JP2009017817A - Harvesting vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a harvesting vehicle capable of traveling adapted to traveling conditions or harvesting conditions, while capable of reducing the inclination of a traveling machine body 1 in a left and right direction. <P>SOLUTION: The harvesting vehicle includes the traveling machine body 1 loading an engine 20, left and right traveling crawlers 2 supporting the traveling machine body 1, an operating part 10 having a steering handle 11 and an operating seat 12, harvesting devices 3, 5 for harvesting the crops of a field, and left and right inclination-changing mechanisms 26 for changing the machine body-supporting heights of the left and right traveling crawlers 2, and constituted so as to change the inclination angle in the left and right direction of the traveling machine body 1. The traveling machine body 1 includes traveling part-supporting bodies 29, 30 for linking the left and right crawlers 2 so as to move in the left and right direction, and a wheel track distance-changing mechanism 45 for changing the distance between wheel tracks of the left and right traveling crawlers 2. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a harvesting work vehicle such as a combine harvester or a vegetable harvester such as a cabbage that harvests an uncut grain culm in a field by a reaping device and threshs the harvested cereal by a threshing device. The present invention relates to a harvesting work vehicle configured to be able to change the inclination angle in the left-right direction.

  Conventionally, a combine as a harvesting work vehicle includes a traveling machine body equipped with an engine, a traveling crawler as a left and right traveling unit that supports the traveling machine body, a driving unit having a steering handle and a driving seat, and an uncutted field. A reaping device that harvests cereals and a threshing device that threshs the harvested cereals, and is configured to continuously harvest and thresh uncut cereals in the field and collect the grains. (For example, refer to Patent Document 1).

In this case, the conventional combine is provided with a left and right inclination change mechanism for changing the height of the left and right traveling units against the aircraft support, and is configured to adjust the horizontal inclination angle of the traveling aircraft. In addition, a configuration in which the reaping device is moved in the left-right direction to change the relative position of the reaping device with respect to the traveling machine body (see, for example, Patent Document 2) is also known.
JP 2004-135588 A Utility Model Registration No. 2544422

  As shown in Patent Document 1, the conventional technology is caused by a traveling road surface condition or an unbalanced load of the traveling machine body when the horizontal inclination angle of the traveling machine body is adjusted and the combine machine body is kept horizontal. Due to the difference in ground pressure between the left and right traveling parts, there is no need to worry about the traveling aircraft tilting to the left or right, but the traveling part on the side with the larger ground pressure has more sinking than the traveling part on the opposite side, and the side with the larger ground pressure. There is a problem that the difference between the running resistance of the running part and the running resistance of the opposite running part is large, and the running performance cannot be improved.

  Also, in a harvesting vehicle such as a vegetable harvester that harvests vegetables such as cabbage or carrots on the top surface of multi-row ridges formed in the field, the distance between the left and right traveling parts is the distance between the ridges (the gap between the grooves between the ridges). ) Does not match, either one of the left and right traveling parts will move on the upper surface of the eaves, the other will move the groove between the eaves, greatly changing the aircraft support height of the left and right running parts, It is necessary to adjust the inclination angle of the traveling aircraft in the left-right direction. For this reason, there is a problem that the traveling machine body is greatly tilted from either the left or right side to the other side when the direction is changed at the headland of the field that moves to the paddle of the next process, and the operator's driving posture becomes unstable.

  In addition, work to move along narrow crop rows (combine combine work), move along crop rows in soft fields (combine harvesting in wet fields, etc.) When the left and right traveling units are arranged at a distance that allows any of the operations that move along the crop row at the time of harvesting (the harvesting operation when combining), the specifications of the left and right traveling units are determined according to each of the above-described work modes. It is necessary to change (the lateral width of the traveling crawler) or to change the support position of the harvesting device (reaping device) with respect to the traveling machine body. For example, it is necessary to configure the left and right traveling units by traveling crawlers having a narrow lateral width, and to perform an operation of moving along a crop row in which planting intervals are narrow. In addition, it is necessary to configure the left and right traveling units by a traveling crawler having a wide width and to perform an operation of moving along a crop line in a farm field where the cultivated soil is soft. Moreover, as shown in Patent Document 2, the support position of the harvesting device (reaping device) is greatly changed to either the left or right side (river side) with respect to the traveling machine body, and along the crop row at the edge of the field. It is necessary to perform work to move.

  An object of the present invention is to provide a harvesting work vehicle that can reduce the inclination of the traveling machine body in the left-right direction and that can be adapted to move according to the traveling conditions or working conditions.

  In order to achieve the above object, a harvesting work vehicle according to the first aspect of the present invention includes a traveling machine body equipped with an engine, left and right traveling parts for supporting the traveling machine body, a driving part having a steering handle and a driving seat, A harvesting device for harvesting crops in the field; and a left and right tilt changing mechanism for changing the height of the left and right traveling units against the aircraft, and configured to change the lateral tilt angle of the traveling aircraft. The harvesting work vehicle includes: left and right traveling unit supports that connect the left and right traveling units to the traveling machine body so as to be movable in the left-right direction; and a range changing mechanism that changes the range of the left and right traveling units. It is a thing.

  According to a second aspect of the present invention, in the harvesting work vehicle according to the first aspect of the present invention, the right and left distance changing mechanism is provided to change the distance between the left and right traveling units.

  According to a third aspect of the present invention, in the harvesting work vehicle according to the first aspect of the present invention, there is provided a distance adjustment operation tool for manual operation that operates the distance change mechanism.

  According to a fourth aspect of the present invention, in the harvesting work vehicle according to the first aspect of the present invention, the harvesting work vehicle includes an inclination sensor that detects a horizontal inclination of the traveling aircraft body, and the traveling vehicle when the traveling aircraft body is inclined in the lateral direction. The distance of the traveling part on the side where the machine body is inclined is automatically enlarged.

  According to a fifth aspect of the present invention, in the harvesting work vehicle according to the first aspect, the vehicle is provided with a vehicle speed sensor that detects a moving speed of the traveling machine body, and the traveling machine body moves at a predetermined moving speed or more, The distance changing mechanism is configured to operate.

  According to a sixth aspect of the present invention, in the harvesting work vehicle according to the first aspect of the present invention, the harvesting work vehicle includes a vehicle height sensor that detects a height to the ground of the traveling machine body supported by the traveling unit, and is greater than or equal to a predetermined vehicle height. Further, the distance of the traveling unit is automatically enlarged.

  According to a seventh aspect of the present invention, in the harvesting work vehicle according to the first aspect, the harvesting work vehicle further includes a load weight sensor that detects a weight of the crop loaded on the traveling machine body, It is configured to automatically enlarge the range.

  According to an eighth aspect of the present invention, in the harvesting work vehicle according to the first aspect, the harvesting work vehicle includes a switching tool for switching the harvesting work mode so that the distance changing mechanism operates in association with an operation for switching the harvesting work mode. It is composed.

