Harvester

Abstract

Provided is a harvester that makes it possible to separate a part (harvesting device) which performs a harvesting operation from a vehicle part which includes a traveling device and that makes it possible to use the vehicle part for another application. A harvester (1) comprises: a traveling machine body (100); and a harvesting device (200) which, in conjunction with traveling of the traveling machine body (100), performs at least one harvesting operation from among reaping, digging, and uprooting of crops, wherein the traveling machine body (100) has a power device (4) that generates traveling power and an attachment / detachment mechanism that allows the harvesting device (200) to be attached to / detached from the upper part of the traveling machine body (100).

Description

harvester

[0001] The present invention relates to a harvester for harvesting crops.

[0002] A conventional harvester is disclosed in Patent Document 1. The harvester disclosed in Patent Document 1 includes a reaping unit that harvests crops in a field and a transport device that transports the crops harvested by the reaping unit from the reaping unit. The harvester also includes a traveling device that supports the machine body, and the traveling device is driven to harvest (reap) crops while moving through the field.

[0003] Japanese Patent Publication No. 2023-94884

[0004] In the above-described harvesters, the machine body including the harvesting section (such as the reaping section) is integrated with the traveling device, so the harvesting section (the harvesting device) cannot be separated from the traveling device, and therefore the vehicle section including the traveling device cannot be used for other purposes (purposes other than reaping).

[0005] The present invention has been made in consideration of the above-mentioned problems, and aims to provide a harvester in which the part that performs the harvesting work (harvesting equipment) can be separated from the vehicle part equipped with the traveling device, allowing the vehicle part to be used for other purposes.

[0006] A harvester according to one embodiment of the present invention is a harvester comprising a running body and a harvesting device that performs at least one of the harvesting tasks of cutting, digging, or uprooting crops as the running body moves, and the running body has a power unit that generates power for traveling and an attachment / detachment mechanism that allows the harvesting device to be attached and detached to the top of the running body.

[0007] The harvesting device may include a harvesting unit that is provided in front of or behind the running body and performs at least one of the harvesting operations, and a transport unit that transports the crops harvested by the harvesting unit onto the running body.

[0008] The harvesting device may include a storage section that stores the crops transported by the transport section.

[0009] The running machine body may have a vehicle body having the power unit, a left running device provided on the left side of the vehicle body, and a right running device provided on the right side of the vehicle body, and the attachment / detachment mechanism may be provided on the vehicle body.

[0010] The harvesting device may perform the harvesting operation based on power supplied from the power unit.

[0011] The harvesting device may have another power unit that generates power for carrying out the harvesting work, separate from the power unit that the traveling machine body has.

[0012] The traveling machine body may be equipped with a control device for automatic driving.

[0013] The attachment / detachment mechanism may have a protrusion that protrudes upward from the upper part of the traveling body, and an insertion hole into which the protrusion is inserted may be provided in the lower part of the harvesting device.

[0014] The protrusion may be provided so as to be able to appear and disappear from the upper surface of the traveling machine body.

[0015] The attachment / detachment mechanism may have a locking mechanism that fixes the traveling body and the harvesting device when the protrusion is inserted into the insertion hole.

[0016] The attachment / detachment mechanism may have a convex portion that protrudes upward from the upper surface of the traveling body, and a concave portion into which the convex portion fits may be provided on the lower surface of the harvesting device.

[0017] The attachment / detachment mechanism may have a locking mechanism that fixes the traveling body and the harvesting device when the convex portion is fitted into the concave portion.

[0018] The protrusion may be configured to be able to rise and fall, and may move up toward the recess to fit into the recess.

[0019] The attachment / detachment mechanism may have a protrusion or groove extending in the fore-and-aft direction of the running body, and the harvesting device may have a groove into which the protrusion of the running body is slidably inserted, or a protrusion that is slidably inserted into the groove of the running body.

[0020] The attachment / detachment mechanism may have a locking mechanism that fixes the traveling body and the harvesting device when the protrusion is inserted into the groove.

