JP7382906B2 - work vehicle - Google Patents

Description

The present invention relates to a work vehicle.

Patent Document 1 describes a self-eliminating combine harvester equipped with a crawler traveling device.

JP2020-65474A

Work vehicles such as self-extracting combine harvesters may travel through muddy workplaces. For example, a combine harvester may be used to harvest a wet field. When the crawler travels outside the workplace after work, mud adhering to the crawler traveling device falls and pollutes roads, storage warehouses, etc. Therefore, it is preferable to perform maintenance to remove mud from the crawler traveling device after the work.

An object of the present invention is to provide a work vehicle whose crawler traveling device can be easily maintained.

As a means for solving the above-mentioned problems, the work vehicle of the present invention includes left and right crawler traveling devices that support a machine body, and a first state in which a distance between the ground contact surface of the crawler traveling device and the machine body is a first distance. a second state in which the distance between the ground contact surface of the crawler traveling device and the body is a second distance greater than the first distance; a vehicle height change mechanism capable of changing the state; and a storage state and a use state. an outrigger mechanism capable of changing a state; an actuator that drives the outrigger mechanism to change the state between the retracted state and the use state; a command tool that receives a manual command; and a command tool that responds to the command received by the command tool. an operation control unit that operates the vehicle height change mechanism and the actuator, and the outrigger mechanism in the use state is configured to touch the ground and support the body when the vehicle height change mechanism is in the first state. When the vehicle height changing mechanism is in the second state, the vehicle height changing mechanism is in a state in which it does not touch the ground, and the operation control section causes the vehicle height changing mechanism to change to the second state in accordance with the command received by the command tool. a raising process of changing the outrigger mechanism from the first state to the second state, then changing the outrigger mechanism from the retracted state to the use state, and then changing the vehicle height changing mechanism from the second state to the first state; and after executing the raising process, the vehicle height changing mechanism is changed from the first state to the second state in accordance with the command received by the command tool, and then the outrigger mechanism is changed from the first state to the second state. The present invention is characterized in that a lowering process is performed to change the vehicle height change mechanism from the usage state to the storage state, and then change the vehicle height change mechanism from the second state to the first state.

According to the above feature, since the outrigger mechanism is not in contact with the ground when the vehicle height changing mechanism is in the second state (high vehicle height state), the outrigger mechanism can be switched from the retracted state to the used state. When the vehicle height change mechanism is in the first state (vehicle height is low), the outrigger mechanism touches the ground and supports the aircraft, so the crawler traveling device is separated from the ground, making it easier to perform maintenance such as removing mud. Become. As described above, according to the present invention, it is possible to provide a work vehicle in which the crawler traveling device can be separated from the ground even if the outrigger mechanism itself does not have a function such as expansion and contraction, and the crawler traveling device can be easily maintained. .
Further, since the state of the outrigger mechanism is changed by the actuator, the operator's effort can be reduced, which is preferable.
Furthermore, when the command tool is operated, the ascending process is automatically performed and the crawler traveling device is separated from the ground, so the maintenance work for the crawler traveling device can be reduced.Moreover, when the command tool is operated, the descending process is performed automatically. Since this is automatically performed and the crawler traveling device is separated from the ground, maintenance work for the crawler traveling device can be reduced.

In the present invention, the outrigger mechanism includes a front outrigger mechanism arranged at the front of the aircraft body, and a rear outrigger mechanism arranged at the rear part of the aircraft body, and among the front outrigger mechanism and the rear outrigger mechanism. It is preferable that at least one of the crawler traveling devices is disposed inside the left and right crawler traveling devices in the left-right direction of the machine body.

According to the above features, it is possible to suppress an increase in body width due to the outrigger mechanism.

In the present invention, the outrigger mechanism includes a front outrigger mechanism arranged at the front of the aircraft body, and a rear outrigger mechanism arranged at the rear part of the aircraft body, and among the front outrigger mechanism and the rear outrigger mechanism. one of the front outrigger mechanisms and the rear outrigger mechanism is arranged at a position that overlaps with the crawler traveling device when viewed in the left-right direction of the aircraft, and the other of the front outrigger mechanism and the rear outrigger mechanism is arranged at a position that does not overlap with the crawler traveling device as seen in the left-right direction of the aircraft. It is preferable to do so.

According to the above features, stability when the outrigger mechanism supports the aircraft body can be improved.

In the present invention, the outrigger mechanism includes left and right main frames extending in the longitudinal direction of the fuselage, and a horizontal frame provided across the left and right main frames, and the outrigger mechanism is a front outrigger mechanism disposed at the front of the fuselage. and a rear outrigger mechanism disposed at the rear of the fuselage, and at least one of the front outrigger mechanism and the rear outrigger mechanism is preferably provided on the horizontal frame.

According to the above feature, since the outrigger mechanism is provided on the horizontal frame that is provided across the left and right main frames with high rigidity, the support structure of the outrigger mechanism becomes strong, and when the outrigger mechanism supports the aircraft. Stability can be increased.