  A ninth aspect of the present invention relates to the harvesting work vehicle according to the first aspect, wherein the harvesting work vehicle includes a vehicle speed sensor that detects a moving speed of the traveling aircraft body, and is related to an operation of switching the traveling speed of the traveling aircraft body to a high speed or a low speed. Thus, the distance changing mechanism is configured to operate.

  According to the first aspect of the present invention, a traveling vehicle equipped with an engine, left and right traveling units that support the traveling vehicle, a driving unit having a steering handle and a driving seat, and a harvesting device that harvests crops in a field. A harvesting work vehicle comprising: a right and left inclination changing mechanism that changes a support height of the left and right traveling units with respect to the body, and configured to change a right and left inclination angle of the traveling body. The left and right traveling units are connected to the left and right traveling units so as to be movable in the left-right direction, and the distance changing mechanism is configured to change the distance of the left and right traveling units. The distance between the left and right traveling parts can be easily changed according to the inclination in the left-right direction or the state of the moving road surface or the work content, and can be moved in accordance with the traveling situation or the working conditions. Can be improved easily .

  According to the second aspect of the present invention, since the left and right distance changing mechanisms for individually changing the distance between the left and right traveling units are provided, the left and right distance changes depending on the traveling conditions or work conditions. The distance of the traveling part can be easily changed.

  According to the third aspect of the present invention, since the distance adjustment operation tool for manual operation that operates the distance change mechanism is provided, the distance between the left and right traveling units can be easily determined by the operator's judgment. It can be changed to.

  According to the invention which concerns on Claim 4, it is equipped with the inclination sensor which detects the inclination of the left-right direction of the said traveling body, and when the said traveling body tilts in the left-right direction, Since the distance is automatically increased, the amount of subsidence of the traveling unit on the side where the traveling machine body is inclined can be reduced, and the driving maneuverability or traveling performance can be easily improved.

  According to a fifth aspect of the present invention, a vehicle speed sensor that detects a moving speed of the traveling machine body is provided, and the distance changing mechanism is activated when the traveling machine body moves at a predetermined moving speed or more. Therefore, the distance of the traveling portion can be easily changed while preventing the traveling portion such as a traveling crawler having an endless crawler belt structure from being detached from the support portion of the track frame.

  According to a sixth aspect of the present invention, the vehicle is provided with a vehicle height sensor that detects a height above the ground of the traveling machine body supported by the traveling unit, and the distance of the traveling unit is automatically increased when the vehicle height is equal to or higher than a predetermined vehicle height. Therefore, it is possible to reduce the lateral tilting of the traveling machine body and to easily improve the driving maneuverability or the traveling performance.

  According to the invention which concerns on Claim 7, it is equipped with the loading weight sensor which detects the weight of the crops loaded on the said traveling body, and when the predetermined loading weight is exceeded, the range of the said traveling part is expanded automatically. Since it is configured, tilting in the left-right direction of the traveling machine body can be reduced, and driving maneuverability or traveling performance can be easily improved.

  According to the invention which concerns on Claim 8, since it comprised so that the switching tool which switches a harvesting work mode was provided, and the said distance change mechanism act | operates in connection with operation which switches a harvesting work mode, for example, a planting strip Work that moves along narrow rows of crops (combine combine harvesting), work that moves along crop rows in a field with soft cultivated soil (combine combine harvesting in wet fields, etc.), crop at the edge of the field The left and right traveling units can be arranged with a distance suitable for any of the operations that move along the rows (combing operations when combining). Therefore, it is not necessary to change the specifications of the left and right traveling parts (the width of the traveling crawler) or change the support position of the harvesting device (reaping device) with respect to the traveling machine body according to each work mode described above, An airframe structure with excellent mobility can be easily configured.

  According to a ninth aspect of the present invention, a vehicle speed sensor that detects a moving speed of the traveling machine body is provided, and the distance changing mechanism is operated in association with an operation of switching the moving speed of the traveling machine body to a high speed or a low speed. Since the distance of the traveling unit is automatically expanded by high-speed traveling, the posture of the traveling aircraft body can be stabilized and moved at high speed, while the traveling unit has a narrow road width or storage space. It is possible to move the vehicle at a low speed by automatically reducing the distance of the vehicle, and to easily improve driving maneuverability or driving performance.

  DESCRIPTION OF EMBODIMENTS Embodiments embodying the present invention will be described below with reference to the drawings. 1 is a left side view of the combine, FIG. 2 is a plan view of the combine, FIG. 3 is a left side view of the traveling portion of the combine, FIG. 4 is a plan view of the traveling portion of the combine, and FIG. 5 is a distance of the traveling portion of the combine. FIG. 6 is a flowchart of the distance control, FIG. 7 is a flowchart of the distance control, FIG. 8 is a flowchart of the distance control, FIG. 9 is a flowchart of the distance control, and FIG. 10 is a flowchart of the distance control. . The overall structure of the combine will be described with reference to FIGS. 1 and 2. In the following description, the left side in the traveling direction of the traveling machine body 1 is simply referred to as the left side, and the right side in the traveling direction is also simply referred to as the right side.

  The combine of this embodiment includes a traveling machine body 1 supported by a pair of left and right traveling crawlers 2 (traveling portions). At the front part of the traveling machine body 1, a six-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 rotation fulcrum shaft 4a. Yes. A threshing device 5 having a feed chain 6 and a grain tank 7 for storing grain after threshing are mounted on the traveling machine body 1 side by side. In this embodiment, the threshing device 5 is disposed on the left side in the traveling direction of the traveling machine body 1, and the grain tank 7 is disposed on the right side in the traveling 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 throw 9 of the discharge auger 8 to a truck bed or a container. ing. An operation unit 10 is provided on the right side of the reaping device 3 and on the front side of the grain tank 7.

  A steering handle 11 and a driver seat 12 are arranged in the driver 10. The driving unit 10 includes a step in which an operator gets on, a handle column 13 provided with a steering handle 11, a main transmission lever 14 and a sub transmission lever 15 provided on a lever column on the left side of the driving seat 12, and a threshing clutch. A lever 16 and a cutting clutch lever 17 are arranged. An engine 20 as a power source is disposed in the traveling machine body 1 below the driver seat 12.

  As shown in FIGS. 1 to 4, left and right track frames 21 are arranged on the lower surface side of the traveling machine body 1. The traveling machine body 1 is provided with a drive sprocket 22 that transmits the power of the engine 20 to the traveling crawler 2 and an intermediate roller 25 that holds the non-grounded side of the traveling crawler 2. The track frame 21 is provided with a tension roller 23 for maintaining the tension of the traveling crawler 2 and a plurality of track rollers 24 for maintaining the grounding side of the traveling crawler 2 in a grounded state. 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. The ground side will be supported.