[0021] According to the harvester of the present invention, the harvesting device and the running machine body (the vehicle part equipped with the running device) can be separated, so that the running machine body can be used for other purposes.

[0022] 1 is a front perspective view showing an embodiment of a harvester. FIG. 2 is a left side view showing an embodiment of a harvester. FIG. 3 is a right side view showing an embodiment of a harvester. FIG. 4 is a rear perspective view showing an embodiment of a harvester. FIG. 5 is a perspective view showing an embodiment of a traveling machine body. FIG. 6 is a left side view showing an embodiment of a traveling machine body. FIG. 7 is a right side view showing an embodiment of a traveling machine body. FIG. 8 is a front view showing an embodiment of a traveling machine body. FIG. 9 is a rear view showing an embodiment of a traveling machine body. FIG. 10 is a plan view showing an embodiment of a traveling machine body. FIG. 11 is a block diagram showing an example of the overall configuration of the traveling machine body. FIG. 12 is a perspective view of a frame structure. FIG. 13 is an exploded perspective view of the frame structure. FIG. 14 is a perspective view showing the traveling machine body with the vehicle body raised. FIG. 15 is a left side view showing another embodiment of a harvester. FIG. 16 is a perspective view of a harvesting device seen from below. FIG. 17 is a side view showing a first example of a mounting structure for a harvesting device to a traveling machine body. FIG. 18 is a side view showing a second example of a mounting structure for a harvesting device to a traveling machine body. FIG. 19 is a side view showing a third example of a mounting structure for a harvesting device to a traveling machine body. FIG. 19 is a front view showing a third example of a mounting structure for a harvesting device to a traveling machine body. FIG. 19 is a side view showing a fourth example of a mounting structure for a harvesting device to a traveling machine body. 1 is a front view showing a fourth example of a structure for attaching a harvesting device to a traveling machine body. FIG. 2 is an explanatory diagram of a configuration that allows a protrusion to be retracted. FIG. 3 is a longitudinal cross-sectional view of the locking mechanism and the fixed part as seen from the side. FIG. 4 is a longitudinal cross-sectional view of the locking mechanism and the fixed part as seen from the front. FIG. 5 is a diagram showing a state in which the locking mechanism is not activated (left figure) and a state after it has been activated (right figure). FIG. 6 is an explanatory diagram of a first example of a method for attaching a harvesting device to a traveling machine body. FIG. 7 is an explanatory diagram of a first example of a method for attaching a harvesting device to a traveling machine body. FIG. 8 is an explanatory diagram of a first example of a method for attaching a harvesting device to a traveling machine body. FIG. 9 is an explanatory diagram of a first example of a method for attaching a harvesting device to a traveling machine body. FIG. 10 is an explanatory diagram of a first example of a method for attaching a harvesting device to a traveling machine body. 10A and 10B are explanatory diagrams of a second example of a method for attaching a harvesting device to a traveling machine body, and a third example of a method for attaching a harvesting device to a traveling machine body.1 is an explanatory diagram of a third example of a method for attaching a harvesting device to a traveling machine body. FIG. 2 is an explanatory diagram of a third example of a method for attaching a harvesting device to a traveling machine body. FIG. 3 is an explanatory diagram of a third example of a method for attaching a harvesting device to a traveling machine body. FIG. 4 is an explanatory diagram of a fourth example of a method for attaching a harvesting device to a traveling machine body. FIG. 5 is an explanatory diagram of a fourth example of a method for attaching a harvesting device to a traveling machine body. FIG. 6 is an explanatory diagram of a fourth example of a method for attaching a harvesting device to a traveling machine body. FIG. 7 is an explanatory diagram of a fourth example of a method for attaching a harvesting device to a traveling machine body. FIG. 8 is an explanatory diagram of a fourth example of a method for attaching a harvesting device to a traveling machine body. FIG. 9 is an explanatory diagram of a first example of an example of a power transmission path of a harvester. FIG. 10 is an explanatory diagram of a second example of an example of a power transmission path of a harvester. FIG. 11 is a diagram of a traveling machine body equipped with the power transmission mechanism of the first example, and a harvesting device attached to this traveling machine body. FIG. 12 is a diagram of a state in which an upward output shaft and a downward input shaft are connected via a shaft coupling. FIG. 13 is a diagram of a traveling machine body equipped with the power transmission mechanism of the second example. FIG. 14 is a diagram of a state in which the lateral output shaft is changed to an upward orientation extending upward. FIG. 15 is a diagram of the configuration of a harvesting device attached to a traveling machine body equipped with the power transmission mechanism of the second example. 1 is a diagram showing a state in which a horizontal output shaft changed to an upward orientation and a downward input shaft are connected via a shaft coupling. FIG. 2 is a plan view showing a state in which a protruding portion of the horizontal output shaft is connected to a lower link and a top link via a connecting member. FIG. 3 is a diagram showing a traveling machine body equipped with a power transmission mechanism of a third example and a harvesting device attached to the traveling machine body. FIG. 4 is a diagram showing a state in which an output gear provided on the traveling machine body and an input gear provided on the harvesting device are meshed. FIG. 5 is a diagram showing a traveling machine body equipped with a power transmission mechanism of a fourth example and a harvesting device attached to the traveling machine body. FIG. 6 is a diagram showing a state before a belt is stretched between an output pulley provided on the traveling machine body and an input pulley provided on the harvesting device. FIG. 7 is a diagram showing a state in which a belt is stretched between an output pulley provided on the traveling machine body and an input pulley provided on the harvesting device, and a tension pulley is in contact with the outer surface of the belt. FIG. 8 is a diagram showing an example (first example) of a power transmission path of a harvester when the harvesting device is a digging device that digs up crops. FIG. 9 is a diagram showing an example (second example) of a power transmission path of a harvester when the harvesting device is a digging device. 1 is a diagram showing an example (first example) of a power transmission path of a harvester when the harvesting device is a picking device, and FIG. 2 is a diagram showing an example (second example) of a power transmission path of a harvester when the harvesting device is a picking device.

