear direction can be changed by a simple manual operation.

In order to achieve the above object, a traveling vehicle according to a first aspect of the present invention includes a traveling machine body having left and right traveling units, a steering operation tool that changes a traveling path of the traveling machine body, and a lateral inclination of the traveling machine body. A rolling actuator for changing the posture and a pitching actuator for changing the tilting posture of the traveling aircraft in the front-rear direction; the traveling aircraft is mounted on the left and right track frames so as to be movable up and down via the left and right link mechanisms; In a traveling vehicle configured to be able to change the tilting posture in the left-right direction and the tilting posture in the front-rear direction of the traveling vehicle body, the posture operating tool for operating the rolling actuator or the pitching actuator is disposed in the vicinity of the steering operating tool. and, in the grip of the attitude altering member, arranged rotary body structure that automatically returns to the initial position, the operator When it is rotates the serial rotary body, in which the vehicle height of the traveling machine body is configured to vary.

  According to a second aspect of the present invention, in the traveling vehicle according to the first aspect, a switch mechanism that operates the rolling actuator or the pitching actuator and a posture operation tool that operates the switch mechanism are provided on the steering operation tool. It is arranged in the vicinity position.

  According to a third aspect of the present invention, in the traveling vehicle according to the first aspect, the rolling actuator is operated by a manual operation in the vertical direction of the posture operating tool, while the manual operation in the front-rear direction of the posture operating tool is performed. The pitching actuator is configured to operate.

According to a fourth aspect of the present invention, in the traveling vehicle according to the first aspect, the traveling vehicle body has shifted to a horizontal ground posture by manual operation of the posture operating tool or automatic control of the rolling actuator or the pitching actuator. Sometimes, the operation for changing the inclination posture in the left-right direction of the traveling aircraft body or the operation for changing the inclination posture in the front-rear direction of the traveling aircraft body is temporarily stopped, and the stop state is notified to the operator. is there.

According to the first aspect of the present invention, a traveling machine body having left and right traveling units, a steering operation tool that changes a travel path of the traveling machine body, a rolling actuator that changes a tilting posture of the traveling machine body in the left-right direction, A pitching actuator that changes the front-rear direction tilt posture of the travel aircraft body is mounted on the left and right track frames so that the travel aircraft body can be moved up and down via left and right link mechanisms, the left-right inclination posture of the travel aircraft body, In a traveling vehicle configured to be able to change the tilt posture in the front-rear direction of the traveling machine body, a posture operation tool for operating the rolling actuator or the pitching actuator is disposed in the vicinity of the steering operation tool, and the grip of the posture operation tool The rotary operation body having a structure for automatically returning to the initial position is arranged in the section, and the operator rotates the rotary operation body. When, from the vehicle height of the traveling machine body is that configured to change, the operator manipulates the attitude altering instrument while operating the steering operation member, the traveling machine body lateral direction or longitudinal direction Can be tilted. For example, contact damage of a ground working machine such as a combine harvester can be reduced even when a headland turns in a field where the field is disturbed.
In addition, a rotary operation body having a structure that automatically returns to an initial position is disposed in the grip portion of the posture operation tool, and the vehicle height of the traveling machine body changes when the operator rotates the rotary operation body. Therefore, the rolling actuator is operated only while the rotary operation body is operated by an operator, and the vehicle height of the traveling machine body is increased (decreased), so that the traveling machine body is properly grounded. Highly supportable. For example, even when the traveling machine body needs to be moved at a large angle when loading or unloading a truck carrying the machine (combine combiner, etc.) on a loading platform or when entering or leaving the farm, the machine makes contact with the road surface. Damage can be reduced. In that case, since the inclination posture of the traveling machine body is hardly changed, it is possible to easily prevent the vehicle from falling. Further, the operating speed (or operating range) of the rolling actuator when the posture operating tool is operated is different from the operating speed (or operating range) of the rolling actuator when the rotating operation body is operated. It can be set individually, and the operation delay of the rolling actuator, the sensitive operation (hunting operation) of the rolling actuator can be reduced, and the control function of the rolling actuator can be easily improved.

  According to the second aspect of the present invention, the switch mechanism that operates the rolling actuator or the pitching actuator and the posture operation tool that operates the switch mechanism are arranged in the vicinity of the steering operation tool. The posture operating tool can be easily connected to the rolling actuator or the pitching actuator via the switch mechanism, and an operator operates the posture operating tool while operating the steering operating tool, and the running The aircraft can be tilted in the left-right direction or the front-rear direction. For example, contact damage of a ground working machine such as a combine harvester can be reduced even when a headland turns in a field where the field is disturbed.

  According to the invention of claim 3, the rolling actuator is operated by a manual operation in the vertical direction of the posture operating tool, while the pitching actuator is operated by a manual operation in the front-rear direction of the posture operating tool. Therefore, the operating direction of the posture operating tool and the direction in which the posture of the traveling machine body changes can be matched, and the traveling machine body can be tilted in the direction experienced by the operator by operating the posture operating tool. For example, an operator can alternatively operate the rolling actuator or the pitching actuator by operating the posture operating tool in the cross direction (up and down, front and back). On the other hand, the operator can operate both the rolling actuator and the pitching actuator simultaneously by operating the posture operating tool in the radial direction (X direction). That is, the posture of the traveling machine body can be changed smoothly without a sense of incongruity. In response to the tilting of the traveling aircraft body, the posture of the traveling aircraft body can be corrected. The operational feeling for changing the posture of the traveling machine body can be improved.

According to the fourth aspect of the present invention, when the traveling vehicle body shifts to the ground horizontal posture by manual operation of the posture operation tool or automatic control of the rolling actuator or the pitching actuator, the lateral direction of the traveling vehicle body The operation of changing the inclination posture of the vehicle or the operation of changing the inclination posture of the traveling body in the front-rear direction is temporarily stopped, and the stop state is notified to the operator. The rolling actuator or the pitching actuator can be controlled without greatly deviating from the inclination posture of the traveling machine body from the predicted inclination posture. The manual operation of the posture operation tool can prevent the traveling machine body from being excessively tilted in the left-right direction or the front-rear direction. A manual control function of the rolling actuator or the pitching actuator, or an automatic control function thereof, or a manual operability of the posture operation tool can be easily improved.

It is a side view of the combine for 6-cutting of the embodiment of the present invention. It is the same top view. It is a hydraulic circuit diagram of the combine. It is a side view of a traveling machine body and a traveling crawler part. It is the same top view. FIG. 6 is a top perspective view of FIG. 5. It is side surface explanatory drawing which moved the traveling body up. It is front-lowering side explanatory drawing which moved the traveling body up and inclined forward. It is a diagram which shows the relationship between the ground height of a traveling body and the front-back inclination angle of a traveling body. It is a section explanatory view of the upper surface perspective view of a cabin. It is side surface explanatory drawing of the principal part of a cabin. It is a functional block diagram of a control circuit of the attitude control means. It is a flowchart of attitude control. It is a flowchart of the inclination control of the left-right direction and the front-back direction.

  DESCRIPTION OF EMBODIMENTS Embodiments embodying the present invention will be described below with reference to the drawings. FIG. 1 is a left side view of the combine, and FIG. 2 is a plan view of the combine. With reference to FIG.1 and FIG.2, the whole structure of a combine is demonstrated. In the following description, the left side in the forward direction of the traveling machine body 1 is simply referred to as the left side, and the right side in the forward direction is also simply referred to as the right side. As shown in FIGS. 1 and 2, a traveling machine body 1 supported by a pair of left and right traveling crawlers 2 as a traveling unit is provided. At the front part of the traveling machine body 1, a 6-row mowing device 3 that takes in while harvesting cereals is mounted by a single-acting lifting hydraulic cylinder 4 so as to be movable up and down around the mowing pivot fulcrum shaft 4 a. The A threshing device 5 having a feed chain 6 and a grain tank 7 for storing the grains taken out from the threshing device 5 are mounted on the traveling machine body 1 side by side. The threshing device 5 is disposed on the left side in the forward direction of the traveling machine body 1, and the grain tank 7 is disposed on the right side in the forward direction of the traveling machine body 1. A swivelable discharge auger 8 is provided at the rear part of the traveling machine body 1, and the grains inside the grain tank 7 are discharged from the throat throwing port 9 of the discharge auger 8 to a truck bed or a container. Yes. An operation cabin 10 is provided on the right side of the cutting device 3 and on the front side of the grain tank 7.

