JPH09275750A - Running gear for working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a working machine running gear capable of always keeping working machine body balance favorable and improving the travelability and operability of the working machine, so designed as to raise a running frame while correcting the transverse tilting of vehicle height in association with retreating operation when the system lies in ill-drained paddy field mode, and then correct the longitudinal tilting of the machine body. SOLUTION: This working machine running gear is so designed that the running frame 5 thereof with a pair of left and right crawlers 7 set up under a machine body frame 1 is allowed to make rolling motion through vertical movement by a link mechanism, and a pitching means 26 to subject the front or rear side of the machine body frame 1 to vertical motion is set up between the machine body frame 1 and the running frame 5, an ill-drained paddy field mode selection means 43 is provided so as to switch from the control mode of a control section 42 to ill-drained paddy field mode, and the running frame is raised while correcting the transverse tilting of vehicle height in association with retreating operation when the system lies in ill-drained paddy field mode, and then the longitudinal tilting of the machine body is corrected.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling device for a working machine traveling by a crawler such as a combine.

[0002]

2. Description of the Related Art Conventionally, Japanese Unexamined Utility Model Publication No. 5-7042 discloses that a traveling frame of a traveling device provided with a pair of right and left crawlers at a position below a body frame is provided so as to be vertically movable by a link mechanism. Describes a traveling device of a working machine that leans forward during backward movement and leans the body backward.

[0003]

The above-mentioned known example has a problem in that the vehicle is simply inclined backward when the vehicle is moving backward. That is, although the front side is raised centering on the rear part of the machine frame to make it tilt backward, the rear part of the machine frame interferes with the crawlers, and there is a limit to the rear tilt, and the front side subsidence due to the backward reaction force in the wetland Can not deal with. The present invention increases the vehicle height to prevent interference between the rear portion of the body frame and the crawlers to increase the limit rearward tilt angle so as to cope with the sinking of the front side due to the reverse reaction force of the reverse drive. The operability is improved by correcting the lateral inclination when increasing the height.

[0004]

It is an object of the present invention to appropriately cope with a reverse driving reaction force, simplify operation, improve operability, and improve work efficiency.

[0005]

SUMMARY OF THE INVENTION According to the present invention, a traveling mechanism 2 having a pair of left and right crawlers 7 provided at a lower position of a machine body frame 1 is lifted and lowered by a link mechanism so as to be freely rollable. In the traveling device provided with the pitching means 26 for elevating the front or rear side of the machine body frame 1 between the frame 1 and the traveling frame 5, the control mode of the controller 42 is set to the wetland mode at the desired machine body position. A wetland state selection means 43 is provided to increase the vehicle height while correcting the lateral inclination of the vehicle height when the vehicle travels backward in the wetland mode in relation to the reverse operation of moving the traveling device 2 backward, and then corrects the longitudinal inclination of the body. It is a traveling device for a working machine configured as described above.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to an example of a combine. A reference numeral 1 denotes a body frame of the combine, and 2 denotes a traveling device provided at a position below the body frame 1. A threshing device is provided at a position above the body frame 1, and a mowing part is provided at a position in front of the traveling device 2. The body frame 1 includes a vertical frame 3 in the front-rear direction and a horizontal frame 4 in the left-right direction connecting the vertical frames 3. Below the body frame 1, a traveling frame 5 of the traveling device 2 parallel to the vertical frame 3 is provided at predetermined intervals on the left and right. Rollers 6 are provided on the outer surface of the running frame 5 at predetermined intervals in front and rear, and a crawler 7 is wound around the outer circumference of the rolls 6. Reference numeral 8 denotes a driving wheel, and 9 denotes an idle roller. Thus, between the body frame 1 and the traveling frame 5, rolling means for leveling the body frame 1 with respect to the left-right inclination of the field and pitching means for keeping the body frame 1 horizontal with respect to the front-rear inclination. Is provided. The traveling frame 5
A front horizontal mounting shaft 10 in the left and right direction is provided at the front of the front horizontal arm 12, and the front horizontal arm 12 of the front link mechanism 11 is pivotally mounted on the front horizontal mounting shaft 10. The base of the front horizontal arm 12 is in the horizontal direction. Is fixedly attached to the front support shaft 13. The front support shaft 13 is rotatably mounted only on the front support metal 14 provided on the body frame 1 side. The base portion of the front vertical arm 15 of the front link mechanism 11 is fixedly attached to the front support shaft 13.