[0023] A preferred embodiment of a harvester 1 according to the present invention will now be described. Figures 1 to 4 are views showing one embodiment of the harvester 1. Figure 1 is a front perspective view of the harvester 1. Figure 2 is a left side view of the harvester 1. Figure 3 is a right side view of the harvester 1. Figure 4 is a rear perspective view of the harvester 1. As shown in Figures 1 to 4, the harvester 1 includes a traveling machine body 100 and a harvesting device 200.

[0024] In this specification, the direction in which the harvester 1 moves during harvesting (the direction of arrow F in FIG. 1 ) is defined as the front of the harvester 1, and the opposite side to the front (the direction of arrow B in FIG. 1 ) is defined as the rear of the harvester 1. Therefore, the front of the harvester 1 includes the front part of the harvesting device 200 (such as the harvesting section 210 described below), and the rear of the harvester 1 includes the rear part of the harvesting device 200 (such as the discharging section 250 described below).

[0025] 1 is defined as the left side of the harvester 1, and the direction indicated by the arrow R is defined as the right side of the harvester 1. Therefore, the left part of the harvester 1 includes the left part of the harvesting device 200 (the threshing section 240 described later), and the right part of the harvester 1 includes the right part of the harvesting device 200 (the storage section 230 described later).

[0026] First, of the traveling machine body 100 and harvesting device 200 provided in the harvester 1, the traveling machine body 100 will be described. Figures 5 to 11 are diagrams showing one embodiment of the traveling machine body 100. Figure 5 is a perspective view of the traveling machine body 100. Figure 6 is a left side view of the traveling machine body 100. Figure 7 is a right side view of the traveling machine body 100. Figure 8 is a front view of the traveling machine body 100. Figure 9 is a rear view of the traveling machine body 100. Figure 10 is a plan view of the traveling machine body 100. Figure 11 is a block diagram showing the overall configuration of the traveling machine body 100.