  In the driving cabin 10, there are disposed a steering handle 11, a driving seat 12, a main transmission lever 43, a sub transmission switch 44, and a work clutch lever 45 for turning on and off the threshing clutch and the cutting clutch. The driving cabin 10 includes a step 50 (see FIG. 11) on which the operator gets on, a handle column 46 provided with the steering handle 11, and a lever column 47 provided with the levers 43 and 45, the switch 44, and the like. Has been placed. A diesel engine 14 as a power source is disposed in the traveling machine body 1 below the driver seat 12.

  As shown in FIG. 1, left and right track frames 21 are arranged on the lower surface side of the traveling machine body 1. The track frame 21 includes a drive sprocket 22 that transmits the power of the engine 14 to the traveling crawler 2, a tension roller 23 that maintains the tension of the traveling crawler 2, and a plurality of track rollers that hold the ground side of the traveling crawler 2 in a grounded state. 24 and an intermediate roller 25 that holds the non-grounded side of the traveling crawler 2 are provided. The driving sprocket 22 supports the front side of the traveling crawler 2, the tension roller 23 supports the rear side of the traveling crawler 2, the track roller 24 supports the grounding side of the traveling crawler 2, and the intermediate roller 25 supports the non-traveling crawler 2. Support the ground side.

  As shown in FIGS. 1 and 2, below the cutting frame 221 connected to the cutting rotation fulcrum shaft 4 a of the cutting device 3, a clipper that cuts the stock of uncut grain cereal (grain culm) planted in the field. A type of cutting blade device 222 is provided. In front of the mowing frame 221, a stalk raising apparatus 223 for six stalks that raises an uncut cereal cultivated in the field is disposed. Between the culm pulling device 223 and the front end (feed start side) of the feed chain 6, a culm conveying device 224 that conveys the chopped culm harvested by the cutting blade device 222 is arranged. In addition, in front of the lower part of the cereal habit raising device 223, a weeding body 225 for 6 strips for weeding uncut cereal cereals is projected. While moving in the field, the reaping device 3 continuously cuts uncut cereal grains planted in the field.

  Next, with reference to FIG.1 and FIG.2, the structure of the threshing apparatus 5 is demonstrated. As shown in FIGS. 1 and 2, the threshing device 5 includes a handling cylinder 226 for threshing threshing, a rocking sorter 227 that sorts the cereals falling below the handling cylinder 226, and a tang fan 228. A processing cylinder 229 that reprocesses the threshing waste taken out from the rear part of the cylinder 226 and a dust exhaust fan 230 that discharges dust at the rear part of the swing sorter 227 are provided. In addition, the cereals conveyed by the culm conveying device 224 from the reaping device 3 are inherited by the feed chain 6, carried into the threshing device 5, and threshed by the handling cylinder 226.

  As shown in FIG. 1, on the lower side of the rocking sorter 227, there are a first conveyor 231 for taking out the grain (first thing) sorted by the rocking sorter 227 and two branches such as a grain with a branch raft. A second conveyor 232 for taking out the articles is provided. The rocking sorter 227 is configured such that threshing that has leaked from the receiving net 237 stretched below the handling cylinder 226 is rocked and sorted (specific gravity sorting) by the feed pan 238 and the chaff sheave 239. . The grain that has fallen from the rocking sorter 227 is removed by the sorting air from the red pepper fan 228 and the dust in the grain falls first on the conveyor 231. The grain taken out first from the conveyor 231 is carried into the grain tank 7 via the cereal conveyor 233 and collected in the grain tank 7.

  Further, as shown in FIG. 1, the swing sorter 227 is configured to drop a second thing such as a grain with a branch incline from the chaff sheave 239 onto the second conveyor 232 by swing sorting. A sorting fan 241 for wind-selecting the second thing falling below the chaff sheave 239 is provided. As for the second thing that has fallen from the chaff sheave 239, the dust and swarf in the grain are removed by the sorting air from the sorting fan 241 and dropped onto the second conveyor 232. The terminal end of the second conveyor 232 is connected to the upper surface side of the rear part of the feed pan 238 via the reduction conveyor 236, and is configured to return the second product to the upper surface side of the swing sorter 227 for re-sorting. doing.

  On the other hand, as shown in FIGS. 1 and 2, an exhaust chain 234 and an exhaust cutter 235 are disposed on the rear end side (feed end side) of the feed chain 6. The slag passed from the rear end side of the feed chain 6 to the sewage chain 234 (the slag from which the grain has been threshed) is discharged to the rear of the traveling machine body 1 in a long state, or the rear part of the threshing device 5 After being cut to an appropriate length by a waste cutter 235 provided on the rear, the paper is discharged to the lower rear side of the traveling machine body 1.

  Next, the hydraulic circuit structure of the combine will be described with reference to FIG. As shown in FIG. 3, the combine hydraulic circuit 250 raises and lowers the above-described lifting hydraulic cylinder 4, an auger lifting hydraulic cylinder 254 that raises and lowers the side of the discharge auger 8 and the left and right ends of the traveling machine body 1. Left and right vehicle height adjusting hydraulic cylinders 38 for tilting the traveling machine body 1 left and right, left and right hydraulic cylinders 177 for tilting the traveling machine body 1 back and forth by raising and lowering the front and rear portions of the traveling machine body 1 Each work pump 91a, 91b of structure is provided. A first high-pressure oil passage 257 is connected to the discharge side of one work pump 91a. A second high pressure oil passage 258 is connected to the discharge side of the other work pump 91b.

  The first high pressure oil passage 257 is connected to a cutting lift electromagnetic valve 260 that operates the lifting hydraulic cylinder 4 and an unload relief valve 256 for the tank oil passage. Comparison of the lifting / lowering solenoid valve 260 for moving the cutting device 3 at a relatively high speed, the lifting / lowering solenoid valve 264 for moving the cutting device 3 at a relatively low speed, and the lifting / lowering hydraulic cylinder 4 on the lowering side of the cutting device 3 A cutting lowering solenoid valve 265 that operates at a low speed is connected to the lifting hydraulic cylinder 4. Separately from the lifting / lowering movement of the cutting / lifting electromagnetic valve 260 for switching the cutting / lifting electromagnetic valve 260, the cutting / lifting electromagnetic valve 264 is switched to raise the cutting apparatus 3. While being limited by the mowing lift electromagnetic valve 264, the mowing apparatus 3 is lowered by switching the mowing lowering electromagnetic valve 265.

  The second high-pressure oil passage 258 includes a left tilt solenoid valve 261 that operates the left vehicle height adjustment hydraulic cylinder 38, a right tilt solenoid valve 262 that operates the right vehicle height adjustment hydraulic cylinder 38, and a left front / rear tilt hydraulic cylinder. A left-hand front tilting solenoid valve 266 that operates 177, a right-hand front tilting solenoid valve 267 that operates the right-hand front tilting hydraulic cylinder 177, and a grain discharge solenoid valve 263 that operates the auger lifting hydraulic cylinder 254 are connected. Has been. Further, a left tilting solenoid valve 261, a right tilting solenoid valve 262, a left side front / rear tilting solenoid valve 266, a right side front / rear tilting solenoid valve 267, and a grain discharge solenoid valve 263 are arranged via a posture control solenoid valve 268. 2 is connected to the high pressure oil passage 258. The posture control solenoid valve 268 gives priority to the operation of the auger lifting hydraulic cylinder 254 over the operation of the vehicle height adjusting hydraulic cylinder 38 or the front / rear tilt hydraulic cylinder 177. A relief valve 269 is connected in parallel to the attitude control electromagnetic valve 268.