In the present invention, the outrigger mechanism includes a hollow cylindrical left and right main frame extending in the longitudinal direction of the fuselage, and the outrigger mechanism includes a support member capable of supporting the fuselage, and the support member is configured to support the outrigger mechanism when the outrigger mechanism is in the retracted state. In addition, it is preferable that a portion of the main frame is housed inside the hollow cylinder of the main frame.

According to the above feature, a part of the support member can be stored inside the hollow cylinder of the main frame, which is preferable because space efficiency can be improved.

In the present invention, it is preferable that the outrigger mechanism has a columnar member that swings when the state changes between the use state and the storage state.

According to the above feature, since the outrigger mechanism has a columnar member that swings, the outrigger mechanism can be realized with a simpler configuration than an extension mechanism or the like, which is preferable.

In the present invention, it is preferable that the outrigger mechanism includes a stopper that comes into contact with the columnar member to position the columnar member when the outrigger mechanism is in the use state.

According to the above feature, the columnar member can be positioned in the use state, so that the body can be supported reliably, which is preferable.

In the present invention, a sensor detects that the outrigger mechanism is in the use state, and a sensor that controls the operation of the actuator, and the sensor detects that the outrigger mechanism is in the use state. It is preferable to include a stop control section that stops the operation of the actuator.

According to the above feature, since the operation of the actuator stops when the outrigger mechanism enters the operating state, the outrigger mechanism can be reliably changed to the operating state, and the reliability of the outrigger mechanism can be improved.

In the present invention, the present invention includes a sheet, and a holding device that holds the sheet and is capable of winding up and feeding out the sheet, and when the sheet is fed out from the holding device, the The sheet is supported by the fuselage so that it can be placed below the crawler traveling device, and when the sheet is unwound from the holding device and placed below the left and right crawler traveling devices, the sheet is Preferably, the entire belts of the left and right crawler traveling devices are formed in a shape that overlaps the sheet.

According to the above feature, since the entire belt of the crawler traveling device overlaps with the sheet, mud that falls from the belt can be caught by the sheet, making it easier to clean up the mud, which is preferable. Further, the sheet can be wound up and fed out using the holding device, improving work efficiency. Therefore, it is possible to provide a work vehicle whose crawler traveling device can be easily maintained.

In the present invention, it is preferable that the holding device is configured such that the attachment position to the aircraft body can be changed.

According to the above feature, the mounting position of the holding device can be changed to a position where it does not get in the way when the seat is not in use and is not being used, improving convenience.

In the present invention, it is preferable that the sheet has a mesh shape.

According to the above-mentioned characteristics, it is possible to allow moisture in the mud that has fallen from the crawler traveling device to pass through, which is preferable.

In the present invention, it is preferable that the crawler traveling device includes a removal mechanism for removing mud attached to the outer peripheral surface of the belt from the belt, and the removal mechanism is configured to be able to change its state between an operating state and a stored state. It is.

According to the above feature, dirt is preferably removed from the belt by the removal mechanism. Further, since the removal mechanism can change its state, convenience is improved.

In the present invention, it is preferable that the removal mechanism is configured to be able to remove mud from the belt at at least one of the front end and the rear end of the crawler traveling device.

According to the above characteristics, mud easily falls from the crawler traveling device, and maintenance is further facilitated, which is preferable.

It is a left side view showing a combine. It is a left side view showing a crawler traveling device, a vehicle height change mechanism, and an outrigger mechanism. FIG. 3 is a left side view showing the front outrigger mechanism. FIG. 3 is a plan view showing the front outrigger mechanism. It is a front view showing a front outrigger mechanism. It is a top view which shows a rear outrigger mechanism. It is a rear view showing a rear outrigger mechanism. FIG. 6 is an explanatory diagram showing a case where the outrigger mechanism is in the retracted state and the vehicle height changing mechanism is in the first state. It is an explanatory view showing a case where the outrigger mechanism is in the retracted state and the vehicle height changing mechanism is in the second state. FIG. 6 is an explanatory diagram showing a case where the outrigger mechanism is in a used state and the vehicle height changing mechanism is in a second state. It is an explanatory view showing a case where an outrigger mechanism is in a use state and a vehicle height change mechanism is in a first state. FIG. 2 is a block diagram showing a configuration related to control. It is a flowchart which shows automatic mud removal processing. FIG. 7 is a left side view showing the outrigger mechanism and seat of Modification 1. 7 is a plan view showing a sheet of Modification Example 1. FIG. FIG. 3 is a left side view showing a main part of a seat according to modification 1; FIG. 7 is a right side view showing a rear outrigger mechanism of Modification 1. FIG. 7 is a right side view showing a rear outrigger mechanism of Modification 2. FIG. 7 is a front view showing a front outrigger mechanism of Modification 3. FIG. 7 is a front view showing a front outrigger mechanism of Modification 4. FIG. FIG. 7 is a left side view showing an outrigger mechanism of modification 5. FIG. 7 is a left side view showing an outrigger mechanism of modification 6. FIG. 7 is a left side view showing a removal mechanism of Modification Example 7; FIG. 7 is a left side view showing a removal mechanism of Modification Example 7;

DESCRIPTION OF THE PREFERRED EMBODIMENTS A self-detachable combine harvester, which is an embodiment of a work vehicle according to the present invention, will be described below with reference to the drawings. Note that the present invention is not limited to the following embodiments, and various modifications can be made without departing from the spirit thereof.
The self-removal type combine harvester will be explained based on the drawings. Note that the present invention is not limited to the following embodiments, and various modifications can be made without departing from the spirit thereof. In the following explanation, the direction of arrow F is "front of the aircraft," the direction of arrow B is "rear of the aircraft," the direction of arrow U is "upward," the direction of arrow D is "downside," and the direction of arrow R is "backward of the aircraft." The direction of the arrow L is defined as the "right side" and the direction of the arrow L is defined as the "left side."