A rear lateral mounting shaft 16 in the left-right direction is provided at a rear portion of the traveling frame 5, and a front portion of a rear lateral arm 18 of a rear link mechanism 17 is mounted on the rear horizontal mounting shaft 16. The base of the rear side arm 18 is fixedly attached to the left and right rear support shaft 19. The base of the rear vertical arm 20 of the rear link mechanism 17 is fixed to the rear support shaft 19. An intermediate portion of the rear vertical arm 20 and a tip portion of the front vertical arm 15 are connected by a rod 21 parallel to the traveling frame 5 so that the rear vertical arm 20 and the front vertical arm 15 rotate simultaneously. To The tip of the rod 23 of the rolling cylinder 22 is pivotally mounted on the rear vertical arm 20,
The base of the rolling cylinder 22 is axially attached to the tip of an arm 24 by a shaft 25, and the base of the arm 24 is axially attached to the body frame 1 side. Thus, the pitching means 26 is provided at the rear of the body frame 1. The pitching means 26 is provided with a pair of left and right pitching support metals 27 at predetermined positions on the rear side of the body frame 1, and axially mounts both ends of a horizontal pitching horizontal shaft 28 between the left and right pitching support metals 27 so as to be rotatable only. The base of the pitching horizontal arm 30 of the pitching arm 29 is fixed to the pitching horizontal shaft 28, and the tip of the pitching horizontal arm 30 is pivotally mounted on the upper part of the arm 32 of the left and right link mechanism support member 31 by the shaft 33. The left and right link mechanism support member 31 has a pair of left and right arms 32 and is formed by connecting an intermediate portion of the left and right arms 32 with a horizontal rod 34. Install.

A base of a pitching vertical arm 35 is fixed to one of the pitching horizontal arms 30 of the pitching arm 29, and a pitching rod 37 of a pitching cylinder 36 is mounted on the tip of the pitching vertical arm 35. The base of the pitching cylinder 36 is mounted on the body frame 1 by being pivotally attached thereto. Pitching cylinder 36
The pitching rod 37 of the pitching cylinder 36 is provided on the side of the rolling cylinder 22 and is located at one side in the approximate center of the body frame 1 in the front-rear direction. The base of control members 40, 40 in the front-rear direction is mounted on a shaft 25 on which the base arm 24 of the rolling cylinder 22 is mounted, and the distal ends of the control members 40, 40 are connected to the arms 32 of the left and right link mechanism support member 31. Axles 41 and 41 are attached to the upper part of the shaft. And pitching means 2
The positions of the pitching horizontal shaft 28 and the shaft 33 of 6 and the length of the pitching horizontal arm 30 of the pitching arm 29 are set so that when the pitching cylinder 36 is expanded and contracted, the shaft 33 is centered on the pitching horizontal shaft 28 as shown in FIG. By moving, the base portions of the regulating members 40, 40 act so as to push the base portion of the rolling cylinder 22 to the rear side, and the traveling frame 5 is lowered to relatively raise the machine body frame 1 to move to the machine body frame 1. The traveling frames 5 are arranged so that the distance between them is large.

In the fixed state in which the pitching cylinder 36 does not expand and contract, the left and right link mechanism support member 31 is not moved, so that the rear support shaft 19 of the rear link mechanism 17 is also not moved. The traveling frame 5 is moved up and down by extending and contracting the rolling cylinder 22, and the rolling and the vehicle height are moved up and down. The traveling frame 5, the front link mechanism 11, the rear link mechanism 17, and the rod 21 each constitute a parallel link. If the rolling cylinder 22 does not expand or contract, the parallel link is fixed. When the pitching cylinder 36 is expanded and contracted in this state, the portion of the rear support shaft 19 moves up and down. As a result, the rear side of the parallel link moves up and down around the front support shaft 13 of the front support metal 14. Therefore, in configuring the pitching device, a so-called intermediate frame (pitching frame) provided between the body frame 1 and the traveling frame 5 becomes unnecessary, and the rear portion of the traveling frame 5 is directly moved up and down to relatively move. The rear part of the body frame 1 can be moved up and down to correspond to the inclination of the field in the front-back direction.