[0027] The harvester 1 of the embodiment shown in Figures 1 to 4 is configured such that the front part of the harvesting device 200 is mounted on the rear part (rear wheel side) of the traveling body 100, and the rear part of the harvesting device 200 is mounted on the front part (front wheel side) of the traveling body 100. Therefore, in the harvester 1 of the embodiment shown in Figures 1 to 4, the front and rear of the harvester 1 and harvesting device 200 are reversed from the front and rear of the traveling body 100, and the left and right of the harvester 1 and harvesting device 200 are reversed from the left and right of the traveling body 100. As a result, the rear wheels of the traveling body 100 are located at the front of the harvester 1, and the front wheels of the traveling body 100 are located at the rear of the harvester 1. Furthermore, the right wheel of the traveling body 100 is located at the left part of the harvester 1, and the left wheel of the traveling body 100 is located at the right part of the harvester 1.

[0028] On the other hand, in other embodiments (such as FIGS. 15, 31, 39, 43, and 47), the front and rear of the harvester 1 and harvesting device 200 coincide with the front and rear of the traveling machine body 100, and the left and right of the harvester 1 and harvesting device 200 coincide with the left and right of the traveling machine body 100. Therefore, the front wheels of the traveling machine body 100 are located at the front of the harvester 1, and the rear wheels of the traveling machine body 100 are located at the rear of the harvester 1. Furthermore, the left wheel of the traveling machine body 100 is located at the left of the harvester 1, and the right wheel of the traveling machine body 100 is located at the right of the harvester 1.

[0029] As shown in Figures 5 to 10, the traveling machine body 100 includes a vehicle body 2 and a traveling device 3 that supports the vehicle body 2 so that it can travel. In this embodiment, the vehicle body 2 is formed in a substantially rectangular parallelepiped shape with an internal space. However, the shape of the vehicle body 2 is not limited to a substantially rectangular parallelepiped shape. Various devices and equipment are housed in the internal space of the vehicle body 2.

[0030] 6 and 7 , a power unit 4 for driving the traveling device 3 is mounted (housed) in the internal space of the vehicle body 2. In other words, the traveling machine body 100 is equipped with the power unit 4 for driving the traveling device 3.

[0031] The power unit 4 generates power to drive the traveling device 3, and the power is supplied to the traveling device 3. As shown in Fig. 11 , the power unit 4 includes a motor 5 and a battery 7. In the present embodiment, the vehicle body 2 is equipped with (contains) the battery 7 as the power unit 4.

[0032] The motor 5 is a traveling motor that generates power to drive the traveling device 3. The motor 5 is an electric motor that is driven by electricity. An inverter 23 is connected to the motor 5. The inverter 23 controls the rotation of the motor 5 based on a control signal from a control device 15, which will be described later. The battery 7 stores the power supplied to the motor 5. However, the power device 4 may include an engine instead of the motor 5. The power device 4 may also include a fuel cell.

[0033] As shown in FIG. 11 , the power unit 4 includes a motor 5, which is a traveling motor, and a motor 6, which is a working motor. The working motor generates power to drive devices and mechanisms other than the traveling unit 3. The motor 6 is an electric motor that is driven by power supplied from a battery 7. The rotation of the motor 6 can be controlled by an inverter 23. Hereinafter, the motor 5 may be referred to as the "traveling motor 5," and the motor 6 may be referred to as the "working motor 6."

[0034] The motors (traveling motor 5, working motor 6) can be mounted on the vehicle body 2. The traveling motor 5 and working motor 6 can be driven independently of each other. The working motor 6 is a motor for driving a hydraulic pump that operates a hydraulic cylinder, which will be described later. The working motor 6 also drives an external output shaft.