[Overall configuration of combine harvester]
A self-removal type combine harvester is shown in FIGS. 1 and 2. The fuselage of this combine includes a fuselage frame 1 and left and right crawler traveling devices 2 that support the fuselage. A reaping section 3 for reaping the planted grain culm is provided at the front of the machine. An operating cabin 4 is provided on the right side of the front part of the fuselage. The driving cabin 4 includes a driving section 5 in which a driver rides, and a cabin 6 that covers the driving section 5.

A grain storage tank 7 (an example of a storage section) is provided at the rear of the operation cabin 4 to store grains after being threshed. A grain discharge device 8 for discharging the grains in the grain storage tank 7 is provided. A threshing device 9 is provided on the left side of the grain storage tank 7.

[Crawler traveling device]
The crawler traveling device 2 includes a driving sprocket 10, a driven sprocket 11, wheels 12, and a belt 13 wound around these. The rolling wheels 12 are supported by a truck frame 14.

[Vehicle height change mechanism]
As shown in FIGS. 2 and 8 to 11, the self-removal type combine harvester is equipped with a vehicle height changing mechanism X. The vehicle height change mechanism This is a mechanism that can change the state to a second state (FIGS. 9 and 10) in which the second distance L2 is larger than the first distance L1.

The vehicle height changing mechanism X includes front and rear link mechanisms 15 that support the truck frame 14 on the body frame 1, and front and rear lifting cylinders 16 connected to the link mechanism 15 and the body frame 1. The lifting cylinder 16 is, for example, a hydraulic cylinder. When the front lifting cylinder 16 contracts and the rear lifting cylinder 16 extends, the distance between the ground plane of the crawler traveling device 2 and the body (body frame 1) increases (change from FIG. 8 to FIG. 9). When the front lifting cylinder 16 is extended and the rear lifting cylinder 16 is contracted, the distance between the ground plane of the crawler traveling device 2 and the body (body frame 1) becomes smaller (change from FIG. 10 to FIG. 11).

When the vehicle height changing mechanism X is in the first state (FIGS. 2, 8, and 11), the front elevation cylinder 16 is extended and the rear elevation cylinder 16 is contracted. The ground plane of the crawler traveling device 2 and the body (body frame 1) are close to each other, and the distance between them is a first distance L1 (FIGS. 8 and 11).

When the vehicle height changing mechanism X is activated, the front lifting cylinder 16 contracts and the rear lifting cylinder 16 extends, the vehicle height changing mechanism X enters the second state (FIGS. 9 and 10).

[Outrigger mechanism]
As shown in FIGS. 2 to 11, the self-extracting combine harvester includes an outrigger mechanism Y. In this embodiment, the outrigger mechanism Y includes a front outrigger mechanism 30 disposed at the front of the fuselage and a rear outrigger mechanism 40 disposed at the rear of the fuselage. The outrigger mechanism Y can change its state between a stored state (FIGS. 8, 9, etc.) and a used state (FIGS. 10, 11, etc.).

As shown in FIG. 11, the outrigger mechanism Y in use is in a state where it can touch the ground and support the aircraft body when the vehicle height changing mechanism X is in the first state. Further, as shown in FIG. 10, the outrigger mechanism Y in the used state does not touch the ground when the vehicle height changing mechanism X is in the second state.

As shown in FIGS. 4, 5, and 7, both the front outrigger mechanism 30 and the rear outrigger mechanism 40 are arranged inside the left and right crawler traveling devices 2 in the left-right direction of the aircraft.

As shown in FIGS. 2 and 8 to 11, the front outrigger mechanism 30 is arranged at a position overlapping the crawler traveling device 2 when viewed in the left-right direction of the aircraft. The rear outrigger mechanism 40 is arranged at a position that does not overlap the crawler traveling device 2 when viewed from the left and right directions of the aircraft. In particular, the rear outrigger mechanism 40 is arranged so as not to overlap the crawler traveling device 2 when viewed in the left-right direction of the aircraft when in use (FIGS. 10 and 11).

As shown in FIGS. 4 and 6, the fuselage frame 1 includes left and right main frames 1a extending in the longitudinal direction of the fuselage, and horizontal frames 1b and 1c provided across the left and right main frames 1a. . A front outrigger mechanism 30 is provided on the horizontal frame 1b. A rear outrigger mechanism 40 is provided on the horizontal frame 1c.