It is of course possible to set the center of rotation in pitching to the rear side. Therefore, the wetland state selecting means 43 for setting the control mode of the control unit 42 to the wetland mode is provided at the desired position of the airframe. Wetland state selection means 43
May be configured by a switch that can be turned on and off by an operator. Further, the vehicle body is provided with a backward movement detecting means 44 for detecting the backward movement of the traveling device 2, and in the wetland mode, when the backward movement detecting means 44 detects the backward movement, the left and right rolling means are simultaneously operated to increase the vehicle height. The vehicle height is automatically raised, and at this time, the vehicle height is configured to rise while correcting the lateral inclination (Figs. 5 and 6). That is, when the vehicle moves backward in the wetland mode, the front side of the machine body sinks due to the driving reaction force. Therefore, control is performed to correct this (hereinafter, referred to as front side squat prevention control). In particular, in the combine harvester, the front cutting part may be pulled by the field, which is prevented. In the normal mode or forward traveling, the front-rear horizontal control is executed at the set vehicle height. Switching to the wetland mode, which is one of the conditions for the front side settlement prevention control, is performed by the control unit 42.
However, it is configured to be automatically performed by the slip ratio of the traveling device 2, the body inclination ratio, or the raising operation of the mowing unit when the vehicle is moving backward based on signals from various sensors. Thus, when the reverse drive detecting means 44 detects the reverse drive, the front subsidence prevention control may be performed.

Reference numeral 45 denotes a vehicle height up / down sensor which detects the stroke of each rod 23 of the left and right rolling cylinders 22 to detect the vehicle height, and 46 denotes the stroke of the pitching rod 37 of the pitching cylinder 36 to incline the pitching. This is a pitching inclination angle detection sensor that detects an angle. In the embodiment, the potentiometer and the rod are connected by a link mechanism. In FIG. 5, 55 is a vehicle height upper switch that raises the vehicle height by manual operation, 56 is a vehicle height lower switch that lowers the vehicle height by manual operation, 57 is a vehicle height automatic control switch that holds the set vehicle height, and 58 is A horizontal control tilt automatic switch for horizontally controlling the machine body, 59 is a right raising switch that moves the right side of the machine body at a desired position upward (left lowering switch that moves the left side downward), and 60 is the left side of the machine body provided at the desired position. , A left raising switch for moving the right side down (a right lowering switch for lowering the right side), 61 is a front raising switch for raising the front side of the machine body provided at a desired position (a rear lowering switch for lowering the rear side of the machine body), 62 Is a front lowering switch for moving the front side of the machine down at the desired position (rear raising switch for moving the rear side up), 63 is a front-rear horizontal sensor for detecting the front-back inclination of the machine at the desired position, and 64 is a position. A left horizontal sensor for sensing the lateral inclination of the machine body which is provided at a position.

Even if it is premised that the front side sinking prevention control is performed, if the operator does not raise the reaping section to the highest position when moving backward, the control section 42 may have other conditions. The front subsidence prevention control is not performed (FIGS. 8 and 9). Reference numeral 65 denotes a cutting up / down sensor that detects the height of the cutting unit. Then, in the wetland mode, the reaper is manually operated to the highest position with respect to the machine body, and the vehicle height is increased while the ascending operation is continued. That is, in the wetland mode, the aircraft sinks due to its weight, so the mowing unit is raised by an amount corresponding to that in the normal mode, so the upper limit position to the ground is lower, and the mowing unit is The reason why the raising operation is continued even at the highest position with respect to the machine is because it is desired to move the cutting section further upward.Therefore, raising the vehicle height raises the cutting section, and the raising operation of the cutting section is performed. The actual reaper of the reaper is brought closer to the image. 66 is a reaper section up / down switch.
When the reaper is manually raised in the normal mode, the raising is stopped at the highest position with respect to the machine body.
When the operating lever 67 provided in the driver's seat tilts to the left or right,
The machine is configured to turn in that direction, and when tilted forward, the cutting unit is lowered, and when tilted backward, the cutting unit is raised, and the right raising switch 59 and the left raising switch 60 are provided on the upper surface of the operation lever 67. The front raising switch 61 and the front lowering switch 62 are arranged respectively, and in the wetland mode, the front raising switch 61 and the front lowering switch 62 are used to perform the forward / backward inclination correction operation, and when the forward / backward inclination correction operation is continued, the vehicle height is increased. Try to raise. That is, pitching corrects the front-back inclination by moving either the rear part or the front part of the aircraft up and down, but when the vehicle height is low, there is a limit to this, so it is possible to increase the vehicle height and increase the pitching amount. is there.