  Next, a structure for adjusting the tilt angle in the left-right direction of the traveling machine body 1 will be described with reference to FIGS. 4 to 8, a pair of left and right rolling fulcrum frames 26 provided on the lower surface side of the traveling machine body 1, a pair of left and right front bearing bodies 27, and a pair of left and right rear bearing bodies 28 are provided. A pair of left and right front bearing bodies 27 are arranged on the front end side of the rolling fulcrum frame 26 fixed to the lower surface side of the traveling machine body 1. A pair of left and right rear bearing bodies 28 are arranged on the rear end side of the pair of left and right rolling fulcrum frames 26. A pair of left and right front rolling fulcrum shafts 29 are passed through the left and right front bearing bodies 27, and a pair of left and right rear rolling fulcrum shafts 30 are passed through the left and right rear bearing bodies 28, respectively. A drive sprocket 22 (mission case 88) is arranged on the lower surface side of the traveling machine body 1 via the traveling chassis 1a. The rear side of the mission case 88 is fastened to the front portion of the traveling machine body 1.

  The base end sides of the pair of left and right upper front rolling arms 31 extended in the vertical direction are integrally fixed to one end side of the pair of left and right front rolling fulcrum shafts 29 extended in the left and right direction. To the other end side of the pair of left and right front rolling fulcrum shafts 29, the base end sides of the pair of left and right lower front rolling arms 33 extending in the front-rear direction are fixed integrally. That is, the pair of left and right upper front rolling arms 31 and the pair of left and right lower front rolling arms 33 rotate integrally around the pair of left and right front rolling fulcrum shafts 29, respectively. In addition, the front portion of the track frame 21 is connected to the distal end side of the lower front rolling arm 33 via a connecting shaft body 40.

  Moreover, the base end side of a pair of left and right upper rear rolling arms 32 is rotatably fitted to one end side of the rear rolling fulcrum shaft 30 extended in the left-right direction. As shown in FIG. 6, a pair of left and right front / rear connecting rolling frames 36 with turnbuckles that can be expanded and contracted are provided. The long rod-like front / rear connecting rolling frame 36 extends in the front / rear direction parallel to the traveling machine body 1 at a position lower than the upper surface of the traveling machine body 1. The front end side of the front / rear connecting rolling frame 36 is connected to the front end side of the pair of left and right upper front rolling arms 31 via the shaft body 35. The rear end side of the front / rear connecting rolling frame 36 is connected to the upper end side of the upper rear rolling arm 32 via a shaft body 37.

  As shown in FIGS. 4 to 8, a pair of left and right vehicle height adjusting hydraulic cylinders 38 for changing the inclination angle of the traveling body 1 in the left and right direction are provided. The traveling machine body 1 is provided with a pair of left and right cylinder support brackets 39. A pair of left and right vehicle height adjusting hydraulic cylinders 38 are connected to a pair of left and right cylinder support brackets 39 via a base shaft body 48, respectively. Piston rods 41 of a pair of left and right vehicle height adjusting hydraulic cylinders 38 are connected to the upper ends of the pair of left and right upper rear rolling arms 32 via front end side shaft bodies 42, respectively.

  To the other end side of the pair of left and right rear rolling fulcrum shafts 30, the base end sides of the pair of left and right lower rear rolling arms 34 are integrally fixed. That is, the pair of left and right rear rolling fulcrum shafts 30 and the pair of left and right lower rear rolling fulcrum arms 34 are configured to rotate integrally around the axis of the pair of left and right rear rolling fulcrum shafts 30, respectively. Further, one end side of the driven link body 175 is connected to the distal end side of the lower rear rolling arm 34 via the connecting shaft body 174. The rear portion of the track frame 21 is connected to the other end side of the driven link body 175 via a connecting shaft body 179.

  As shown in FIGS. 4 to 8, a front and rear tilt hydraulic cylinder 177 that changes the tilt angle of the traveling machine body 1 in the front and rear direction is provided. The base end sides of the pair of left and right pitching arms 176 are fixed to one end side of the pair of left and right rear rolling fulcrum shafts 30. The pair of left and right pitching arms 176 and the pair of left and right lower rear rolling arms 34 are configured to rotate integrally around the axis of the pair of left and right rear rolling fulcrum shafts 30, respectively. Further, a pair of left and right front and rear tilt hydraulic cylinders 177 are connected to the pair of left and right upper rear rolling arms 32 via a connecting shaft body 180, respectively. The front end side of the pitching arm 176 is connected to the piston rod 178 of the hydraulic cylinder 177 for forward / backward tilting via a connecting shaft body 181.

  As shown in FIGS. 4 and 5, the pair of left and right vehicle height adjusting hydraulic cylinders 38 and the front / rear inclination hydraulic cylinders 177 are arranged in a line in the front-rear direction in a side view or a plan view. A pair of left and right front rolling link mechanisms R1 that change the tilt angle in the left-right direction of the traveling machine body 1 by operating the pair of left and right vehicle height adjusting hydraulic cylinders 38 includes an upper front rolling arm (left and right tilt arm) 31, an upper rear rolling. It has an arm (left / right tilt arm) 32, a lower front rolling arm (front arm) 33, a lower rear rolling arm (rear arm) 34, a front / rear connecting rolling frame 36, and a driven link body (pitching link) 175. When the vehicle height adjusting hydraulic cylinder 38 is operated, the upper front rolling arm 31 and the lower front rolling arm 33 are integrally rotated around the front rolling fulcrum shaft 29, and at the same time, the upper rear rolling arm 32 and the lower The side rear rolling arm 34, the pitching arm 176, and the forward / backward tilt hydraulic cylinder 177 rotate integrally around the rear rolling fulcrum shaft 30.

  That is, as shown in FIG. 7, when the vehicle height adjusting hydraulic cylinder 38 is operated, the relative distance between the traveling machine body 1 and the track frame 21 is maintained while maintaining the inclination angle of the traveling machine body 1 with respect to the track frame 21. Change. When the amount of subsidence of the left and right traveling crawlers 2 changes and the traveling machine body 1 tilts to the left and right, or when the operator wants to tilt the traveling machine body 1 to the left and right, the vehicle travels by automatic control or manual control of the vehicle height adjusting hydraulic cylinder 38. The horizontal inclination angle of the aircraft 1 can be changed, and the ground inclination angle of the traveling aircraft 1 in the horizontal direction can be maintained at a set angle (substantially horizontal posture).

  A pair of left and right rear pitching link mechanisms P1 that change the tilt angle in the front-rear direction of the traveling machine body 1 by the operation of the pair of left and right hydraulic cylinders 177 are a lower rear rolling arm (rear arm) 34, a driven link. It has a body (pitching link) 175 and a pitching arm (front and rear tilt arm) 176. When the forward / backward tilting hydraulic cylinder 177 is operated, the lower rear rolling arm 34 and the pitching arm 176 rotate integrally around the rear rolling fulcrum shaft 30, and the front rolling fulcrum shaft is driven via the driven link body 175. The track frame 21 is rotated around 29.

  That is, as shown in FIG. 8, when the forward / backward tilt hydraulic cylinder 177 is operated, the front / rear direction inclination angle of the traveling body 1 with respect to the track frame 21 is maintained while maintaining the lateral inclination angle of the traveling body 1 in the left / right direction. Change. When the traveling road surface on which the left and right traveling crawlers 2 are moved is an upward or downward sloping slope, or when the traveling machine body 1 tilts back and forth due to a change in the amount of settlement at the front (or rear) of the left and right traveling crawlers 2 Alternatively, when the operator wants to tilt the traveling machine body 1 back and forth, the front and rear tilt angle of the traveling machine body 1 is changed by automatic control or manual control of the front and rear tilt hydraulic cylinder 177, and the ground tilt angle of the traveling machine body 1 in the front and rear direction is reduced. Can be maintained at a set angle (substantially horizontal posture).