The front outrigger mechanism 30 includes a columnar member 31 and a gear-type drive mechanism 32 driven by an actuator 33, as shown in FIGS. 3, 4, and 5. The actuator 33 is, for example, an electric motor. The columnar member 31 is supported by the cylindrical horizontal frame 1b in a state where it can swing around an axis C1 extending in the left-right direction of the body. The drive mechanism 32 is driven by the actuator 33 to swing the columnar member 31 around the axis C1. That is, the columnar member 31 swings when the front outrigger mechanism 30 (outrigger mechanism Y) changes state between the used state and the stored state. When the front outrigger mechanism 30 is in use, the columnar member 31 assumes a posture extending along the vertical direction (solid line in FIG. 3). When the front outrigger mechanism 30 is in the retracted state, the columnar member 31 assumes a posture extending along the front-rear direction (two-dot chain line in FIG. 3). As described above, the self-removal type combine harvester of this embodiment includes the actuator 33 that drives the outrigger mechanism Y to change the state between the stored state and the use state.

As shown in FIGS. 6 and 7, the rear outrigger mechanism 40 includes left and right columnar members 41, and left and right gear drive mechanisms 42 driven by left and right actuators 43. The actuator 43 is, for example, an electric motor. The columnar member 41 is supported by the cylindrical horizontal frame 1c in a state where it can swing around an axis C2 extending in the left-right direction of the body. The drive mechanism 42 is driven by the actuator 43 to swing the columnar member 41 around the axis C2. That is, the columnar member 41 swings when the rear outrigger mechanism 40 (outrigger mechanism Y) changes state between the use state and the stored state. When the rear outrigger mechanism 40 is in use, the columnar member 41 assumes a posture extending in the vertical direction (FIG. 7). When the rear outrigger mechanism 40 is in the retracted state, the columnar member 41 assumes a posture extending along the front-rear direction (FIGS. 8 and 9). As described above, the self-removal type combine harvester of this embodiment includes the actuator 43 that drives the outrigger mechanism Y to change the state between the stored state and the use state.

[Configuration related to control]
Hereinafter, with reference to the block diagram of FIG. 12, a configuration related to control of the self-extracting type combine harvester will be described. The control device 50 for the self-extracting combine harvester includes an operation control section 51 and a stop control section 52.

Specifically, the control device 50 is a so-called ECU, and includes a memory (HDD, nonvolatile RAM, etc., not shown) that stores programs corresponding to each of the above-mentioned functional units, and a CPU (not shown) that executes the programs. , is equipped with. The functions of each functional unit are realized by executing the program by the CPU. The control device 50 is connected to the lifting cylinder 16, the sensor 17, the command tool 18, the actuator 33, the actuator 43, the engine E, and the transmission T, and is configured to be able to control these.

The sensor 17 is a sensor that detects that the outrigger mechanism Y is in use. For example, the sensor 17 is a contact type sensor that contacts the columnar members 31 and 41 and sends a signal to the control device 50 when the outrigger mechanism Y is in use.

The command tool 18 is a lever, a button, or the like provided on the operating section 5, and receives an artificial command from an operator and transmits a signal to the control device 50.

The operation control unit 51 operates the vehicle height changing mechanism X and the actuators 33 and 43 according to the command received by the command tool 18. Specifically, the operation control unit 51 executes automatic mud removal processing, which will be described later.

The stop control unit 52 controls the operations of the actuators 33 and 43, and stops the operations of the actuators 33 and 43 in response to the sensor 17 detecting that the outrigger mechanism Y is in use.

[Automatic mud removal processing (ascending processing, descending processing)]
The automatic mud removal process will be described with reference to the flowchart in FIG. 13 and FIGS. 8 to 11.

The operation control unit 51 monitors the signal from the command tool 18 over time (step #1: No). In response to the command tool 18 receiving the manual operation (step #1: Yes), the operation control unit 51 operates the lift cylinder 16 to change the vehicle height change mechanism X from the first state (FIG. 8) to the second state. The state (FIG. 9) is changed (step #2).

Subsequently, the operation control unit 51 operates the actuators 33 and 43 to change the outrigger mechanism Y from the stored state (FIG. 9) to the used state (FIG. 10) (step #3). At this time, the stop control unit 52 monitors the signal from the sensor 17 and stops the operation of the actuators 33 and 43 in response to the sensor 17 detecting that the outrigger mechanism Y is in use.

Subsequently, the operation control unit 51 operates the lifting cylinder 16 to change the vehicle height changing mechanism from the second state (FIG. 10) to the first state (FIG. 11) (step #4). Through the above process, as shown in FIG. 11, the lower surface of the belt 24 of the crawler traveling device 2 is separated from the ground.
The processing of steps #2, #3, and #4 described above is the ascending processing.

Subsequently, the operation control unit 51 controls the engine E and the transmission T to drive the crawler traveling device 2 forward (step #5). The forward drive is performed at a predetermined speed for a predetermined time and ends automatically. The forward drive speed may be set based on a manual operation from the command tool 18. The forward drive may be started or ended based on a manual operation from the command tool 18.