In the driver's seat, a horizontal horizontal automatic switch 68 for automatically leveling the lateral inclination of the machine body by the rolling means, and a front-rear horizontal automatic switch 68 for automatically leveling the longitudinal inclination of the machine body by the pitching means 26. 69,
An automatic tilt control switch 58 for horizontally controlling the front and rear and left and right tilts of the machine body is provided by the rolling means and the pitching means 26. However, when one of the switches is in the automatic horizontal mode, the front side sinking prevention is performed. Although the control is performed, the front side squat prevention control is ignored when any of the automatic horizontal modes is turned off. Further, when the threshing clutch detection unit 70 detects that the threshing clutch is disengaged, the front side sinking prevention control is ignored. Further, when the vehicle speed sensor 71 detects a speed equal to or higher than a certain speed, in this case, since the vehicle is traveling on the road, the front side squat prevention control is ignored. Further, when the auxiliary gear shift lever position switch 72 for detecting the position of the auxiliary gear shift lever detects a speed equal to or higher than a certain speed, in this case, since the vehicle is traveling on the road, the front side squat prevention control is ignored.

[0014]

Next, the operation will be described. (Rolling) When the rolling cylinder 22 is expanded and contracted, the rear vertical arm 20 is rotated, thereby rotating the rear support shaft 19, and the rotation of the rear support shaft 19 causes the rear horizontal arm 18 to rotate. Also, the front vertical arm 15 is rotated by the rotation of the rear vertical arm 20 via the rod 21, the front vertical arm 15 rotates the front support shaft 13, and the rotation of the front support shaft 13 causes the front lateral shaft 13 to rotate. The arm 12 is rotated about the front support shaft 13, and thus the traveling frame 5 is vertically moved relative to the machine body frame 1 to roll so as to correct the left-right inclination (the left and right rolling cylinders 22 May be simultaneously expanded and contracted in opposite directions to quickly make the body frame 1 horizontal, and the specific expansion and contraction operation of the rolling cylinder 22 is not limited to the embodiment. In addition, the left and right rolling cylinders 2
When 2 is expanded and contracted simultaneously, the entire body frame 1 is moved up and down to change the vehicle height.

(Pitching) Pitching cylinder 36
When the rod 37 is expanded and contracted, the pitching rod 37 pushes and pulls the pitching vertical arm 35 of the pitching arm 29 to rotate about the pitching horizontal shaft 28 (the rotation center of the pitching vertical arm 35 and the pitching horizontal arm 30 is the same). Therefore, the pitching horizontal arm 30 also rotates), and the pitching vertical arm 35 and the pitching horizontal arm 30 rotate the upper part of each arm 32 of the left and right link mechanism supporting member 31 up and down about the pitching horizontal shaft 28, and the left and right link mechanism supporting member. Rear support shaft 1 attached to the lower part of each arm 32 of 31
9 is moved up and down with the front support shaft 13 as a center, and the rear portion of the machine body frame 1 is relatively moved up and down to be horizontal. (Airframe horizontal control) When the vehicle is operated in the wetland mode by the wetland state selection means 43 while the vehicle is traveling, the reverse movement detection means 44 detects this and reversely operates the left and right rolling means at the same time. Since it is raised while automatically correcting the left and right inclination, it prevents the front side of the fuselage from sinking due to the driving reaction force due to the backward movement in the wetland mode. This front side subsidence prevention control can particularly prevent the harvesting section located on the front side of the combine fuselage from coming into contact with the field. Further, in the normal mode, when the worker raises the mowing unit to the highest position when moving backward, the control unit 42 automatically switches to the wetland mode and performs the front side subsidence prevention control.