[0035] The external output shaft is an output shaft for extracting the power of the work-system motor 6 to the outside of the vehicle body 2. In other words, the traveling machine body 100 is equipped with an external output shaft for extracting the power of the work-system motor 6 to the outside of the vehicle body 2. The external output shaft is, for example, a PTO shaft. The traveling machine body 100 is equipped with an upward output shaft 601 and / or a lateral output shaft 602, which will be described later, as the external output shaft (see Figures 50 to 61). The upward output shaft 601 and the lateral output shaft 602 will be described in detail later.

[0036] The work system motor 6 may be a hydraulic motor. The hydraulic motor is driven by hydraulic oil supplied from a hydraulic pump. In this case, for example, the traveling motor 5 drives the hydraulic pump, the hydraulic motor (work system motor 6) is driven by hydraulic oil supplied from the hydraulic pump, and the external output shaft is driven by the hydraulic motor. Furthermore, the traveling machine body 100 may be equipped with a work system motor 6 that is a hydraulic motor, in addition to the work system motor 6 that is an electric motor.

[0037] As described above, the battery 7, which is part of the power unit 4, is housed in the vehicle body 2 (see FIGS. 6 and 7). Although not shown, the vehicle body 2 also houses a cooling system (radiator, fan, water pump, compressor, etc.) that cools the power unit 4 (motor 5, motor 6, battery 7, etc.), and a hydraulic system (control valves, etc.) that actuates hydraulic cylinders (cylinder 62, lifting cylinder 91), etc., which will be described later, based on control signals from the control device 15.

[0038] The vehicle body 2 is capable of traveling by being driven by the traveling devices 3. As shown in Figures 8, 9, etc., the traveling devices 3 include a left traveling device 3L provided on the left side of the vehicle body 2 and a right traveling device 3R provided on the right side of the vehicle body 2. The vehicle body 2 is located between the left traveling device 3L and the right traveling device 3R. As shown in Figure 6, the left traveling device 3L includes a left front wheel 3LF and a left rear wheel 3LB. As shown in Figure 7, the right traveling device 3R includes a right front wheel 3RF and a right rear wheel 3RB. Hereinafter, for convenience of explanation, the left front wheel 3LF, the right front wheel 3RF, the left rear wheel 3LB, and the right rear wheel 3RB may be collectively referred to as "wheels 30."

[0039] The wheels 30 (left front wheel 3LF, right front wheel 3RF, left rear wheel 3LB, right rear wheel 3RB) are arranged on the sides of the vehicle body 2. The left front wheel 3LF and the left rear wheel 3LB are arranged on the left side of the vehicle body 2. The right front wheel 3RF and the right rear wheel 3RB are arranged on the right side of the vehicle body 2. In the case of the traveling vehicle body 100 of this embodiment, the size (diameter and width) of the rear wheels (left rear wheel 3LB, right rear wheel 3RB) is larger than the size (diameter and width) of the front wheels (left front wheel 3LF, right front wheel 3RF). However, the size of the front wheels (left front wheel 3LF, right front wheel 3RF) and the size of the rear wheels (left rear wheel 3LB, right rear wheel 3RB) may be the same, or the size of the front wheels may be larger than the size of the rear wheels.

[0040] In this embodiment, the traveling device 3 is a wheel-type traveling device in which the front wheels (left front wheel 3LF, right front wheel 3RF) and rear wheels (left rear wheel 3LB, right rear wheel 3RB) are all tires. However, the traveling device 3 may be a crawler-type traveling device in which the left traveling device 3L and the right traveling device 3R are crawlers, or the traveling device 3 may be a traveling device in which one of the front wheels or the rear wheels is a wheel and the other is a crawler.

[0041] 5 to 7, the traveling machine body 100 is equipped with a fender 55L that covers the upper and front of the left rear wheel 3LB, and a fender 55R that covers the upper and front of the right rear wheel 3RB. The fenders 55L, 55R are attached to a frame structure 18, which will be described later. Although not shown, the traveling machine body 100 may also be equipped with fenders that cover the front wheels (left front wheel 3LF, right front wheel 3RF).