Subsequently, the operation control unit 51 controls the engine E and the transmission T to drive the crawler traveling device 2 backward (step #6). Reverse driving is performed at a predetermined speed for a predetermined time and ends automatically. The speed of the backward drive may be set based on a manual operation from the command tool 18. The backward drive may be started or ended based on a manual operation from the command tool 18.

The processing in steps #5 and #6 may be performed in reverse order, or one may be omitted.

Subsequently, the operation control unit 51 operates the lifting cylinder 16 to change the vehicle height changing mechanism X from the first state (FIG. 11) to the second state (FIG. 10) (step #7).

Subsequently, the operation control unit 51 operates the actuators 33 and 43 to change the outrigger mechanism Y from the use state (FIG. 10) to the retracted state (FIG. 9) (step #8).

Subsequently, the operation control unit 51 operates the lifting cylinder 16 to change the vehicle height changing mechanism from the second state (FIG. 9) to the first state (FIG. 8) (step #9). Then, the automatic mud removal process ends. The processes in steps #7, #8, and #9 described above are the descending process.

The automatic mud removal process may be performed semi-automatically as follows. The operation control unit 51 executes the raising process according to the command received by the command tool 18. The operation control unit 51 then drives the crawler traveling device 2 forward and/or backward in accordance with the command received by the command tool 18 .
The operation control unit 51 executes the lowering process according to the command received by the command tool 18.

[Modification 1]
Hereinafter, a modification of the above-mentioned self-removal type combine harvester will be described. In the following description, components common to those in the above-described embodiments will be given the same reference numerals and descriptions will be omitted.

[Sheet]
As shown in FIGS. 14 to 16, the self-extracting combine harvester of this modification includes a seat 60 and a holding device 70. The sheet 60 is arranged under the crawler traveling device 2 that is spaced from the ground, and catches mud that has fallen from the crawler traveling device 2.

The sheet 60 is a rectangular sheet-like member, as shown in FIGS. 15 and 16. The sheet 60 has a mesh shape as a whole, and is configured to allow water in the mud that has fallen from the crawler traveling device 2 to pass therethrough. The sheet 60 includes a plurality of openings 61 and a bag section 62 attached to the openings 61. As shown in FIG. 16, mud that has fallen from the crawler traveling device 2 enters the inside of the bag portion 62 through the opening 61 and is retained by the bag portion 62.
Furthermore, when the sheet 60 is wound up by the holding device 70, mud on the surface of the sheet 60 falls through the opening 61 into the bag portion 62 and is held by the bag portion 62. Thereby, it is possible to suppress mud that has fallen from the crawler traveling device 2 from falling to the ground.

A plurality of holes 63 are formed at the ends of the sheet 60 in the longitudinal direction. The hole 63 is used for attaching the seat 60 to the holding device 70, suspending the seat 60 during maintenance of the seat 60, and the like.

When the sheet 60 is let out from the holding device 70 and placed below the left and right crawler traveling devices 2 (FIG. 14), the entire belt 13 of the left and right crawler traveling devices 2 overlaps the sheet 60 when viewed in the vertical direction. (FIG. 15).

[Holding device]
The holding device 70 is configured to hold the sheet 60 and to be able to wind up and feed out the sheet 60. The holding device 70 is supported by the body (body frame 1) so that it can be placed below the left and right crawler traveling devices 2 when the sheet 60 is let out from the holding device 70.

The holding device 70 includes a winding shaft 71, a drive mechanism 72, a handle 73, and a mounting portion 74. The winding shaft 71 is arranged in a posture extending along the left-right direction of the machine body. The winding shaft 71 is configured such that the longitudinal end of the sheet 60 can be attached thereto. The winding shaft 71 is provided with a plurality of pins (not shown), and the holes 63 of the sheet 60 engage with the pins. The drive mechanism 72 rotates the take-up shaft 71. In this embodiment, when the handle 73 is manually operated, the drive mechanism 72 rotates the take-up shaft 71. The drive mechanism 72 may be driven by an actuator such as an electric motor. The attachment portion 74 supports the holding device 70 on the body frame 1. As shown in FIG. 14, the attachment portion 74 is configured so that the attachment attitude to the body frame 1 can be changed (solid line and two-dot chain line). In this embodiment, the holding device 70 is attached to the rear part of the fuselage frame 1, as shown in FIG. The holding device 70 may be configured so that the attachment position to the aircraft body can be changed. For example, the holding device 70 may be configured such that its attachment position can be changed to the rear of the body frame 1 (FIG. 14) and the rear of the threshing device 9 (not shown).

[Rear outrigger mechanism]
As shown in FIGS. 14 and 17, the self-removal type combine harvester of this modification includes a rear outrigger mechanism 80 as an outrigger mechanism Y. As shown in FIGS. The rear outrigger mechanism 80 is provided at the rear end of the main frame 1a. The rear outrigger mechanism 80 includes a columnar member 81 (an example of a support member) capable of supporting the aircraft body, and a shaft portion 82. The main frame 1a of the fuselage frame 1 extends in the longitudinal direction of the fuselage and has a hollow cylindrical shape. A groove 1d is formed on the inner surface of the hollow cylindrical main frame 1a. The shaft portion 82 is inserted into the groove 1d.