On the contrary, even if the operator recognizes that it is a wetland and the wetland mode selecting means 43 is in the wetland mode, the cutting up / down sensor 65 detects that the cutting unit is not raised to the highest position in the front side settlement prevention control. The vehicle height is not increased by ignoring the front side squat prevention control (FIGS. 8 and 9).
That is, the fact that the cutting unit is not raised to the highest position means that the front side of the machine body is not so submerged due to the driving reaction force. In this case, therefore, even if the wetland mode selecting unit 43 is in the wetland mode. The control unit 42 ignores the front-side squat prevention control, omits unnecessary increase in vehicle height, and improves work efficiency. Similarly, when the automatic horizontal mode is off, the front side squat prevention control is ignored, so that the work efficiency is improved by avoiding unnecessary elevation of the vehicle height. Note that when the automatic horizontal mode is turned off, the wetland mode is not entered, so the operator can reliably recognize the control mode and prevent erroneous operation (and when the automatic horizontal mode is turned off, the wetland mode is not entered. , Wetland mode can also be selected with the automatic horizontal control switch). Also,
If the threshing clutch detection unit 70 detects that the threshing clutch is disengaged by forgetting to turn off the automatic horizontal mode, the front side sinking prevention control is unnecessary because it is not in operation such as running on the road, and is ignored (in particular, the automatic This is effective when you forget to turn off the horizontal mode). In addition, even if the user forgets to turn off the automatic horizontal switch horizontal control tilt automatic switch 58,
Vehicle speed sensor When the vehicle speed sensor 71 detects a speed equal to or higher than a certain speed, the front side squat prevention control is ignored, so that unnecessary control is prevented and operability is improved. That is, when the vehicle speed sensor 71 detects a speed equal to or higher than a certain speed, the vehicle is traveling on the road, and therefore the front side squat prevention control is unnecessary.

However, in the wetland mode, the reaper is manually moved up to the highest position, and the vehicle height is increased when the raising operation is continued.
The reaper can be raised by the amount by which the vehicle height is increased. That is, in wetland mode where the weight of the aircraft has already subsided, in response to this, the reaping part is raised relative to the submerged aircraft more than in the normal state, so the upper limit for the apparent field scene Since the position is also low, even if the mowing unit is raised to the upper limit position, the operator will continue to ascend when the mowing unit is moved further up. Raise the reaper by raising it. Therefore, it is possible to bring the same effect as the position of the reaping section is raised, and it is possible to bring the actual elevation of the reaping section closer to the image of the operation, so that the operation feeling is improved and the operability is improved. Then, the operation lever 67 provided in the driver's seat is provided with a switch for manually correcting the inclination of the machine body. Among them, since the front and rear inclination is corrected by pitching, if the vehicle height is low,
The aircraft frame 1 interferes with the crawler 7 and the correction is limited. However, in wetland mode, the vehicle height is increased when the front / rear tilt correction operation is further continued. Can be corrected by.
In addition, the operator raises the vehicle height just by correcting the inclination, so that the operability can be improved and the actual inclination correction can be brought closer to the image of the operation, and the operation fee can be improved. Improve the ring and improve operability. In addition, switching from the wetland mode to the normal mode should be continued until the work is completed once the wetland mode is entered, or
Alternatively, the control unit 42 may automatically switch the control mode according to other conditions, the switching is arbitrary, and the control in each of the above-described embodiments can be performed individually or in combination. This combination is also optional and is not limited to the embodiment.

[0018]

According to the present invention, the traveling frame 2 of the traveling device 2 provided with a pair of left and right crawlers 7 at the lower position of the machine body frame 1 is lifted and lowered by a link mechanism so as to be freely rollable, and the machine body frame 1 and the traveling frame are provided. In the traveling device provided with the pitching means 26 for raising and lowering the front side or the rear side of the machine body frame 1 with the vehicle body 5, the wetland state selecting means 43 for setting the control mode of the control unit 42 to the wetland mode is provided at the desired machine body position. In relation to the backward operation for moving the traveling device 2 backward, when the vehicle is moved backward in the wetland mode, the vehicle height rises while correcting the lateral inclination of the vehicle height, and then the longitudinal inclination of the machine body is corrected. Since it is a traveling device, it can quickly respond to the sinking of the front side of the fuselage due to the drive reaction force by the backward movement in the wetland mode.
Since the vehicle height is increased, not only is the pitching range increased, but the running performance is also improved, and the vehicle height is raised while correcting the inclination of the vehicle height. Since it is unnecessary, the operability is improved, and particularly in the case of the combine, there is an effect that it is possible to prevent the cutting portion from coming into contact with the field due to the driving reaction force due to the backward movement.