  The intermediate roller 25 that holds the non-grounded side of the traveling crawler 2 is rotatably supported on a roller shaft 25a that protrudes laterally from the traveling machine body 1. That is, on the non-grounded side of the traveling crawler 2 between the drive sprocket 22 and the intermediate roller 25, the inclination angle of the traveling body 1 in the left-right direction or the front-rear direction is changed by the vehicle height adjusting hydraulic cylinder 38 or the front-rear tilting hydraulic cylinder 177. However, the distance from the lower surface of the traveling machine body 1 is always maintained substantially constant.

  With the above configuration, as shown in FIG. 7, either one or both of the pair of left and right vehicle height adjusting hydraulic cylinders 38 are operated, and either one or both piston rods 41 of the pair of left and right vehicle height adjusting hydraulic cylinders 38 are operated. , One or both of the pair of left and right track frames 21 move downward, push down either one or both of the pair of left and right traveling crawlers 2 and push down the left or right side or both of the traveling body 1. It is configured to increase the vehicle height.

  Further, as shown in FIG. 4, one or both of the pair of left and right vehicle height adjusting hydraulic cylinders 38 are operated to retract the piston rod 41 of either one or both of the pair of left and right vehicle height adjusting hydraulic cylinders 38. In this case, either one or both of the pair of left and right track frames 21 move upward, pushes up one or both of the pair of left and right traveling crawlers 2 and raises the vehicle height on the left or right side or both of the traveling body 1. Is configured to be low. That is, by operating the pair of left and right vehicle height adjusting hydraulic cylinders 38 to change the heights of the contact surfaces of the left and right traveling crawlers 2 with respect to the traveling machine body 1, the inclination angle of the traveling machine body 1 in the horizontal direction can be increased. The traveling machine body 1 is adjusted so as to be supported substantially horizontally (left and right inclination angle 0 degree).

  As shown in FIG. 8, in the state where the piston rod 41 is advanced (or the piston rod 41 is retracted) where the vehicle height is high, the front / rear tilt hydraulic cylinder 177 is operated, and a pair of left / right front / rear tilt hydraulic cylinders 177 is operated. When the piston rods 178 are retracted, the pair of left and right pitching arms 176 are actuated, respectively, and the pair of left and right driven link bodies 175 are respectively pushed downward, so that the rear ends of both the pair of left and right track frames 21 Each side moves down simultaneously.

  As a result, the parallel posture of the lower rear rolling arm 34 with respect to the lower front rolling arm 33 is changed, the grounding side of the rear part of the pair of left and right traveling crawlers 2 is pushed down, and the vehicle on the rear end side of the traveling machine body 1 is pushed. The height is increased, and the traveling machine body 1 is configured to tilt forward and downward. That is, the rear end side of the traveling machine body 1 is moved up around the front rolling fulcrum shaft 29 so that the rear end side of the traveling machine body 1 is tilted to a forward inclined posture (front downward inclined posture) that is higher than the front end side. It is composed. As a result, when moving on a traveling road surface that is inclined forwardly upward, the longitudinal inclination of the traveling machine body 1 can be maintained substantially horizontal.

  In addition, by retracting the piston rods 178 of the pair of left and right hydraulic cylinders 177, the rear end sides of the pair of left and right track frames 21 are moved upward at the same time. Needless to say, the vehicle height on the rear end side becomes lower, and the traveling machine body 1 tilts backward.

  In FIG. 9, the vertical axis indicates the vehicle height of the combine (the ground height of the traveling machine body 1) on the vertical axis, and the horizontal axis indicates the tilt angle in the front-rear direction of the combine machine (front-back inclination angle of the traveling machine body 1). FIG. 6 is a diagram showing a relationship (attitude control operation range) between the height to ground (tilt control in the left-right direction) and the front-back tilt angle (tilt control in the front-rear direction) of the traveling machine body 1; The vehicle height adjusting hydraulic cylinder 38 and the front / rear tilt hydraulic cylinder 177 are actuated based on the detection result of the front / rear tilt sensor 381, etc. within a range (deformed hexagonal frame) indicated by a thick solid line in FIG. The tilt control operation in the left-right direction of the adjusting hydraulic cylinder 38 is maintained in a predetermined range, and the tilt control in the front-rear direction of the front-rear tilt hydraulic cylinder 177 is executed.

  For example, in the tilt control operation in the left-right direction of the vehicle height adjusting hydraulic cylinder 38, the vehicle height C is about 60% (about 2/3) of the maximum vehicle height D and about 10% of the maximum vehicle height D. Between the percentage (about 1/10) of the vehicle height A, the forward / backward inclination of the hydraulic cylinder 177 for the forward / backward tilt is increased from 0 ° to the maximum forward tilt angle F (for example, about 5 °). Tilt control is performed, and the traveling machine body 1 is configured to be supported in a forward leaning posture (a forward descending leaning posture). At the maximum vehicle height D, the forward tilt control (forward tilt control) of the forward / backward tilt hydraulic cylinder 177 is within a range of about 60 percent (about two thirds) of the forward tilt angle F1 with respect to the maximum forward tilt angle F. Operation) is executed. Further, when the vehicle height A is equal to or less than the vehicle height A or equal to or greater than the vehicle height C, the forward tilt control of the forward / backward tilt hydraulic cylinder 177 is executed within the range of the maximum forward tilt angle F or less. A forward tilt operation restriction area E1 (shaded display range) of vehicle height A or less and a forward tilt operation restriction area E3 (shaded display range) of vehicle height C or more are formed. When the vehicle height C is less than the vehicle height A or greater than the vehicle height A, the forward and backward tilting hydraulic cylinder 177 is moved in the forward direction within a range of the front and rear tilt angle of the traveling machine body 1 from 0 degrees to the maximum forward tilt angle F (for example, about 5 degrees). The tilt control is executed.

  That is, at the maximum vehicle height D, the forward tilting operation of the traveling machine body 1 is restricted to be equal to or less than the forward tilt angle F1 of about 60 percent (about two-thirds) with respect to the maximum forward tilt angle F. In a state where the vehicle height C is higher than the vehicle height C, the forward tilting operation of the traveling machine body 1 is restricted below the maximum forward tilt angle F, and the front end side of the reaping device 3 can be prevented from being supported low. As a result, even when the reaping device 3 is lifted to the non-working position (high position) by the lifting hydraulic cylinder 4, the traveling machine body 1 can be appropriately tilted forward. For example, even when the traveling machine body 1 moves in a posture that is greatly inclined forward and downward in operations such as entering and leaving a farm field and loading and unloading to a truck bed, it is possible to prevent the front end side of the reaping device 3 from colliding with a field surface or a road surface. .

  On the other hand, as shown in FIG. 9, in the tilt control operation in the left-right direction of the vehicle height adjusting hydraulic cylinder 38, the vehicle height is about the maximum vehicle height D and about 25 percent (about ¼) of the maximum vehicle height D Control of the forward / backward tilt hydraulic cylinder 177 in the backward direction (backward tilting operation) from the vehicle body height B to the maximum tilt angle R (for example, about 3 °). Is performed, and the traveling machine body 1 is configured to be supported in a rearward tilt posture (backward tilt posture). Further, when the vehicle height is equal to or less than the vehicle height B, the backward tilt control of the forward / backward tilt hydraulic cylinder 177 is executed within the range of the maximum rearward tilt angle R or less. A rearward tilt operation restriction area E2 (shaded display range) below the vehicle height B is formed. That is, while maintaining the vehicle height B (approximately 25% of the maximum vehicle height D) or more, the traveling machine body 1 can be tilted backward to the maximum rearward tilt angle R, so that the cutting device 3 is moved to the non-working position by the lifting hydraulic cylinder 4 ( Even if it is raised to the high position), the traveling machine body 1 can be smoothly tilted backward to further raise the reaping device 3, and the reaping device 3 can be quickly avoided with respect to obstacles.