  A clipper-type cutting blade device 222 that cuts the stock of uncut grain culm in the field is provided below the cutting frame 221 connected to the cutting rotation fulcrum shaft 4a of the cutting device 3. In front of the mowing frame 221, a stalk raising apparatus 223 for 6 stalks that raises uncut cereals in the field is arranged. 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 grain culling pulling device 223, a weeding body 225 for six strips for weeding the uncut grain culm in the field is projected. While the traveling crawler 2 is driven by the engine 20 to move within the field, the reaping device 3 is driven to continuously shave the uncut cereals on the field.

  As shown in FIGS. 1 and 2, the threshing device 5 includes a handling cylinder 226 for threshing threshing, and a swinging sorter as a degranulated substance selection mechanism that sorts shed substances falling below the handling cylinder 226. 227 and the red pepper fan 228, a processing cylinder 229 for reprocessing the threshing waste taken out from the rear part of the handling cylinder 226, and a dust exhaust fan 230 for discharging the dust at the rear part of the swing sorter 227. . In addition, the rotating shaft of the handling cylinder 226 extends along the conveying direction of the cereal by the feed chain 6 (in other words, the traveling direction of the traveling machine body 1). The stock source side of the corn straw conveyed from the reaping device 3 by the corn straw conveying device 224 is inherited by the feed chain 6 and is nipped and conveyed. Then, the tip side of the cereal cocoon is carried into the handling chamber of the threshing device 5 and threshed by the handling drum 226.

  On the lower side of the swing sorter 227, a first conveyor 231 that takes out the grain (first thing) sorted by the swing sorter 227, and a second that takes out a second thing such as a grain with a branch raft. A conveyor 232 is provided. The two conveyors 231 and 232 of this embodiment are arranged in the order from the front side in the traveling direction of the traveling machine body 1 to the upper surface side of the traveling machine body 1 above the rear part of the traveling crawler 2 in a side view in order of the first conveyor 231 and the second conveyor 232. It is installed.

  The swing sorter 227 is configured such that the cereals that have leaked from the receiving net stretched below the handling cylinder 226 are peristally sorted (specific gravity sort) by the feed pan and chaff sheave of the swing sorter 227. ing. The grain that has fallen from the grain sieve of the swing sorter 227 is removed by the sorting air from the tang fan 228, and falls first onto the conveyor 231. A whipping cylinder 233 extending in the vertical direction is connected to a terminal portion of the first conveyor 231 that protrudes outward from one side wall (in the embodiment, the right side wall) near the grain tank 7 in the threshing device 5. . The grain taken out first from the conveyor 231 is carried into the grain tank 7 via the whipping cylinder 233 and collected in the grain tank 7.

  On the other hand, a waste chain 234 is 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 side of the threshing device 5 After being cut to a suitable length by the waste cutter 235 provided on the rear, the machine is discharged to the lower rear side of the traveling machine body 1.

  Next, the structure of the inclination changing mechanism 26 of the four-strike combine according to the first embodiment of the present invention will be described with reference to FIGS. 3 and 4. As shown in FIGS. 3 and 4, a pair of left and right front bearing bodies 27 and a rear bearing body 28 are arranged on the lower surface side of the traveling machine body 1. A pair of left and right front fulcrum shafts 29 are passed through the front bearing body 27. A pair of left and right rear fulcrum shafts 30 are passed through the rear bearing body 28. A pair of left and right front fulcrum shafts 29 are rotatably fitted to the lower ends of a pair of left and right front upper arms 31 extending in the vertical direction. The rear fulcrum shaft 30 is rotatably fitted to the lower ends of the left and right rear upper arms 32. The boss body 31a on the lower end side of the pair of left and right front upper arms 31 has a front end side of the pair of left and right front lower arms 33 extended in the front-rear direction so as to be integrally rotatable by key fitting and in the axial direction. Fits movably. The front end side of the pair of left and right rear lower arms 34 is fitted to the boss body 32a on the lower end side of the rear upper arm 32 so as to be integrally rotatable by key fitting and movable in the axial direction. .

  That is, the pair of left and right front upper arms 31 and the pair of left and right front lower arms 33 rotate integrally around the pair of left and right front fulcrum shafts 29, and the pair of left and right front lower arms 33 are axes of the front fulcrum shaft 29. It will move in the core line direction. The pair of left and right rear upper arms 32 and the pair of left and right rear lower arms 34 rotate integrally around the pair of left and right rear fulcrum shafts 30 so that the pair of left and right rear lower arms 34 are located on the rear side. The fulcrum shaft 30 moves in the axial direction.

  The front end sides of the pair of left and right tilt change coupling bodies 35, 36 extending in the front-rear direction via the shaft body 31b are coupled to the upper end sides of the pair of left and right front upper arms 31. The rear end side of the pair of left and right tilt change coupling bodies 35, 36 is coupled to the upper end side of the rear upper arm 32 via a shaft body 32b. A pair of left and right tilt-changing hydraulic cylinders 37 and 38 are arranged on the traveling machine body 1 through shaft bodies 1a and 1b. Pistons 37a and 38a of a pair of left and right vehicle height adjusting hydraulic cylinders 37 and 38 are coupled to a pair of left and right inclination changing coupling bodies 35 and 36 via shaft bodies 35a and 36a, respectively. The front portion of the track frame 21 is connected to the rear end side of the pair of left and right front lower arms 33 via a connecting shaft 39. The rear portion of the track frame 21 is connected to the rear end side of the rear lower arm 34 via a connecting shaft body 40.

  As a result, either one or both of the pair of left and right vehicle height adjusting hydraulic cylinders 37, 38 are operated to advance one or both pistons 37a, 38a of the pair of left and right vehicle height adjusting hydraulic cylinders 37, 38. Accordingly, one or both of the pair of left and right track frames 21 are moved down, the ground side of either one or both of the pair of left and right traveling crawlers 2 is pushed down, and the vehicle height on the left side, right side, or both of the traveling aircraft body 1 is reduced. Will be higher.

  Further, either one or both of the pair of left and right vehicle height adjusting hydraulic cylinders 37, 38 are operated to retract one or both pistons 37a, 38a of the pair of left and right vehicle height adjusting hydraulic cylinders 37, 38. Accordingly, one or both of the pair of left and right track frames 21 are moved upward, the grounding side of one or both of the pair of left and right traveling crawlers 2 is pushed up, and the vehicle height on the left side, right side, or both of the traveling machine body 1 is increased. It will be lowered. That is, the pair of left and right vehicle height adjusting hydraulic cylinders 37 and 38 are operated, the ground contact heights of the left and right traveling crawlers 2 are changed, the inclination angle of the traveling aircraft body 1 in the left-right direction is adjusted, and the traveling aircraft body 1 is substantially omitted. It is configured to support horizontally.