[0042] As shown in Fig. 11 , the traveling machine body 100 is equipped with a transmission 9. The transmission 9 can switch the propulsion force of the traveling device 3 by changing gears. The transmission 9 can also switch between forward and reverse travel of the traveling device 3. The transmission 9 may be equipped with a speed change clutch that can switch between a four-wheel drive state (4WD) in which all four wheels (left front wheel 3LF, right front wheel 3RF, left rear wheel 3LB, right rear wheel 3RB) are driven, and a two-wheel drive state (2WD) in which only the rear wheels (left rear wheel 3LB, right rear wheel 3RB) or only the front wheels (left front wheel 3LF, right front wheel 3RF) are driven.

[0043] The traveling machine body 100 is equipped with a lifting device 10 that can be lifted and lowered with a work device 300 separate from the harvesting device 200 attached thereto. For ease of explanation, the separate work device 300 will be referred to as the "second work device 300" below. As shown in Figures 6 and 7, the second work device 300 can be detachably attached to the lifting device 10. The lifting device 10 is provided at the rear of the vehicle body 2. Figure 9 is a view of the lifting device 10 as seen from behind. However, the lifting device 10 may also be provided at the front or side (left or right) of the vehicle body 2.

[0044] There are no particular limitations on the type of second work device 300 attached to the lifting device 10. For example, the second work device 300 may be a device for performing agricultural work (farm work), a device for performing civil engineering work, a device for performing construction work, a device for performing transportation work, or the like.

[0045] Examples of the second work device 300 used for agricultural work include a spraying device that sprays fertilizer, chemicals, etc., a sowing device that sows seeds, a tilling device that tills the soil, a tilling device (plow) that tills the soil, a weeding device that weeds, and a soil-piling device that piles up the soil.

[0046] The second working device 300 attached to the lifting device 10 can be driven by power transmitted from an external output shaft (an upward output shaft 601 and / or a lateral output shaft 602, described later) for extracting the power of the working motor 6 outside the vehicle body 2. If the second working device 300 is an electrically powered working device, it may be driven by power extracted from the battery 7 via a power line to the outside of the vehicle body 2, instead of being driven by power extracted from the external output shaft.

[0047] The lifting device 10 is composed of a three-point link mechanism. Specifically, as shown in FIG. 9, the lifting device 10 has a lift arm 10a, a lower link 10b, a top link 10c, a lift rod 10d, and a lift cylinder 10e. The front end of the lift arm 10a is supported on the upper rear part of the vehicle body 2 so that it can swing upward or downward. The lift arm 10a swings (lifts and lowers) when driven by the lift cylinder 10e. The lift cylinder 10e is composed of a hydraulic cylinder. The lift cylinder 10e is connected to a hydraulic pump (not shown) via a control valve (not shown).

[0048] The hydraulic pump is driven by the work system motor 6. The control valve is an electromagnetic valve or the like whose flow path is controlled to open or close by the control device 15. The flow of hydraulic oil discharged from the hydraulic pump is controlled by the control valve, thereby allowing the lift cylinder 10e to extend or retract.

[0049] The front end of the lower link 10b is supported on the rear lower part of the vehicle body 2 so as to be able to swing upward or downward. The front end of the top link 10c is supported on the rear part of the vehicle body 2, above the lower link 10b, so as to be able to swing upward or downward. A lift rod 10d connects the lift arm 10a to the lower link 10b. A second working device 300 is connected to the rear part of the lower link 10b and the rear part of the top link 10c. When the lift cylinder 10e is driven (extends and retracts), the lift arm 10a rises and falls, and the lower link 10b, which is connected to the lift arm 10a via the lift rod 10d, rises and falls. As a result, the second working device 300 swings upward or downward (lifts and falls) around the front part of the lower link 10b as a fulcrum.