[Brief description of drawings]

FIG. 1 is a side view of a traveling device.

FIG. 2 is a side view of a pitching means and a rolling means.

FIG. 3 is a side view of a state in which the vehicle has been raised forward.

FIG. 4 is an explanatory view of a working state of the pitching means.

FIG. 5 is a block diagram.

FIG. 6 is a hydraulic circuit diagram.

FIG. 7 is a flowchart.

FIG. 8 is a block diagram of another control embodiment.

FIG. 9 is a flowchart of the same.

FIG. 10 is a block diagram of another control embodiment.

FIG. 11 is an explanatory diagram of the same output state.

FIG. 12 is a flowchart of the same.

FIG. 13 is a block diagram of another control embodiment.

FIG. 14 is a plan view of an operation lever.

FIG. 15 is a flowchart of the same.

FIG. 16 is an explanatory diagram of the same output state.

FIG. 17 is a block diagram of an example of another control.

FIG. 18 is a flowchart of the same.

FIG. 19 is a block diagram of another embodiment of control.

FIG. 20 is a flowchart of the same.

FIG. 21 is a block diagram of another control embodiment.

FIG. 22 is a flowchart of the same.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Body frame, 2 ... Traveling device, 3 ... Vertical frame, 4
... horizontal frame, 5 ... running frame, 6 ... rolling wheel, 7 ... crawler, 8 ... drive wheel, 9 ... idle roller, 10 ... rear horizontal mounting shaft, 11 ... front side link mechanism, 12 ... front side horizontal arm,
13: Front support shaft, 14: Front support metal, 15: Front vertical arm, 16: Rear horizontal mounting shaft, 17: Rear link mechanism, 18: Rear horizontal arm, 19: Rear support shaft, 20: Rear side Vertical arm, 21 rod, 22 cylinder for rolling, 23 rod, 24 arm, 25 axis, 26 pitching means, 27 pitching support metal, 28 pitching horizontal axis, 29 pitching arm, 30 pitching Horizontal arm, 31 ... left and right link mechanism support member, 32 ...
Arms, 33 ... Shafts, 34 ... Horizontal rods, 35 ... Pitching vertical arms, 36 ... Pitching cylinders, 37 ... Pitching rods, 40 ... Restricting members, 41 ... Shafts, 42 ... Control section, 4
3 ... Wetland state selection means, 44 ... Reverse detection means, 55 ... Vehicle height up switch, 56 ... Vehicle height down switch, 57 ... Vehicle height automatic control switch, 58 ... Horizontal control tilt automatic switch, 5
9 ... Right raising switch, 60 ... Left raising switch, 61 ... Front raising switch, 62 ... Front lowering switch, 63 ... Front / rear horizontal sensor, 64 ... Left and right horizontal sensor, 65 ... Mowing up / down sensor, 66 ... Mowing section up / down switch, 67 … Operating lever, 6
8 ... Left / right horizontal automatic switch, 69 ... Front / rear horizontal automatic switch, 70 ... Threshing clutch detector, 71 ... Vehicle speed sensor.

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[Procedure amendment]

[Submission date] August 7, 1996

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Claims (1)

[Claims] 1. A traveling frame 2 of a traveling device 2 in which a pair of left and right crawlers 7 are provided at a lower position of a machine body frame 1 is lifted by a link mechanism so as to be freely rollable, and the machine body frame 1 and the traveling frame 5 are In the traveling device provided with the pitching means 26 for raising and lowering the front side or the rear side of the machine body frame 1 between, the wetland state selecting means 43 for setting the control mode of the control unit 42 to the wetland mode is provided at the desired position of the machine body, In relation to the reverse operation of moving the traveling device 2 backward, when the vehicle moves backward in the wetland mode, it rises while correcting the lateral inclination of the vehicle height, and then the traveling device of the working machine configured to correct the longitudinal inclination of the machine body. .