  Next, the structure of the distance changing mechanism 45 of the four-strike combine according to the first embodiment of the present invention will be described with reference to FIGS. 3 and 4. As shown in FIGS. 3 and 4, the front end sides of the pair of left and right front support frames 50 are integrally connected to the boss bodies 31a of the pair of left and right front upper arms 31, respectively. The rear end sides of the pair of left and right front support frames 50 are extended substantially parallel to the pair of left and right front lower arms 33 extending in the front-rear direction. A pair of left and right front clearance changing hydraulic cylinders 52a and 52b are fixed to the rear end sides of the pair of left and right front support frames 50, respectively. Pistons 54 of the left and right front distance changing hydraulic cylinders 52a and 52b are connected to the pair of left and right front lower arms 33, respectively.

  Further, the front end sides of the pair of left and right rear support frames 51 are integrally connected to the boss bodies 32a of the pair of left and right rear upper arms 32, respectively. The rear end sides of the pair of left and right rear support frames 51 are extended substantially parallel to the pair of left and right rear lower arms 34 extending in the front-rear direction. A pair of left and right rear clearance changing hydraulic cylinders 53a and 53b are fixed to the rear end sides of the pair of left and right rear support frames 51, respectively. Pistons 55 of the left and right rear distance changing hydraulic cylinders 53a and 53b are connected to the pair of left and right rear lower arms 34, respectively.

  The left and right front distance changing hydraulic cylinders 52a and 52b and the left and right rear distance changing hydraulic cylinders 53a and 53b have substantially the same specification structure and substantially the same hydraulic performance (hydraulic capacity). ing.

  Therefore, the left front travel change hydraulic cylinder 52a and the left rear distance change hydraulic cylinder 53a are operated to move the pistons 54 and 55 of the cylinders 52a and 53a forward (retract), thereby driving the left side travel. The crawler 2 and the track frame 21 move leftward (rightward), and the distance of the left traveling crawler 2 is enlarged (reduced) and changed. Also, the right front distance changing hydraulic cylinder 52b and the right rear distance changing hydraulic cylinder 53b are operated, and the pistons 54, 55 of the respective cylinders 52b, 53b are advanced (retracted), thereby driving on the right side. The crawler 2 and the track frame 21 move rightward (leftward), and the distance of the right traveling crawler 2 is enlarged (reduced) and changed.

  A mission case 46 is disposed on the front side of the traveling machine body 1, and the left and right axles 48 are protruded from the mission case 46 via a telescopic axle case 47 toward the left and right sides. The left and right drive sprockets 22 are pivotally supported on 48. The rotational force from the engine 20 is transmitted to the left and right traveling crawlers 2 via the left and right drive sprockets 22 that can move in the left-right direction. Further, the intermediate roller 25 is supported by the traveling machine body 1 so as to be movable in the left-right direction via a shaft body 49 that can expand and contract.

  That is, the drive sprocket 22 and the intermediate roller 25 supported on the traveling machine body 1 side, and the tension roller 23 and the track roller 24 supported on the track frame 21 side move in the left-right direction by the movement of the track frame 21 in the left-right direction. Will do. Therefore, the left and right traveling crawlers 2 are always supported by the drive sprocket 22 and the intermediate roller 25, the tension roller 23, and the track roller 24 at a predetermined tension or more regardless of the movement of the track frame 21 in the left-right direction. Become.

  Next, the inclination change control of the combine (traveling machine body 1) and the distance change control of the left and right traveling crawlers 2 will be described with reference to FIG. FIG. 5 is a functional block diagram of the inclination change control means of the combine (traveling machine body 1) and the distance change control means of the left and right traveling crawlers 2, and includes a work controller 61 such as a microcomputer. The work controller 61 includes a ROM that stores a control program and a RAM that stores various data.

  Further, as shown in FIG. 5, the operation controller 61 includes various sensors and switches of the input system, that is, the crop sensor 62 that detects the harvested culm harvested by the harvesting device 3 and the operation of the harvesting device 3. A work switch 63 for detecting, a pendulum type tilt sensor 64 for detecting a tilt angle in the left-right direction of the traveling machine body 1, and a potentiometer type for detecting a relative distance (vehicle height) between the traveling machine body 1 and the left track frame 21. A left vehicle height sensor 65 and a potentiometer-type right vehicle height sensor 66 for detecting a relative distance (vehicle height) between the traveling machine body 1 and the right truck frame 21 are connected.

  Further, the work controller 61 includes a vehicle speed sensor 67 that detects the rotational speed (vehicle speed) of the traveling crawler 2, and a manual dial switching potentiometer-type left range adjuster 68 that moves the left traveling crawler 2 in the horizontal direction. A manual dial switching type potentiometer-type right range adjuster 69 that moves the right traveling crawler 2 in the left-right direction, and a potentiometer-type potentiometer that detects the lateral (left-right direction) movement position of the left traveling crawler 2 relative to the traveling machine body 1. The left position sensor 70, the potentiometer-type right position sensor 71 that detects the lateral (left-right direction) movement position of the right traveling crawler 2 with respect to the traveling machine body 1, and the weight of the grains collected in the grain tank 7 are detected. Load sensor 72 of pressure sensor type, and on / offs that perform the cutting operation in the state where the uncut grain culm exists on the left and right sides of the traveling machine body 1 A split-type split switch 73, an on / off switch-type row cutting switch 74 that performs a cutting operation in a state in which an uncut grain cocoon is present only on the left side (feed chain 6 side) of the traveling machine 1, and a field basket An on / off switch type cutting switch 75 for cutting off the uncut cereal grains is connected.

  As shown in FIG. 5, the attitude controller 110 includes various electrohydraulic valves of the output system, that is, a left tilt change valve 76, a right tilt change valve 76, a left range change valve 78, and a right range change. A valve 79 is connected. With this configuration, based on the detected value of the tilt angle of the tilt sensor 64, the detected value of the vehicle height of the left vehicle height sensor 65, and the detected value of the vehicle height of the right vehicle height sensor 66, By switching the tilt change valve 76, the left vehicle height adjustment hydraulic cylinder 37 or the right vehicle height adjustment hydraulic cylinder 38 is operated to correct the lateral inclination of the traveling machine body 1 so that the traveling machine body 1 becomes substantially horizontal. It will be automatically controlled.

  On the other hand, the detection value of the vehicle speed of the vehicle speed sensor 67, the distance setting value of the left traveling crawler 2 of the left distance adjusting device 68, the distance setting value of the right traveling crawler 2 of the right distance adjusting device 69, and the left position Based on the distance detection value of the left traveling crawler 2 of the sensor 70 and the distance detection value of the right traveling crawler 2 of the right position sensor 71, the left distance changing valve 78 or the right distance changing valve 79 is switched to the left front. The side distance hydraulic cylinder 52a and the left rear distance hydraulic cylinder 53a, or the right front distance hydraulic cylinder 52b and the right rear distance hydraulic cylinder 53b are operated, and the distance of the left traveling crawler 2 or the right traveling crawler 2 is increased. The distance is corrected, and the distance of the left traveling crawler 2 and the distance of the right traveling crawler 2 are automatically controlled so as to become the distance setting values of the distance adjusters 68 and 69.