[0050] The second work device 300 attached to the lifting device 10 is towed by the traveling machine body 100 as the traveling machine body 100 travels. Note that instead of the second work device 300, a cart or the like for transporting agricultural products or the like may be attached to the lifting device 10.

[0051] 11, the traveling vehicle body 100 is equipped with a positioning device 11. The positioning device 11 can detect the position of the vehicle body 2 (positioning information including latitude and longitude) using a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Beidou, Galileo, or Michibiki. That is, the positioning device 11 receives satellite signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellites, and detects the position of the vehicle body 2 (for example, latitude and longitude) based on the satellite signals.

[0052] The positioning device 11 has a receiving device 12 and an inertial measurement unit (IMU) 13. The receiving device 12 has an antenna and the like and is a device that receives satellite signals transmitted from positioning satellites, and is attached to the vehicle body 2. The inertial measurement unit 13 has an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like. The inertial measurement unit 13 is attached to the vehicle body 2. The inertial measurement unit 13 can detect the roll angle, pitch angle, yaw angle, etc. of the vehicle body 2. Note that the yaw angle may be detected by installing multiple positioning devices 11.

[0053] As shown in FIG. 11 , the traveling vehicle 100 includes a communication device 14. The communication device 14 includes a communication circuit for communicating via an in-vehicle network and a wireless communication circuit for wireless communication. The wireless communication circuit can communicate directly or indirectly wirelessly with an external device using communication standards such as IEEE 802.11 series Wi-Fi (Wireless Fidelity, registered trademark), BLE (Bluetooth (registered trademark) Low Energy), LPWA (Low Power Wide Area), and LPWAN (Low-Power Wide-Area Network). As another example, the communication device 14 may be provided with a communication circuit capable of wirelessly communicating with an external device via, for example, a mobile phone communication network or a data communication network. The external device may be, for example, a personal computer, a smartphone, a tablet computer, a PDA, or a server. The external device may include, for example, an operation device 80, which will be described later.

[0054] As shown in Fig. 11 , the traveling machine body 100 is equipped with a control device 15. The control device 15 is a device that performs various controls of the traveling machine body 100. The control device 15 is equipped with a calculation unit (CPU, etc.) and a memory unit (RAM, ROM, etc.). The memory unit may include an external memory provided outside the control device 15. The control device 15 is connected to the various devices and mechanisms shown in Fig. 11 via an in-vehicle LAN (on-board network) such as a CAN (Controller Area Network) or a communication line.

[0055] The control device 15 controls the operation of various devices and mechanisms communicably connected to the control device 15 by having the calculation unit execute various control programs stored in the memory unit. The functions of each control unit of the control device 15 (automatic driving control unit 15A, height change control unit 15B) described below are realized by having the calculation unit execute predetermined control programs stored in the memory unit.

[0056] As shown in FIG. 11 , the control device 15 includes an automatic driving control unit 15A. The automatic driving control unit 15A controls the automatic driving of the traveling machine body 100. In other words, the traveling machine body 100 is equipped with a control device 15 that performs automatic driving. The automatic driving control unit 15A is capable of executing line-type automatic driving control and autonomous-type automatic driving control. In line-type automatic driving control, the automatic driving control unit 15A controls the operation of the steering mechanism 60, transmission 9, motor 5, etc., which will be described later, so that the traveling machine body 100 (vehicle body 2) moves along a predetermined planned traveling line.

[0057] In autonomous automatic driving control, the automatic driving control unit 15A sets the direction of travel (steering direction) and vehicle speed (vehicle speed) of the vehicle body 2 based on the results of sensing (detecting objects) around the traveling body 100 (vehicle body 2) using a positioning device 11, etc., and controls the operation of the steering mechanism 60, transmission 9, motor 5, etc. so that the set steering and vehicle speed are achieved.