When the rear outrigger mechanism 80 is in use, the columnar member 81 assumes a posture extending along the vertical direction (solid line in FIG. 17). When changing the rear outrigger mechanism 80 from the operating state to the retracted state, first, the shaft center C3 (center axis of the shaft portion 82 ). When the columnar member 81 is pushed forward in this state, the shaft portion 82 slides forward inside the groove 1d, and the columnar member 81 and the shaft portion 82 enter the interior of the hollow cylindrical main frame 1a. That is, when the rear outrigger mechanism 80 (outrigger mechanism Y) is in the retracted state (double-dashed line in FIG. 17), a part of the columnar member 81 of the rear outrigger mechanism 80 is inside the hollow cylinder of the main frame 1a. It will be in a stored state. The rear outrigger mechanism 80 is changed from the stored state to the used state by performing the reverse procedure. That is, the state of the rear outrigger mechanism 80 is changed manually.

A stopper 1e is provided at the end of the main frame 1a. The stopper 1e contacts the columnar member 81 to position the columnar member 81 when the rear outrigger mechanism 80 (outrigger mechanism Y) is in a use state (solid line in FIG. 17).

[Modification 2]
[Rear outrigger mechanism]
As shown in FIG. 18, the self-removal type combine harvester of this modification includes a rear outrigger mechanism 90 as an outrigger mechanism Y. As shown in FIG. The rear outrigger mechanism 90 includes a columnar member 91, a damper 92, and a detection sensor 93. The columnar member 91 is supported by the rear end portion of the main frame 1a in a state where it can swing around the axis C4. The damper 92 has one end supported by the columnar member 91 and the other end supported by the main frame 1a. The detection sensor 93 is a sensor that detects that the rear outrigger mechanism 90 is in use. The detection sensor 93 is supported by the rear end of the main frame 1a. The detection sensor 93 is a contact type sensor, and transmits a signal to the control device 50 by contacting the columnar member 91 of the rear outrigger mechanism 90 in use. Stoppers 1f and 1g are provided on the main frame 1a. The stopper 1f is positioned by contacting the columnar member 91 of the rear outrigger mechanism 90 in use. The stopper 1g contacts and positions the columnar member 91 of the rear outrigger mechanism 90 in the retracted state.

[Modification 3]
As shown in FIG. 19, the self-removal type combine harvester of this modification includes a front outrigger mechanism 100 as an outrigger mechanism Y. As shown in FIG. The front outrigger mechanism 100 includes left and right columnar members 101 and 102, a gear-type drive mechanism 103 driven by a left actuator 105, and a gear-type drive mechanism 104 driven by a right actuator 106. There is. Actuators 105 and 106 are, for example, electric motors. The columnar members 101 and 102 are supported by the cylindrical horizontal frame 1b in a state where they can swing around an axis C1 extending in the left-right direction of the fuselage. The drive mechanism 103 is driven by the actuator 105 to swing the columnar member 101 around the axis C1. The drive mechanism 104 is driven by the actuator 106 to swing the columnar member 102 around the axis C1. That is, the columnar members 101 and 102 swing when the front outrigger mechanism 100 (outrigger mechanism Y) changes state between the use state and the stored state. When the front outrigger mechanism 100 is in use, the columnar members 101 and 102 are in a posture extending in the vertical direction. When the front outrigger mechanism 100 is in the retracted state, the columnar members 101 and 102 are in a posture extending in the front-rear direction. As described above, the self-removal type combine harvester of this modification includes actuators 105 and 106 that drive the outrigger mechanism Y to change the state between the stored state and the used state.

[Modification 4]
As shown in FIG. 20, the self-removal type combine harvester of this modification includes a front outrigger mechanism 110 as an outrigger mechanism Y. As shown in FIG. The front outrigger mechanism 110 includes left and right columnar members 111 and 112, and a gear-type drive mechanism 113 driven by an actuator 114. Actuator 114 is, for example, an electric motor. The columnar members 111 and 112 are supported by the cylindrical horizontal frame 1b in a state where they can swing around an axis C1 extending in the left-right direction of the body. The drive mechanism 113 is driven by the actuator 114 to swing the columnar member 101 around the axis C1. That is, the columnar members 111 and 112 swing when the front outrigger mechanism 110 (outrigger mechanism Y) changes state between the used state and the stored state. When the front outrigger mechanism 110 is in use, the columnar members 111 and 112 are in a posture extending in the vertical direction. When the front outrigger mechanism 110 is in the retracted state, the columnar members 111 and 112 are in a posture extending in the front-rear direction. As described above, the self-removal type combine harvester of this modification includes the actuator 114 that drives the outrigger mechanism Y to change the state between the stored state and the use state. In this modification, one actuator 114 changes the posture of the left and right columnar members 111 and 112.

The left and right columnar members 111 and 112 may be connected together by a connecting member provided across both members.