  Further, based on the detection value of the vehicle height of the left vehicle height sensor 65 and the detection value of the vehicle height of the right vehicle height sensor 66, the left distance change valve 78 or the right distance change valve 79 is switched to change the left front side distance. The distance hydraulic cylinder 52a and the left rear distance hydraulic cylinder 53a, or the right front distance hydraulic cylinder 52b and the right rear distance hydraulic cylinder 53b are operated, and the distance of the left traveling crawler 2 or the distance of the right traveling crawler 2 is increased. Is corrected, and the distance of the left traveling crawler 2 and the distance of the right traveling crawler 2 are automatically controlled so as to be a distance setting value based on a preset vehicle height.

  Further, based on the detected value of the grain weight of the load weight sensor 72, the left heel distance change valve 78 or the right heel distance change valve 79 is switched, and the left front distance hydraulic cylinder 52a and the left rear distance hydraulic cylinder 53a, Alternatively, the right front distance hydraulic cylinder 52b and the right rear distance hydraulic cylinder 53b are operated to correct the distance of the left traveling crawler 2 or the distance of the right traveling crawler 2, and the distance of the left traveling crawler 2 and the right traveling. The crawler 2 is automatically controlled so that the distance of the crawler 2 becomes a distance setting value based on a preset grain weight.

  Further, based on the cutting operation mode setting value of the intermediate split switch 73, the cutting operation mode setting value of the row cutting switch 74, and the cutting operation mode setting value of the cutting switch 75, the left heel change valve 78 or the right heel distance The change valve 79 is switched to operate the left front distance hydraulic cylinder 52a and the left rear distance hydraulic cylinder 53a, or the right front distance hydraulic cylinder 52b and the right rear distance hydraulic cylinder 53b. The distance or the distance of the right traveling crawler 2 is corrected, and the distance of the left traveling crawler 2 and the distance of the right traveling crawler 2 are set to a predetermined intermediate work mode setting value or a preset cutting operation mode setting. The value is automatically controlled so as to become the cutting work mode setting value or a preset value.

  Further, based on the detected value of the vehicle speed of the vehicle speed sensor 67, the left heel distance change valve 78 or the right heel distance change valve 79 is switched to change the left front distance hydraulic cylinder 52a and the left rear distance hydraulic cylinder 53a, or the right front side. The distance hydraulic cylinder 52b and the right rear distance hydraulic cylinder 53b are operated to correct the distance of the left traveling crawler 2 or the distance of the right traveling crawler 2, and the distance of the left traveling crawler 2 and the right traveling crawler 2 of the right traveling crawler 2 are corrected. The distance is automatically controlled so that the distance is a distance setting value based on a preset vehicle speed.

  Next, the inclination change control mode of the combine (traveling machine body 1) and the distance control mode of the travel crawler 2 will be described with reference to flowcharts (FIGS. 6 to 10) of the distance adaptive control. The flowchart of FIG. 6 shows a tilt change control mode based on the detection result of the tilt sensor 64 and a distance control mode of the traveling crawler 2 based on the detection results of the tilt sensor 64 and the vehicle speed sensor 67. As shown in the flowchart of FIG. 6, the engine 20 is started, the threshing device 5 is operated by the operator operating the threshing clutch lever 16, the reaping device 3 is operated by operating the chopping clutch lever 17, and the work switch 63 is turned on. When it becomes (S1; yes), the inclination detection value of the inclination sensor 64 is read (S2). Then, it is determined whether the traveling machine body 1 is inclined to the left side (S3) or inclined to the right side (S5). When the traveling machine body 1 is tilted to the left (S3; yes), the left tilt change valve 76 is switched to operate the left vehicle height adjustment hydraulic cylinder 37 to the ascending side or the right tilt change valve 77 is switched. Then, the right vehicle height adjusting hydraulic cylinder 38 is actuated downward to automatically correct the lateral inclination of the traveling machine body 1 so that the lateral inclination angle of the traveling machine body 1 is maintained substantially horizontal (S4). In step 6, depending on whether the left vehicle height sensor 65 and the right vehicle height sensor 66 detect the ascent limit position or the descending limit position, the left inclination changing valve 76 is switched or the right inclination is changed. It is automatically determined whether the change valve 77 is switched. When the left vehicle height sensor 65 and the right vehicle height sensor 66 do not detect the limit position, the control for switching the left inclination change valve 76 to the ascending side is executed in preference to the descending side control of the right inclination changing valve 77. Is done.

  Further, when the traveling machine body 1 is inclined to the right (S5; yes), the right inclination change valve 77 is switched to operate the right vehicle height adjustment hydraulic cylinder 38 to the ascending side or the left inclination change valve 76 is changed. By switching, the left vehicle height adjustment hydraulic cylinder 37 is actuated to the lower side, the lateral inclination of the traveling aircraft body 1 is automatically corrected, and the lateral inclination angle of the traveling aircraft body 1 is maintained substantially horizontal (S6). ). In step 6, depending on whether the left vehicle height sensor 65 and the right vehicle height sensor 66 detect the ascent limit position or the descending limit position, the left inclination changing valve 76 is switched or the right inclination is changed. It is automatically determined whether the change valve 77 is switched. When the left vehicle height sensor 65 and the right vehicle height sensor 66 do not detect the limit position, the control for switching the right inclination change valve 77 to the ascending side is executed in preference to the descending side control of the left inclination changing valve 76. Is done.

  Further, when the traveling machine body 1 is tilted to the right (S5; yes) and the lateral inclination angle of the traveling machine body 1 is corrected (S6), the vehicle speed detection value of the vehicle speed sensor 64 is read (S7). Then, when the vehicle speed V detected by the vehicle speed sensor 64 is equal to or higher than a certain value (S8; yes), the crop detection value (presence / absence of cut cereal) of the crop sensor 62 is read (S9). When the crop sensor 62 detects the harvested cereal cocoon and determines that the crop is being harvested (S10; yes), the right heel distance changing cylinder 79 is switched to change the right front heel hydraulic cylinder 52b and the right rear heel. The distance hydraulic cylinder 53b is automatically operated in the distance expansion direction (S11), and the distance of the right traveling crawler 2 is expanded.

  As described above, the travel crawler 2 is detached from the drive sprocket 22, the intermediate roller 25, the tension roller 23, and the track roller 24 by changing the distance of the right travel crawler 2 when the vehicle speed V is equal to or higher than a certain value. Can be prevented. Further, since the distance of the right traveling crawler 2 is increased, the body support load shared by the left traveling crawler 2 is increased, so that the grains accumulate in the grain tank 7 and the right side of the traveling aircraft 1 is heavy. Even so, it is possible to reduce the increase in the load on the body of the right traveling crawler 2 and to reduce the amount of subsidence of the right traveling crawler 2 into the soil, and the right traveling crawler 2 and the left traveling crawler 2 can sink. The difference in running resistance can be prevented from expanding due to the difference in amount.