Further, when the vehicle height is higher than the vehicle height C, or when the vehicle height is lower than the vehicle height A or the vehicle height B, the vehicle height adjusting hydraulic cylinder 38 is operated before the front / rear tilt hydraulic cylinder 177 is operated. The vehicle height adjustment (tilt in the left-right direction) control operation of the vehicle height adjusting hydraulic cylinder 38 is prioritized to maintain the vehicle height of the traveling machine body 1 at a predetermined vehicle height or higher, and then the front-rear direction hydraulic cylinder 177 is moved in the front-rear direction. The tilt control can be executed. As a result, it is possible to prevent the front portion of the reaping device 3 from entering the soil such as a farm field or a straw. In addition, when the vehicle height (vehicle height A or vehicle height B or less) is about 25 percent (about one-fourth) or less of the maximum vehicle height D, compared to the vehicle height at which the forward tilting operation of the traveling machine body 1 is restricted. Therefore, the vehicle height at which the backward tilting operation of the traveling machine body 1 is restricted increases (vehicle height A <vehicle height B). The maximum backward inclination angle R (for example, about 3 degrees) and the forward inclination angle F1 of about 60 percent (about one third) with respect to the maximum forward inclination angle F are formed to be substantially equal. That is, the maximum rearward tilt angle R is formed to have a tilt angle magnitude of about 60 percent with respect to the maximum forward tilt angle F.

  As shown in FIG. 9, by increasing the maximum forward inclination angle F with respect to the maximum rearward inclination angle R, the traveling crawler 2 sinks greatly in the super wet field, and the height of the traveling machine body 1 is increased to perform the cutting operation. The traveling machine body 1 is tilted forward without lowering the vehicle height of the traveling machine body 1 and increasing the running resistance, or without lowering the cutting device 3 and causing the cutting blade device 222 or the like to enter the soil. By doing so, the stock of uncut cereal can be cut by the cutting blade device 222 at a predetermined height.

  As shown in FIG. 4, the front lowest stopper 185 is fixed to the traveling chassis 1a. One end side of the front lowering stopper 185 is extended to the upper surface side of the lower front rolling arm 33. When the front vehicle height of the traveling machine body 1 is the lowest (the state shown in FIG. 4 or FIG. 6), that is, when the front side of the traveling machine body 1 and the track frame 21 are closest to each other, the upper side of the lower front rolling arm 33 is The lower surface of the lowest stop stopper 185 comes into contact with the front side of the traveling machine body 1 and is supported at the lowest position. By contacting the lower front rolling arm 33 and the front lowering stopper 185, the front upper surface of the traveling crawler 2 is prevented from interfering with the front lower surface of the traveling machine body 1.

  In addition, a rear lowermost stopper 186 is fixed to the lower surface of the rear bearing body 28. A receiving body 187 is fixed to the track frame 21. When the rear vehicle height of the traveling machine body 1 is the lowest (the state shown in FIG. 4 or FIG. 6), that is, when the rear side of the traveling machine body 1 and the track frame 21 are closest to each other, The lower surface of the lowest-stop stopper 186 comes into contact, and the rear side of the traveling machine body 1 is supported at the lowest position. The contact between the receiving body 187 and the rear-most lowering stopper 186 prevents the rear upper surface of the traveling crawler 2 from interfering with the rear lower surface of the traveling machine body 1.

  Next, referring to FIG. 10 and FIG. 11, the switch mechanism 55 for manually operating the tilt posture for operating the vehicle height adjusting hydraulic cylinder 38 as a rolling actuator or the forward / backward tilt hydraulic cylinder 177 as a pitching actuator, and the switch A posture operation lever 56 as a posture operation tool for operating the mechanism 55 will be described. FIG. 10 is a cross-sectional explanatory view of a top perspective view of the driving cabin 10. FIG. 11 is an explanatory side view of a main part of the driving cabin 10. As shown in FIGS. 10 and 11, the attitude control lever 56 protrudes from the right side surface of the handle column 46 to the right side. A posture operation lever 56 is disposed on the lower right side of the steering handle 11 as a steering operation tool. The operator who sits on the driver's seat 12 grips the steering handle 11 with the left hand, the operator grips the grip portion 56a of the posture operation lever 56 with the right hand, and the posture operation lever 56 can be tilted in the vertical and horizontal directions.

  As shown in FIGS. 10 and 11, a switch mechanism 55 for manually operating the tilting posture is provided at the base end portion of the posture operating lever 56. The tilt posture manual operation switch mechanism 55 includes a left tilt switch 61, a right tilt switch 62, a forward tilt switch 63, and a rear tilt switch 64, which will be described later (see FIG. 12). The tilt operation switch 56 is configured to selectively turn on the left tilt switch 61, the right tilt switch 62, the forward tilt switch 63, and the rear tilt switch 64 by the tilting operation in the up / down and front / rear directions. That is, by manually operating the posture operation lever 56, the traveling machine body 1 is tilted to the left, right, front, or rear, so that the inclined attitude of the traveling machine 1 is changed.

  For example, when the posture operation lever 56 is tilted upward, the left tilt switch 61 (left tilt solenoid valve 261, right tilt solenoid valve 262) is turned on to tilt the traveling machine body 1 to the left. By tilting the attitude control lever 56 downward, the right tilt switch 62 (left tilt solenoid valve 261, right tilt solenoid valve 262) is turned on to tilt the traveling machine body 1 to the right. By tilting the attitude control lever 56 forward, the forward tilt switch 63 (front / rear tilting electromagnetic valves 266 and 267) is turned on, and the traveling machine body 1 is tilted forward. By tilting the posture operation lever 56 backward, the rear tilt switch 64 (front / rear tilt electromagnetic valves 266 and 267) is turned on to tilt the traveling machine body 1 rearward.

  As shown in FIGS. 10 and 11, the gripping portion 56a of the posture operating lever 56 is provided with a rotary operation body 65 having a dial structure capable of forward and reverse rotation that automatically returns to an initial position (neutral position of output off) by a spring force (not shown). It is arranged. The rotary operation body 65 has a vehicle height adjustment potentiometer 66 (see FIG. 12). When the operator takes and rotates the rotary operation body 65 with the right hand, the vehicle height of the traveling machine body 1 is changed. That is, when the rotary operation body 65 is rotated forward (reverse rotation) by the manual operation of the operator, the left tilting electromagnetic valve 261 and the right tilting electromagnetic valve 262 are turned on based on the output of the vehicle height adjustment potentiometer 66, and the traveling machine body 1 Is raised (lowered) to increase (lower) the ground height of the traveling machine body 1. On the other hand, when the operator removes the right hand from the rotary operation body 65, the rotary operation body 65 returns to the initial position, and the traveling machine body 1 is supported at the ground height at that time.

  As a result, the vehicle height adjusting hydraulic cylinder 38 operates only while the rotary operation body 65 is manually operated, and the traveling machine body 1 can be supported at an appropriate ground height. For example, even when it is necessary to move the traveling machine body 1 with a large inclination when loading or unloading a truck carrying the machine (combine) on a loading platform or when entering or leaving the farm, the machine makes contact with the road surface. Damage can be reduced. Further, since the inclination posture of the traveling machine body 1 hardly changes, the movement of the center of gravity of the traveling machine body 1 can be reduced, and the falling of the machine can be easily prevented.

  Next, the left-right direction tilt control, the front-rear direction tilt control, and the lifting control of the reaping device 3 will be described with reference to FIG. FIG. 14 is a functional block diagram of the left and right direction tilt control means, the front and rear direction tilt control means of the combine (traveling machine body 1), and the lifting control means of the reaping device 3, and a work controller 371 formed by a microcomputer or the like. Is provided. The work controller 371 includes a ROM that stores a control program and a RAM that stores various data.