[Modification 5]
As shown in FIG. 21, the self-removal type combine harvester of this modification includes a front outrigger mechanism 120 and a rear outrigger mechanism 130 as an outrigger mechanism Y. The front outrigger mechanism 120 includes a columnar member 121. The columnar member 121 is supported by the fuselage frame 1 in a state where it can swing around an axis C1 extending along the left-right direction of the fuselage. The rear outrigger mechanism 130 includes a columnar member 131. The columnar member 131 is supported by the fuselage frame 1 in a swingable state around an axis C2 extending along the left-right direction of the fuselage.

As shown in FIG. 21, the columnar member 121 and the columnar member 131 are connected by a link member 141. A lifting cylinder 142 is connected to the columnar member 121. When the elevating cylinder 142 is extended, both the columnar member 121 and the columnar member 131 swing forward, and the front outrigger mechanism 120 and the rear outrigger mechanism 130 change from the used state to the retracted state. In this manner, in this modification, the front outrigger mechanism 120 and the rear outrigger mechanism 130 operate in cooperation with each other by the link member 141 and the elevating cylinder 142.

[Modification 6]
As shown in FIG. 22, the self-removal type combine harvester of this modification includes a front outrigger mechanism 150 and a rear outrigger mechanism 160 as an outrigger mechanism Y. The front outrigger mechanism 150 includes a columnar member 151. The columnar member 151 is supported by the fuselage frame 1 in a state where it can swing around an axis C1 extending along the left-right direction of the fuselage. The rear outrigger mechanism 160 includes a columnar member 161. The columnar member 161 is supported by the fuselage frame 1 in a swingable state around an axis C2 extending along the left-right direction of the fuselage.

As shown in FIG. 22, the columnar member 151 and the columnar member 161 are connected by an elevating cylinder 172. When the elevating cylinder 172 contracts, the columnar member 151 swings backward, the columnar member 161 swings forward, and the front outrigger mechanism 150 and the rear outrigger mechanism 160 change from the used state to the stored state. In this manner, in this modification, the front outrigger mechanism 150 and the rear outrigger mechanism 160 operate in cooperation with each other by the lifting cylinder 172.

[Modification 7]
As shown in FIG. 23, the self-removal type combine harvester of this modification includes a removal mechanism 180 that removes mud adhering to the outer peripheral surface of the belt 13 of the crawler traveling device 2 from the belt 13.
The removal mechanism 180 is configured to be able to remove mud from the belt 13 at the rear end of the crawler traveling device 2 .

The removal mechanism 180 includes a brush 181, a rotating body 182, and an arm 183. The brush 181 is a brush that projects radially from the rotating body 182. The brush 181 extends in a direction intersecting the left-right direction of the machine body. The rotating body 182 is supported by an arm 183 in a state where it can rotate around an axis C5 extending along the left-right direction of the machine body. The arm 183 is supported by the rear end portion of the fuselage frame 1 in a state where it can swing around an axis C6 extending along the left-right direction of the fuselage. The arm 183 can change its posture between a state in which it swings downward and the brush 181 can come into contact with the belt 13 (FIG. 23) and a state in which it swings upward and the brush 181 does not come into contact with the belt 13 (FIG. 24). It is possible. That is, the removal mechanism 180 is configured to be able to change its state between an operating state (FIG. 24) in which the brush 181 can come into contact with the belt 13 and a stored state (FIG. 24) in which the brush 181 does not come into contact with the belt 13.

The rotating body 182 may be in a state where it can freely rotate, may be provided with rotational resistance by a friction body or the like, or may be rotationally driven by an electric motor or the like.

The removal mechanism 180 may be arranged at the rear end of the crawler traveling device 2, or may be arranged at both the front end and the rear end of the crawler traveling device 2.

[Other embodiments]
(1) The front outrigger mechanism and the rear outrigger mechanism may be arranged outside the left and right crawler traveling devices 2 in the left-right direction of the aircraft. The columnar members of the front outrigger mechanism and the columnar members of the rear outrigger mechanism may be arranged outside the left and right crawler traveling devices 2 in the left-right direction of the aircraft.

(2) The front outrigger mechanism may be arranged at a position that does not overlap the crawler traveling device 2 when viewed in the left-right direction of the aircraft. The rear outrigger mechanism may be arranged at a position overlapping the crawler traveling device 2 when viewed in the left-right direction of the aircraft.

(3) The type of removal mechanism 180 is not limited to the brush type. The removal mechanism 180 may be a mechanism that brings a plate-shaped scraper or a rod-shaped contact body into contact with the outer peripheral surface of the belt 24 of the crawler traveling device 2.

The present invention is applicable not only to self-removal type combine harvesters but also to ordinary type combine harvesters, agricultural working machines, civil engineering working machines, etc.