  Next, the distance control mode of the traveling crawler 2 based on the detection results of the vehicle speed sensor 67 and the vehicle height sensors 65 and 66 will be described. As shown in the flowchart of FIG. 7, the vehicle speed detection value of the vehicle speed sensor 64 is read (S12). When the vehicle speed V detected by the vehicle speed sensor 64 is greater than or equal to a certain value (S13; yes), the detection value of the left position sensor 70 and the detection value of the right position sensor 71 are read (S14). Further, the detection value of the left vehicle height sensor 65 and the detection value of the right vehicle height sensor 66 are read (S15), and the vehicle height average value is calculated from the detection value of the left vehicle height sensor 65 and the detection value of the right vehicle height sensor 66. Based on the calculated vehicle height average value, it is determined whether the support position of the traveling machine body 1 is higher than a predetermined value (S16) or whether the support position of the traveling machine body 1 is lower than a predetermined value (S18).

  When the support position (vehicle height average value) of the traveling machine body 1 is higher than a predetermined value (S16; yes), the duty ratio of the pulse signal for switching the left heel distance change valve 78 and the right heel distance change valve 79 is increased to increase the distance. The operating speed of the hydraulic cylinders 52a, 52b, 53a, 53b is automatically switched to a low speed, and the distance control speed of the traveling crawler 2 by the distance hydraulic cylinders 52a, 52b, 53a, 53b is set to a low speed (S17). The left-right tilt of the traveling machine body 1 caused by the distance control of the traveling crawler 2 can be reduced.

  When the support position (vehicle height average value) of the traveling machine body 1 is lower than a predetermined value (S18; yes), the duty ratio of the pulse signal for switching the left heel distance change valve 78 and the right heel distance change valve 79 is reduced, and the distance is increased. The operating speed of the hydraulic cylinders 52a, 52b, 53a, 53b is automatically switched to high speed, and the distance control speed of the traveling crawler 2 by the distance hydraulic cylinders 52a, 52b, 53a, 53b is set to high speed (S17). The responsiveness of the distance control of the traveling crawler 2 can be improved.

  Then, when the distance control speed of the traveling crawler 2 is set in step 17 and step 19, the set value of the left range adjuster 68 and the set value of the right range adjuster 69 are read (S20). At the distance control speed set in Step 17 and Step 19, the left distance change valve 78 or the right distance change valve 79 is switched, and the left distance hydraulic cylinders 52a, 53a or the right distance hydraulic cylinders 52b, 53b are switched. It operates (S21), and the distance of the traveling crawler 2 is changed in the enlargement or reduction direction by the manual operation of the operator. The traveling crawler 2 is supported at an optimum distance for work according to the judgment of the operator.

  Next, the distance control mode of the traveling crawler 2 based on the detection result of the load weight sensor 72 will be described. As shown in the flowchart of FIG. 8, the vehicle speed detection value of the vehicle speed sensor 64 is read (S22). When the vehicle speed V detected by the vehicle speed sensor 64 is equal to or higher than a certain value (S23; yes), the detection value (grain weight in the grain tank 7) of the loading weight sensor 72 is read (S24), and the loading weight (grain) It is determined whether the grain weight in the grain tank 7 is larger than a predetermined value (S25) or whether the loaded weight (the grain weight in the grain tank 7) is smaller than a predetermined value (S27).

  When the loaded weight (the grain weight in the grain tank 7) is larger than the predetermined value (S25; yes), the right distance changing hydraulic valve 52b and the right rear distance hydraulic cylinder 53b are switched by switching the right distance changing valve 79. Is automatically activated in the direction in which the distance is increased (S26), and the distance of the right traveling crawler 2 is increased. As such, the distance of the right traveling crawler 2 is increased, thereby increasing the machine body supporting load shared by the left traveling crawler 2, so that grains accumulate in the grain tank 7 and the right side of the traveling aircraft 1. Even if the weight of the crawler becomes heavy, the increase in the load on the body of the right traveling crawler 2 can be reduced, the amount of subsidence of the right traveling crawler 2 into the soil can be reduced, and the right traveling crawler 2 and the left traveling crawler 2 can It is possible to prevent the difference in running resistance from increasing due to the difference in the amount of settlement.

  If the loaded weight (grain weight in the grain tank 7) is smaller than the predetermined value (S27; yes), the crop detection value (presence / absence of harvested culm) of the crop sensor 62 is read (S28). When the crop sensor 62 does not detect the harvested cereal meal and it is determined that the crop is not being harvested (S29; yes), the left and right front distance change hydraulic valves 52 and 79 are switched to change the left and right front distance hydraulic cylinders 52a, 52b and the left and right rear distance hydraulic cylinders 53a and 53b are automatically operated in the direction in which the distance is increased (S30), and the distance of the left and right traveling crawlers 2 is increased. Therefore, when traveling on the road that moves between fields, or when the grain tank 7 is full, it moves from the harvesting place in the middle of the field to the grain discharging place on the shore, or resumes harvesting from the grain discharging place on the shore. When returning to the place, the distance between the left and right traveling crawlers 2 can be increased to stabilize the posture of the traveling machine body 1 and the lateral tilting of the traveling machine body 1 can be reduced.

  Next, the distance control mode of the traveling crawler 2 based on the cutting operation mode setting value of the middle split switch 73, the cutting operation mode setting value of the row cutting switch 74, and the cutting operation mode setting value of the cutting switch 75 will be described. To do. As shown in the flowchart of FIG. 9, the vehicle speed detection value of the vehicle speed sensor 64 is read (S31). When the vehicle speed V detected by the vehicle speed sensor 64 is equal to or higher than a certain value (S32; yes), if the operator turns on the middle switch 73 (S33; yes), the left and right distance changing valves 78 and 79 are turned on. By switching, the left and right front distance hydraulic cylinders 52a and 52b and the left and right rear distance hydraulic cylinders 53a and 53b are automatically operated in a direction in which the distance is reduced (S34). Reduce the distance. Therefore, even if there are uncut grain halves on both the left and right sides of the traveling machine body 1, it is possible to reduce that the uncut grain crumbs are stepped on by the left and right traveling crawlers 2.