  As shown in FIG. 12, the work controller 371 includes a crop sensor 372 that detects the harvested cereal crops harvested by the harvesting device 3, a work switch 373 that detects the operation of the harvesting device 3, and the horizontal direction of the traveling machine body 1. A pendulum-type left / right tilt sensor 374 that detects an inclination angle, a potentiometer-type left vehicle height sensor 375 that detects a relative distance (vehicle height) between the traveling vehicle body 1 and the left track frame 21, A potentiometer-type right vehicle height sensor 376 that detects a relative distance (vehicle height) to the track frame 21 and a manual dial-switching potentiometer-type left / right inclination setting that initially sets a reference value of the inclination angle in the left / right direction of the traveling machine body 1 A device 377 is connected.

  The work controller 371 is connected to a left tilting solenoid valve 261 and a right tilting solenoid valve 262. With this configuration, the left tilt solenoid valve 261 or the right tilt solenoid valve 262 is switched based on the detected value of the left / right tilt sensor 374, the detected value of the left vehicle height sensor 375, and the detected value of the right vehicle height sensor 376, and the left vehicle The high adjustment hydraulic cylinder 38 or the right vehicle height adjustment hydraulic cylinder 38 is operated to correct the inclination of the traveling machine body 1 in the left-right direction, and is automatically controlled so that the traveling machine body 1 becomes substantially horizontal in the left-right direction.

  Further, the work controller 371 includes a pendulum type front / rear inclination sensor 381 that detects an inclination angle in the front-rear direction of the traveling machine body 1 and a relative distance between the rear portion of the traveling machine body 1 and the rear end side of the track frame 21 (track frame 21 Potentiometer-type main unit inclination sensor 382 for detecting the front-rear direction inclination angle of the main body and a manual dial-switching potentiometer-type front / rear inclination setting device for initially setting the reference value of the front-rear direction inclination angle of the traveling machine body 1 383 and a forward / backward tilting electromagnetic valve 266 are connected. With this configuration, the front / rear tilting hydraulic valve 266 is switched based on the detected value of the front / rear tilt sensor 381, the detected value of the main unit tilt sensor 382, and the set value of the front / rear tilt setter 383, and the front / rear tilt hydraulic cylinder 177 is switched. , And the inclination of the traveling machine body 1 in the front-rear direction is corrected, so that the traveling machine body 1 is automatically controlled so as to be substantially horizontal in the front-rear direction.

  A left tilt switch 61, a right tilt switch 62, a forward tilt switch 63, a rear tilt switch 64, and a vehicle height adjustment potentiometer 66 are connected to the input side of the work controller 371. With this configuration, the vehicle height adjusting hydraulic cylinder 38 or the front / rear tilting hydraulic cylinder 177 is operated by manual operation such as a tilting operation of the posture operation lever 56 in the up / down / front / rear direction and a forward rotation (reverse rotation) operation of the rotation operation body 65. The operator can manually control the vehicle body 1 so as to support the inclined posture desired by the operator.

  On the other hand, as shown in FIG. 12, the work controller 371 includes a vehicle speed sensor 385 that detects the rotational speed (vehicle speed) of the traveling crawler 2, and a potentiometer-type cutting height sensor 386 that detects the ground height of the cutting device 3. A manual dial switching potentiometer-type cutting height setting device 387 for initially setting a reference value for the ground height of the cutting device 3 is connected to a cutting lift electromagnetic valve 260. With this configuration, the cutting lift solenoid valve 260 is switched based on the detection value of the vehicle speed sensor 385, the detection value of the cutting height sensor 386, and the setting value of the cutting height setting device 387, and the cutting lift hydraulic cylinder 4 Is operated, the ground height of the reaping device 3 is corrected, and the grain reaper cutting height of the reaping device 3 is automatically controlled so as to be substantially constant.

  Next, referring to the functional block diagrams shown in FIGS. 7 to 9 and 12, and the flowcharts shown in FIGS. 13 and 14, the culm cutting height control mode of the reaping device 3, and the combine (running vehicle body 1) The inclination control mode in the left-right direction and the front-rear direction will be described. As shown in the flowchart of FIG. 13, when the engine 14 is started, the crop sensor 372 value, the left / right inclination sensor 374 value, the left vehicle height sensor 375 value, the right vehicle height sensor 376 value, the left / right inclination setting device 377 value, the front / rear inclination Sensor 381 value, machine inclination sensor 382 value, front / rear inclination setting device 383 value, vehicle speed sensor 385 value, cutting height sensor 386 value, and cutting height setting device 387 value are read. During the cutting operation with the work switch 373 turned on, cutting height control is executed. Further, regardless of whether the work switch 373 is on or off, the left / right tilt control and the front / rear tilt control shown in the flowchart of FIG. 14 are executed.

  As shown in the flowchart of FIG. 13, if the crop sensor 372 is turned on during the cutting operation with the work switch 373 turned on, the vehicle speed sensor 385 value, the cutting height sensor 386 value, and the cutting height setter 387 When it is determined that the harvesting height of the harvesting device 3 is low based on the value, the harvesting lifting / lowering solenoid valve 260 is switched, and the harvesting lifting hydraulic cylinder 4 is operated to control the lifting of the harvesting device 3 so that the harvesting is performed. The ground height of the device 3 is corrected. On the other hand, when it is determined that the harvesting height of the harvesting device 3 is high, the harvesting lifting / lowering electromagnetic valve 260 is switched, the harvesting lifting hydraulic cylinder 4 is operated to lower the harvesting device 3, and the harvesting device 3 Correct the height of the ground. By the cutting height control of FIG. 13, the culm cutting height of the cutting device 3 set by the cutting height setting unit 387 can be automatically maintained.

  As shown in the flowchart of FIG. 14, the traveling machine body 1 is tilted to the left based on the left / right tilt sensor 374 value, the left vehicle height sensor 375 value, the right vehicle height sensor 376 value, and the left / right tilt setter 377 value. Is determined, the left tilting solenoid valve 261 or the right tilting solenoid valve 262 is switched, and the left vehicle height adjustment hydraulic cylinder 38 or the right vehicle height adjustment hydraulic cylinder 38 is operated to raise the left side of the traveling machine body 1 or Alternatively, the right side of the traveling machine body 1 is lowered. On the other hand, when it is determined that the traveling machine body 1 is tilted to the right, the left tilting solenoid valve 261 or the right tilting solenoid valve 262 is switched to operate the left vehicle height adjustment hydraulic cylinder 38 or the right vehicle height adjustment hydraulic cylinder 38. Then, the right side of the traveling machine body 1 is raised or the left side of the traveling machine body 1 is lowered. The tilt angle in the left-right direction of the traveling machine body 1 is automatically corrected by the tilt control in the left-right direction of the combine (the traveling machine body 1) in FIG. Based on the value of the left / right tilt setting device 377, the traveling posture of the traveling machine body 1 in the left / right direction can be maintained. When the left / right inclination setting device 377 is operated by the operator, the traveling machine body 1 is supported by the manual operation in the left / right inclination angle posture (horizontal ground posture) set by the left / right inclination setting device 377.

  Further, as shown in the flowchart of FIG. 14, based on the front / rear tilt sensor 381 value, the machine tilt sensor 382 value, and the front / rear tilt setter 383 value, If it is determined, when the vehicle is within the vehicle height range (vehicle height range in which the front / rear inclination angle can be corrected) shown by the thick solid polygonal frame in FIG. The backward tilting operation control is performed in which the forward / backward tilt hydraulic cylinder 177 is operated to lower the rear end side of the traveling machine body 1 tilted forward. That is, forward tilt correction control is executed in which the forward tilt angle of the traveling machine body 1 tilting forward is automatically corrected by the backward tilting operation of the combine (traveling machine body 1) of FIG. The longitudinal inclination angle (ground horizontal posture) of the traveling machine body 1 can be matched with the longitudinal inclination setter 383 value.