1a: Main frame 1b: Horizontal frame 1c: Horizontal frame 1e: Stopper 1f: Stopper 2: Crawler traveling device 13: Belt 17: Sensor 18: Command tool 24: Belt 30: Front outrigger mechanism 31: Column member 33: Actuator 40: Rear outrigger mechanism 41: Column member 43: Actuator 51: Operation control unit 52: Stop control unit 60: Seat 70: Holding device 80: Rear outrigger mechanism 81: Column member 90: Rear outrigger mechanism 91: Column member 100: Front outrigger mechanism 101: Column member 102: Column member 105: Actuator 106: Actuator 110: Front outrigger mechanism 111: Column member 112: Column member 114: Actuator 120: Front outrigger mechanism 121: Column member 130: Rear outrigger mechanism 131: Column member 150: Front outrigger mechanism 151 : Column member 160 : Rear outrigger mechanism 161 : Column member 180 : Removal mechanism L1 : First distance L2 : Second distance X : Vehicle height changing mechanism Y : Outrigger mechanism

Claims (13)

Left and right crawler running devices that support the aircraft,
a first state in which the distance between the ground contact surface of the crawler traveling device and the aircraft body is a first distance; and a second state in which the distance between the ground contact surface of the crawler travel device and the aircraft body is a second distance greater than the first distance. a second state, and a vehicle height change mechanism capable of changing its state to
an outrigger mechanism whose state can be changed between a stored state and a used state;
an actuator that drives the outrigger mechanism to change the state between the stored state and the used state;
A command tool that accepts human commands,
an operation control unit that operates the vehicle height changing mechanism and the actuator according to a command received by the command tool,
The outrigger mechanism in the use state is in a state where it can touch the ground and support the aircraft body when the vehicle height changing mechanism is in the first state, and when the vehicle height changing mechanism is in the second state. It becomes ungrounded,
The operation control unit changes the vehicle height changing mechanism from the first state to the second state in accordance with the command received by the command tool, and then changes the outrigger mechanism from the retracted state to the used state. and then executes a raising process for changing the vehicle height changing mechanism from the second state to the first state, and after executing the raising process, in response to a command received by the command tool. , changing the vehicle height changing mechanism from the first state to the second state, then changing the outrigger mechanism from the used state to the retracted state, and then changing the vehicle height changing mechanism from the second state. A work vehicle that executes a lowering process for changing to the first state . The outrigger mechanism includes a front outrigger mechanism located at the front of the aircraft body, and a rear outrigger mechanism located at the rear of the aircraft body,
The work vehicle according to claim 1, wherein at least one of the front outrigger mechanism and the rear outrigger mechanism is disposed inside the left and right crawler traveling devices in the left-right direction of the vehicle. The outrigger mechanism includes a front outrigger mechanism located at the front of the aircraft body, and a rear outrigger mechanism located at the rear of the aircraft body,
One of the front outrigger mechanism and the rear outrigger mechanism is arranged at a position overlapping the crawler traveling device when viewed in the left-right direction of the aircraft,
The work vehicle according to claim 1 or 2, wherein the other of the front outrigger mechanism and the rear outrigger mechanism is arranged at a position that does not overlap the crawler traveling device when viewed in the left-right direction of the vehicle. Comprising left and right main frames extending in the longitudinal direction of the aircraft, and a horizontal frame provided across the left and right main frames,
The outrigger mechanism includes a front outrigger mechanism located at the front of the aircraft body, and a rear outrigger mechanism located at the rear of the aircraft body,
The work vehicle according to any one of claims 1 to 3, wherein at least one of the front outrigger mechanism and the rear outrigger mechanism is provided on the horizontal frame. Equipped with hollow cylindrical left and right main frames that extend in the longitudinal direction of the aircraft,
The outrigger mechanism includes a support member capable of supporting the aircraft body,
The operation according to any one of claims 1 to 4, wherein the support member is partially housed inside the hollow cylinder of the main frame when the outrigger mechanism is in the stored state. car. The work vehicle according to any one of claims 1 to 5, wherein the outrigger mechanism includes a columnar member that swings when the state changes between the use state and the stored state. The work vehicle according to claim 6, further comprising a stopper that contacts the columnar member to position the columnar member when the outrigger mechanism is in the use state. a sensor that detects that the outrigger mechanism is in the use state;
8. A stop control unit that controls the operation of the actuator and stops the operation of the actuator in response to the sensor detecting that the outrigger mechanism is in the use state. or the work vehicle described in paragraph 1 . sheet and
a holding device that holds the sheet and is capable of winding up and feeding out the sheet;
The holding device is supported by the aircraft body so that it can be placed below the left and right crawler traveling devices when the sheet is unwound from the holding device,
The sheet has a shape such that when the sheet is unwound from the holding device and placed below the left and right crawler traveling devices, the entire belts of the left and right crawler traveling devices overlap the sheet when viewed in a vertical direction. A work vehicle according to any one of claims 1 to 8 , wherein the work vehicle is formed. The work vehicle according to claim 9 , wherein the holding device is configured such that the attachment position to the body can be changed. The work vehicle according to claim 9 or 10, wherein the sheet has a mesh shape. a removal mechanism for removing mud attached to the outer peripheral surface of the belt of the crawler traveling device from the belt;
The work vehicle according to any one of claims 1 to 11 , wherein the removal mechanism is configured to be changeable between an operating state and a stored state. The work vehicle according to claim 12 , wherein the removal mechanism is configured to be able to remove mud from the belt at at least one of the front end and the rear end of the crawler traveling device.

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