  Further, when the cutting switch 74 is turned on by the operator (S35; yes), the right heel distance hydraulic cylinder 52b and the right rear heel hydraulic cylinder 53b are switched by switching the right heel distance changing valve 79. Automatically operates in the direction in which the travel crawler is enlarged (S36), and the distance of the right traveling crawler 2 is increased. As such, the distance of the right traveling crawler 2 is increased, thereby increasing the machine body supporting load shared by the left traveling crawler 2, so that grains accumulate in the grain tank 7 and the right side of the traveling aircraft 1. Even if the weight of the crawler becomes heavy, the increase in the load on the body of the right traveling crawler 2 can be reduced, the amount of subsidence of the right traveling crawler 2 into the soil can be reduced, and the right traveling crawler 2 and the left traveling crawler 2 can It is possible to prevent the difference in running resistance from increasing due to the difference in the amount of settlement. In the row cutting operation, since there is no uncut grain cocoon on the right side of the traveling machine body 1, the uncut grain culm is not crushed by the right traveling crawler 2.

  When the operator switches on the trimming switch 75 (S37; yes), the left heel distance hydraulic cylinder 52a and the left rear heel hydraulic cylinder 53a are switched by switching the left heel distance changing valve 78. Is automatically operated in the direction in which the distance is reduced (right side of the traveling machine body 1), and at the same time, the right distance changing valve 79 is switched so that the right front distance hydraulic cylinder 52b and the right rear distance hydraulic cylinder 53b are It automatically operates in the direction in which the distance is increased (the right side of the traveling machine body 1) (S38), and the left and right traveling crawlers 2 are arranged closer to the right side of the traveling machine body 1. That is, by moving the left and right traveling crawlers 2 to the right side of the traveling machine body 1, the traveling machine body 1 and the cutting device 3 are moved to the left side with respect to the left and right traveling crawlers 2.

  Accordingly, the left and right traveling crawlers 2 can be moved away from the edge of the field in the cutting operation of the uncut grain culm that causes the left side of the traveling machine body 1 to approach the edge of the field. As a result, it is possible to reduce the occurrence of troubles such as colliding or climbing the left traveling crawler 2 against the foot of the field, and to move a stable place away from the shore where the tractor or rice transplanter has become unstable due to a change of direction, etc. it can.

  Next, the distance control mode of the traveling crawler 2 based on the detected value of the vehicle speed of the vehicle speed sensor 64 will be described. As shown in the flowchart of FIG. 10, the vehicle speed detection value of the vehicle speed sensor 64 is read (S39). Then, when the vehicle speed V detected by the vehicle speed sensor 64 is equal to or higher than a certain level (S40; yes), the crop detection value (presence / absence of cut cereal) of the crop sensor 62 is read (S41). The crop sensor 62 detects the harvested cereal meal, determines that the crop is being harvested (S42; yes), and determines that the vehicle speed V is high (S43; yes), and the row cutting switch 74 or trimming. When the switch 75 is turned on (S44; yes), the right and left distance change valves 78 and 79 are switched to switch the right front distance hydraulic cylinder 52b and the right rear distance hydraulic cylinder 53b. At the same time, it automatically operates so as to become maximum (the right traveling crawler 2 is at the maximum right), and at the same time, the distance between the left front distance hydraulic cylinder 52a and the left rear distance hydraulic cylinder 53a is the standard position (initial value). (S45). Therefore, the distance suitable for the line cutting operation (the distance that can support the traveling machine body 1 in a stable posture) and the distance suitable for the edge cutting operation (the distance that can support the cutting device 3 to the left with respect to the traveling crawler 2). The left and right traveling crawlers 2 can be driven at high speed while maintaining the distance.

  If the vehicle speed V is determined to be low (S46; yes) and the trimming switch 75 is turned on (S47; yes), the right and left distance changing valves 78 and 79 are switched to the right front side. The distance hydraulic cylinder 52b and the right rear distance hydraulic cylinder 53b automatically operate so that the distance is maximized (the right traveling crawler 2 is at the maximum right), and at the same time, the left front distance hydraulic cylinder 52a and The left rear distance hydraulic cylinder 53a is automatically operated so that the distance is minimum (the left traveling crawler 2 is at the maximum right) (S48). Accordingly, it is possible to drive the left and right traveling crawlers 2 at a low speed while maintaining a distance suitable for the cutting operation (a distance that can support the cutting device 3 to the left with respect to the traveling crawler 2).

  On the other hand, when the crop detection value of the crop sensor 62 (presence / absence of harvested cereal) is read (S41). When the crop sensor 62 does not detect the harvested cereal culm, it is determined that the crop is not being harvested (S42; no), and the vehicle speed V is determined to be high (S49; yes), the right and left distance changing valves 78, 79 are switched to automatically operate the left and right front distance hydraulic cylinders 52a, 52b and the left and right rear distance hydraulic cylinders 53a, 53b so that the distance is maximized (S50). The range of the traveling crawler 2 is increased. At that time, the right traveling crawler 2 is positioned at the maximum right side and the left traveling crawler 2 is positioned at the maximum left side.

  Therefore, when traveling on the road that moves between fields, or when the grain tank 7 is full, it moves from the harvesting place in the middle of the field to the grain discharging place on the shore, or resumes harvesting from the grain discharging place on the shore. When returning to the place, the distance between the left and right traveling crawlers 2 can be increased to stabilize the posture of the traveling machine body 1 and the lateral tilting of the traveling machine body 1 can be reduced.

  If it is determined that the vehicle speed V is low (S51; yes), the right and left distance changing valves 78 and 79 are switched, and the right front distance hydraulic cylinders 52a and 52b and the right rear distance hydraulic pressure are switched. The cylinders 53a and 53b are automatically operated so that the distance is at the standard position (initial value) (S52). Therefore, the operator on the driver's seat 12 moves along a narrow farm road, moves on the step board to get in and out of the farm field, while properly recognizing the positions of the left and right traveling crawlers 2, and the platform of the truck for transportation You can move on the board to get on and off the bus, or you can go in and out of a storage location (barn etc.).

  As is clear from the above description and FIGS. 1, 4, and 5, the traveling machine body 1 on which the engine 20 is mounted, the traveling crawler 2 as the left and right traveling parts that support the traveling machine body 1, the steering handle 11, and the driving A driving unit 10 having a seat 12, a reaping device 3 and a threshing device 5 as harvesting devices for harvesting crops in the field, and a left and right inclination changing mechanism 26 that changes the height of the left and right traveling crawlers 2 against the body. And a left and right traveling unit support for connecting the left and right traveling crawlers 2 to the traveling vehicle body 1 so as to be movable in the left-right direction. As the front fulcrum shaft 29 and the rear fulcrum shaft 30 and the distance changing mechanism 45 for changing the distance between the left and right traveling crawlers 2. State In response to work, etc., Tetsu距 of the right and left traveling crawlers 2 can easily change the can move adapted to the driving situation or operating conditions, etc., the operation controllability or running performance can be easily improved.

  As is clear from the above description and FIGS. 4 and 5, since the left and right distance changing mechanisms 45 for changing the distance of the left and right traveling crawlers 2 are respectively provided, the traveling conditions or working conditions, etc. Accordingly, the distance between the left and right traveling crawlers 2 can be easily changed.