  Further, in the above-described backward tilt operation control, when the traveling machine body 1 is in the horizontal posture (parallel posture) with respect to the track frame 21 until the target tilt posture is reached, the backward tilt motion control is performed. On the way, when the traveling machine body 1 is in a horizontal posture with respect to the track frame 21 (traveling crawler 2), the above-described backward tilting operation control is temporarily stopped for a predetermined time, and the buzzer 390 connected to the work controller 371 is sounded. To inform the operator. Then, when a predetermined time has passed since the temporary stop, the backward tilting operation control described above is automatically resumed. The operator can easily recognize the horizontal posture of the traveling machine body 1 with respect to the traveling unit by the temporary stop and the ringing of the buzzer 390.

  On the other hand, when it is not within the vehicle height range of FIG. 9 (vehicle height range in which the front and rear inclination angle can be corrected), that is, outside the vehicle height range of FIG. 9 (operation restriction areas E1, E2, E3 indicated by hatching). In this case, the left vehicle height adjustment hydraulic cylinder 38 or the right vehicle height adjustment hydraulic cylinder 38 is operated while raising and lowering the right side or the left side of the traveling machine body 1 while intermittently ringing the buzzer 390 and informing the operator. After the vehicle height of the traveling machine body 1 is changed within the vehicle height range (vehicle height range in which the front-rear inclination angle can be corrected) in FIG. 9, the above-described rearward tilt operation control is executed. That is, forward inclination correction control for automatically correcting the forward inclination angle of the traveling machine body 1 is executed. The longitudinal inclination angle (ground horizontal posture) of the traveling machine body 1 can be matched with the longitudinal inclination setter 383 value.

  Further, as shown in the flowchart of FIG. 14, based on the front / rear tilt sensor 381 value, the main unit tilt sensor 382 value, and the front / rear tilt setter 383 value, the traveling body 1 is tilted rearward and tilted downward. Is determined to be within the vehicle height range of FIG. 9 (the vehicle height range in which the front / rear tilt angle can be corrected), the front / rear tilting solenoid valve 266 is switched to operate the left / right front / rear tilt hydraulic cylinders 177. Thus, forward tilting operation control for raising the rear end side of the traveling machine body 1 tilted rearward is executed. That is, the backward inclination correction control in which the inclination angle in the front-rear direction of the traveling machine body 1 inclined rearward is automatically corrected by the inclination control in the front-rear direction of the traveling machine body 1 in FIG. The longitudinal inclination angle (ground horizontal posture) of the traveling machine body 1 can be matched with the longitudinal inclination setter 383 value.

  Further, in the above-described forward tilt operation control, when the traveling machine body 1 is in the horizontal posture (parallel posture) with respect to the track frame 21 by the time the target tilt posture is reached, the forward tilt motion control described above is performed. On the way, when the traveling machine body 1 is in a horizontal posture with respect to the track frame 21 (traveling crawler 2), the forward tilting operation control described above is temporarily stopped for a predetermined time, and the buzzer 390 connected to the work controller 371 is sounded. To inform the operator. Then, when a predetermined time has elapsed from the temporary stop, the forward tilting operation control described above is automatically resumed. The operator can easily recognize the horizontal posture of the traveling machine body 1 with respect to the traveling unit by the temporary stop and the ringing of the buzzer 390.

  On the other hand, when it is not within the vehicle height range of FIG. 9 (vehicle height range in which the front and rear inclination angle can be corrected), that is, outside the vehicle height range of FIG. 9 (operation restriction areas E1, E2, E3 indicated by hatching). In this case, the left vehicle height adjustment hydraulic cylinder 38 or the right vehicle height adjustment hydraulic cylinder 38 is operated while raising and lowering the right side or the left side of the traveling machine body 1 while intermittently ringing the buzzer 390 and informing the operator. After the vehicle height of the traveling machine body 1 is changed within the vehicle height range (vehicle height range in which the front-rear inclination angle can be corrected) in FIG. 9, the forward tilt operation control described above is executed. That is, the front / rear tilting electromagnetic valve 266 is switched, the left / right front / rear tilting hydraulic cylinders 177 are operated, the rear end side of the traveling machine body 1 is raised, and the rearward tilt angle is automatically corrected. Correction control is executed. The longitudinal inclination angle (ground horizontal posture) of the traveling machine body 1 can be matched with the longitudinal inclination setter 383 value.

  Next, as shown in the flowchart of FIG. 14, when the posture operation lever 56 or the rotation operation body 65 is manually operated, the inclination posture of the traveling machine body 1 in the left-right direction is determined by the tilting operation of the posture operation lever 56 in the vertical direction. Or the inclination attitude | position of the front-back direction of the traveling body 1 is changed. When the posture operation lever 56 is tilted upward (left tilt operation), left tilt control for tilting the traveling machine body 1 to the left is executed. Either left or right is controlled by the left tilt operation of the posture operation lever 56. Alternatively, both vehicle height adjusting hydraulic cylinders 38 are operated, and the traveling machine body 1 is supported in a posture in which the left side is lower than the right side of the traveling machine body 1.

  In addition, when the posture operation lever 56 is tilted downward (right tilt operation), right tilt control is performed to tilt the traveling machine body 1 to the right. Either or both of the vehicle height adjusting hydraulic cylinders 38 are operated, and the traveling machine body 1 is supported in a posture in which the right side is lower than the left side of the traveling machine body 1.

  In addition, when the posture operation lever 56 is tilted forward (forward tilt operation), forward tilt control is performed to tilt the traveling machine body 1 forward. The front and rear tilt hydraulic cylinders 177 operate in the same direction by substantially the same amount at the same time, so that the traveling machine body 1 is supported in a posture in which the front side is lower than the rear side of the traveling machine body 1.

  Further, when the posture operation lever 56 is tilted backward (backward tilt operation), rearward tilt control is performed to tilt the traveling machine body 1 rearward. The left and right forward / backward tilt hydraulic cylinders 177 operate in the same direction by substantially the same amount at the same time, and the traveling machine body 1 is supported in a posture in which the rear side is lower than the front side of the traveling machine body 1.

  When the attitude control lever 56 is manually operated, the manual operation control is performed when the traveling machine body 1 is in the horizontal attitude (parallel attitude) with respect to the track frame 21 during the manual operation of the attitude operation lever 56. On the way, when the traveling machine body 1 is in a horizontal posture with respect to the track frame 21 (traveling crawler 2), the above-described manual operation control is temporarily stopped for a certain time, and the buzzer 390 connected to the work controller 371 is sounded. To inform the operator. If the posture operation lever 56 is manually operated after a certain time has elapsed since the temporary stop, the manual operation control described above is automatically resumed. The operator can easily recognize the horizontal posture of the traveling machine body 1 with respect to the traveling unit by the temporary stop and the ringing of the buzzer 390.

  Further, when the operator takes the rotation operation body 65 with the right hand and rotates the rotation operation body 65 by manual operation, the vehicle height of the traveling machine body 1 changes. That is, when the rotary operation body 65 is rotated forward (reverse) by the operator's manual operation, the left tilting solenoid valve 261 and the right tilting solenoid valve 262 are turned on in the same direction substantially simultaneously based on the output of the vehicle height adjustment potentiometer 66. Then, the traveling machine body 1 is raised (lowered), and the ground height of the traveling machine body 1 is increased (lowered). As a result, the vehicle height of the combine is changed to a height desired by the operator while the left and right and front and rear tilt postures of the traveling machine body 1 are maintained constant. On the other hand, when the operator releases the right hand from the rotary operation body 65, the rotary operation body 65 returns to the initial position by a spring force, and the traveling machine body 1 is supported at the ground height at that time. It is possible to reduce the damage of the reaping device 3 and the like in contact with the road surface when the truck for transporting the combine is loaded onto or unloaded from the loading platform, or when the machine enters and leaves the field. Further, even on a steeply inclined road surface such as a walk board, it can be easily moved while preventing the fall of the combine.