  As is apparent from the above description and FIG. 5, it is provided with a left range adjuster 68 and a right range adjuster 69 as manual range adjustment tools for operating the range change mechanism 45. Therefore, the distance between the left and right traveling crawlers 2 can be easily changed according to the judgment of the operator.

  As is apparent from the above description and FIG. 5, the vehicle is provided with an inclination sensor 64 that detects the inclination of the traveling machine body 1 in the left-right direction, and when the traveling machine body 1 is tilted in the left-right direction, Since the distance of the crawler 2 is automatically increased, the amount of settlement of the traveling crawler 2 on the side on which the traveling machine body 1 is inclined can be reduced, and the driving maneuverability or traveling performance can be easily improved.

  As is clear from the above description and FIG. 5, the vehicle speed sensor 67 for detecting the moving speed of the traveling machine body 1 is provided, and the distance changing mechanism 45 is activated when the traveling machine body 1 moves at a predetermined moving speed or more. Thus, for example, it is possible to easily change the distance of the traveling crawler 2 or the like while preventing the traveling crawler 2 or the like having an endless crawler belt structure from being detached from the support portion of the track frame 21.

  As is clear from the above description and FIG. 5, the vehicle includes a left vehicle height sensor 65 and a right vehicle height sensor 66 that detect the ground height of the traveling machine body 1 supported by the traveling crawler 2, and when the vehicle height exceeds a predetermined vehicle height. In addition, since the distance of the traveling crawler 2 is automatically increased, tilting of the traveling body 1 in the left-right direction can be reduced, and driving maneuverability or traveling performance can be easily improved.

  As apparent from the above description and FIG. 5, a load weight sensor 72 for detecting the weight of the crop loaded on the traveling machine body 1 is provided, and the distance of the traveling crawler 2 is automatically expanded when the weight exceeds a predetermined loaded weight. Since it is comprised so that the tilting of the left-right direction of the traveling body 1 can be reduced, driving maneuverability or traveling performance can be improved easily.

  As apparent from the above description and FIG. 5, an intermediate switch 73, a row cutting switch 74, and a cutting switch 75 are provided as a switching tool for switching the harvesting work mode. Since the distance changing mechanism 45 is configured to operate, for example, an operation for moving along a crop row where the spacing between planting strips is narrow (combine split operation), and a move along the crop row in a soft agricultural field. The left and right traveling crawlers 2 can be arranged at a distance suitable for both work (combine harvesting work in wetlands, etc.) and work that moves along the row of crops in the field (combination harvesting work). Is. Accordingly, the specifications of the left and right traveling crawlers 2 (the lateral width of the traveling crawler 2) are changed or the support position of the harvesting device (reaping device 3) is changed with respect to the traveling machine body 1 according to each of the above-described work modes. There is no need, and the airframe structure with excellent mobility can be easily configured.

  As apparent from the above description and FIG. 5, the speed change of the levers 14 and 15 as a speed change operation tool provided with the vehicle speed sensor 67 for detecting the moving speed of the traveling machine body 1 and switching the moving speed of the traveling machine body 1 to high speed or low speed. Since the distance changing mechanism 45 is configured to operate in relation to the operation, the distance of the traveling crawler 2 is automatically expanded by high speed traveling, and the posture of the traveling body 1 is stabilized and moved at high speed. On the other hand, the driving crawler 2 can be moved at a low speed by automatically reducing the distance of the traveling crawler 2 in a narrow road width or a storage place, and the driving maneuverability or traveling performance can be easily improved.

It is a side view of the combine for 4 thread cutting of 1st Embodiment of this invention. It is the same top view. It is a left view of the traveling part of a combine. It is a top view of the traveling part of a combine. It is a distance control circuit diagram of the traveling part of a combine. It is a flowchart of a distance control. It is a flowchart of a distance control. It is a flowchart of a distance control. It is a flowchart of a distance control. It is a flowchart of a distance control.

Explanation of symbols

1 traveling machine body 2 traveling crawler (traveling section)
DESCRIPTION OF SYMBOLS 10 Driving part 11 Steering handle 12 Driving seat 26 Inclination changing mechanism 29 Front fulcrum shaft (traveling part support)
30 Rear fulcrum shaft (runner support)
45 Distance change mechanism 64 Tilt sensor 65 Left vehicle height sensor 66 Right vehicle height sensor 67 Vehicle speed sensor 68 Left distance adjuster (operation device for adjusting distance)
69 Right heel adjuster (operator for adjusting heel distance)
72 Load sensor 73 Intermediate switch (switching tool)
74 Line cutting switch (switching tool)
75 Cutting switch (switching tool)

Claims (9)

A traveling machine body equipped with an engine, left and right traveling units that support the traveling body, a driving unit that includes a steering handle and a driving seat, a harvesting device that harvests crops in a farm field, and a left and right traveling unit that supports the aircraft In a harvesting work vehicle comprising a left and right inclination changing mechanism for changing the height, and configured to change the inclination angle in the left and right direction of the traveling machine body,
A left and right traveling unit support that connects the left and right traveling units to the traveling body so as to be movable in the left-right direction, and a distance changing mechanism that changes a distance between the left and right traveling units. Harvesting work vehicle.   The harvesting work vehicle according to claim 1, further comprising a left and right range changing mechanism that changes the range of the left and right traveling units, respectively.   The harvesting work vehicle according to claim 1, further comprising a manually-operated range adjustment operating tool for operating the range changing mechanism.   An inclination sensor for detecting a lateral inclination of the traveling aircraft body is provided, and when the traveling aircraft body is tilted in the lateral direction, the distance of the traveling unit on the side where the traveling aircraft body is inclined is automatically expanded. The harvesting work vehicle according to claim 1, which is configured.   The vehicle speed sensor which detects the moving speed of the said traveling body is provided, The said distance change mechanism act | operates when the said traveling body moves more than predetermined moving speed, The structure characterized by the above-mentioned. The listed harvesting vehicle.   A vehicle height sensor for detecting the height of the traveling machine body supported by the traveling unit is provided, and the distance of the traveling unit is automatically enlarged when the vehicle height exceeds a predetermined vehicle height. The harvesting work vehicle according to claim 1.   2. A load weight sensor for detecting a weight of a crop loaded on the traveling machine body is provided, and the distance of the traveling unit is automatically expanded when the weight exceeds a predetermined load weight. Harvesting work vehicle as described in.   The harvesting work vehicle according to claim 1, further comprising a switching tool for switching a harvesting work mode, wherein the distance changing mechanism is operated in association with an operation for switching the harvesting work mode.   A vehicle speed sensor for detecting a moving speed of the traveling machine body is provided, and the distance changing mechanism is configured to operate in association with an operation for switching the moving speed of the traveling machine body to a high speed or a low speed. The harvesting work vehicle according to 1.

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