  The operating speed (or operating range) of the vehicle height adjusting hydraulic cylinder 38 when the posture operating lever 56 is operated, and the operating speed (or operating range) of the vehicle height adjusting hydraulic cylinder 38 when operating the rotary operation body 65. )), The operator delays the operation of the vehicle height adjusting hydraulic cylinder 38 when the attitude control lever 56 is operated, and the sensitivity of the vehicle height adjusting hydraulic cylinder 38 when the rotary operation body 65 is operated. Operation (hunting operation) can be reduced. The vehicle height adjusting hydraulic cylinder 38 can be operated at a manual control speed adapted to the operator's feeling.

  As shown in FIGS. 1, 6, 10, 11, and 12, a traveling machine body 1 having a left and right traveling unit 2, a steering handle 11 as a steering operation tool that changes a traveling path of the traveling machine body 1, and traveling A vehicle height adjusting hydraulic cylinder 38 as a rolling actuator that changes the horizontal inclination posture of the airframe 1 and a front / rear inclination hydraulic cylinder 177 as a pitching actuator that changes the front and rear inclination posture of the traveling airframe are provided. The traveling body 1 is mounted on the frame 21 via the left and right link mechanisms P1 and R1 so as to be able to be moved up and down, and the traveling structure 1 is configured to be able to change the tilting posture in the left-right direction and the tilting posture in the front-rear direction. In the vehicle, the switch mechanism 55 for manually operating the tilt posture for operating the vehicle height adjusting hydraulic cylinder 38 or the front / rear tilt hydraulic cylinder 177, and the switch A posture control lever 56 as the posture operating tool for operating the mechanism 55, are arranged in the vicinity of the control handle 11. Therefore, while the attitude control lever 56 can be easily connected to the vehicle height adjusting hydraulic cylinder 38 or the forward / backward tilt hydraulic cylinder 177 via the switch mechanism 55, the operator operates the control handle 11 while operating the attitude control lever 56. By operating, the traveling machine body 1 can be tilted in the left-right direction or the front-rear direction. For example, contact damage of a ground working machine such as the combine mowing apparatus 3 can be reduced even when the headland turns in a field where the field is disturbed.

  As shown in FIGS. 10, 11, and 12, the vehicle height adjusting hydraulic cylinder 38 is actuated by manual operation of the posture operation lever 56 in the vertical direction. 177 is configured to operate. Therefore, the operating direction of the posture operating lever 56 and the direction in which the posture of the traveling machine body 1 changes can be matched, and by operating the posture operating lever 56, the traveling machine body 1 can be tilted in the direction experienced by the operator. For example, the operator can alternatively operate the vehicle height adjustment hydraulic cylinder 38 or the front / rear tilt hydraulic cylinder 177 by operating the posture operation lever 56 in the cross direction (up / down, front / rear). On the other hand, the operator can operate both the vehicle height adjustment hydraulic cylinder 38 and the forward / backward tilt hydraulic cylinder 177 by operating the attitude control lever 56 in the radial direction (X direction). That is, the posture of the traveling machine body 1 can be changed smoothly without a sense of incongruity. In response to the tilting of the traveling machine body 1, the posture of the traveling machine body 1 can be corrected. The operational feeling for changing the posture of the traveling machine body 1 can be improved.

  As shown in FIGS. 10, 11, and 12, a rotary operation body 65 having a structure that automatically returns to the initial position is disposed in the grip portion 56 a of the posture operation lever 56, and the operator rotates the rotary operation body 65. The vehicle height adjusting hydraulic cylinder 38 is operated when the vehicle is running, so that the vehicle height of the traveling machine body 1 changes. Therefore, the vehicle height adjustment hydraulic cylinder 38 operates only while the rotary operation body 65 is operated by the operator, and the vehicle height of the traveling machine body 1 can be increased (lowered) to support the traveling machine body 1 at an appropriate ground height. . For example, even when it is necessary to move the traveling machine body 1 with a large inclination when loading and unloading a truck for transporting a combine onto a loading platform or when entering or leaving the farm, the machine may be damaged by contact with the road surface. Can be reduced. In that case, since the inclination posture of the traveling machine body 1 is hardly changed, it is possible to easily prevent the vehicle from falling. In addition, the operating speed (or operating range) of the vehicle height adjusting hydraulic cylinder 38 when the posture operating lever 56 is operated, and the operating speed (or operating range) of the vehicle height adjusting hydraulic cylinder 38 when operating the rotary operation body 65 are used. ) And the like can be set separately, so that the operation delay of the vehicle height adjusting hydraulic cylinder 38, the sensitive operation (hunting operation) of the vehicle height adjusting hydraulic cylinder 38, etc. can be reduced, and the vehicle height adjusting hydraulic cylinder 38 can be controlled. Function can be improved easily.

  As shown in FIGS. 12 and 14, when the traveling machine body 1 shifts to the ground horizontal posture by manual operation of the posture operation lever 56 or automatic control of the vehicle height adjusting hydraulic cylinder 38 and the front / rear tilting hydraulic cylinder 177, The configuration is such that the change operation of the tilt posture in the left-right direction of the vehicle body 1 or the change operation of the tilt posture in the front-rear direction of the traveling vehicle body 1 is temporarily stopped, and the stop state is notified to the operator. Therefore, the vehicle height adjusting hydraulic cylinder 38 or the front / rear tilt hydraulic cylinder 177 can be controlled without greatly deviating from the tilt posture of the traveling machine body 1 from the tilt posture desired by the operator (predicted tilt posture). The manual operation of the posture operation lever 56 can prevent the traveling machine body 1 from being excessively tilted in the left-right direction or the front-rear direction. The manual control function of the vehicle height adjusting hydraulic cylinder 38 and the forward / backward tilt hydraulic cylinder 177, or the automatic control function thereof, or the manual operability of the attitude control lever 56 can be easily improved.

1 traveling machine body 2 traveling crawler (traveling section)
11 Steering handle (steering tool)
21 Truck frame 38 Height adjustment hydraulic cylinder (rolling actuator)
55 Inclination posture manual switch mechanism 56 Posture operation lever (posture operation tool)
56a Grasping part 65 of the attitude control lever Rotating operation body 177 Hydraulic cylinder for forward / backward tilting (pitching actuator)
P1 Pitching link mechanism R1 Rolling link mechanism

Claims (4)

A traveling machine body having left and right traveling units, a steering operation tool that changes a traveling path of the traveling machine body, a rolling actuator that changes a tilting attitude of the traveling machine body in the left-right direction, and a tilting attitude of the traveling machine body in the front-rear direction. A pitching actuator to be changed is installed, and the traveling aircraft can be moved up and down on the left and right track frames via the left and right link mechanisms, and the lateral inclination of the traveling aircraft and the forward and backward inclination of the traveling aircraft are changed. In a traveling vehicle configured as possible,
A posture operation tool for operating the rolling actuator or the pitching actuator is disposed in the vicinity of the steering operation tool ,
A rotary operation body having a structure for automatically returning to an initial position is arranged in the grip portion of the posture operation tool so that the vehicle height of the traveling machine body changes when the operator rotates the rotary operation body. traveling vehicle, characterized in that the configuration was.   2. The traveling vehicle according to claim 1, wherein a switch mechanism that operates the rolling actuator or the pitching actuator and a posture operation tool that operates the switch mechanism are arranged in the vicinity of the steering operation tool.   2. The configuration according to claim 1, wherein the rolling actuator is operated by a manual operation in the vertical direction of the posture operation tool, while the pitching actuator is operated by a manual operation in the front-rear direction of the posture operation tool. Traveling vehicle. When the traveling machine body shifts to a ground horizontal posture by manual operation of the posture operation tool or by automatic control of the rolling actuator or the pitching actuator, the operation of changing the inclined posture in the left-right direction of the traveling machine body or the traveling machine body The traveling vehicle according to claim 1, wherein the operation of changing the tilt posture in the front-rear direction is temporarily stopped, and the stop state is notified to the operator .

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