[0058] Note that the line-type automatic driving control and the autonomous-type automatic driving control may be switchable using a switch or the like. The automatic driving control unit 15A may also be configured to be able to execute either the line-type automatic driving control or the autonomous-type automatic driving control. However, the configuration of the automatic driving control unit 15A is not limited to the configuration described above.

[0059] The traveling machine body 100 can perform automatic traveling (unmanned traveling) without an operator on board because the control device 15 includes the automatic driving control unit 15A. Therefore, the traveling machine body 100 in the illustrated embodiment does not have a driver's seat where an operator sits. However, the traveling machine body 100 may be a vehicle in which an operator rides and performs automatic traveling. Alternatively, the traveling machine body 100 may be a vehicle in which an operator rides and drives to travel. When the traveling machine body 100 is a vehicle in which an operator rides, a driver's seat is provided in the vehicle body 2.

[0060] As shown in FIG. 11 , the traveling machine body 100 is equipped with a lighting device 16. The lighting device 16 is provided on the vehicle body 2. The lighting device 16 includes at least a headlight that illuminates the area ahead of the vehicle body 2. In addition to the headlight, the lighting device 16 may also include a plurality of work lights that illuminate the area around the vehicle body 2. The work lights can, for example, illuminate the sides (left and right) of the vehicle body 2 or the area behind the vehicle body 2. The lighting device 16 may also include status indicator lights, left and right lights, brake lights, etc.

[0061] 11 , the traveling machine body 100 is equipped with an alarm device 17. The alarm device 17 uses sound, light, etc. to alert people around the vehicle body 2 of danger (approaching vehicle body 2, etc.). The alarm device 17 is composed of a speaker, a warning light, etc.

[0062] 5 to 10 , the traveling machine body 100 includes a frame structure 18 that is disposed around the vehicle body 2 and attached to the vehicle body 2. The frame structure 18 includes a left frame 18L and a right frame 18R. The left frame 18L and the right frame 18R are frames that are disposed on the sides of the vehicle body 2.

[0063] The left frame 18L is provided on the left side of the vehicle body 2. The left frame 18L extends in the up-and-down direction along the vehicle body 2. The left frame 18L also extends in the front-to-rear direction along the vehicle body 2. The left frame 18L connects the left front wheel 3LF and the left rear wheel 3LB.

[0064] The right frame 18R is provided on the right side of the vehicle body 2. The right frame 18R extends in the up-down direction along the vehicle body 2. The right frame 18R also extends in the front-rear direction along the vehicle body 2. The right frame 18R connects the right front wheel 3RF and the right rear wheel 3RB.

[0065] 8, the vehicle body 2 is disposed between the left frame 18L and the right frame 18R in a front view. In other words, the vehicle body 2 is disposed at a position sandwiched between the left frame 18L and the right frame 18R.

[0066] As shown in FIG. 12 , the left frame 18L is composed of a first left frame 19L and a second left frame 20L. The first left frame 19L is composed of a first front support pillar 19L1, a first rear support pillar 19L2, and a first connector 19L3. The first front support pillar 19L1 and the first rear support pillar 19L2 are spaced apart in the front-to-rear direction and extend parallel to each other in the up-to-down direction. As shown in FIGS. 5 and 8 , the first front support pillar 19L1 is located on the left side of the front of the vehicle body 2. As shown in FIG. 9 , the first rear support pillar 19L2 is located on the left side of the rear of the vehicle body 2. The first front support pillar 19L1 and the first rear support pillar 19L2 are formed in a cylindrical (rectangular) shape.

[0067] As shown in FIG. 13 , the first connector 19L3 connects the first front support 19L1 and the first rear support 19L2. The first connector 19L3 is composed of frame members 19AL, 19BL, 19CL, 19DL, and 19EL. The frame member 19AL extends in the front-to-rear direction and connects the upper portion of the first front support 19L1 to the upper portion of the first rear support 19L2. The frame member 19BL extends in the front-to-rear direction to the left of the frame member 19AL. The frame member 19CL connects the front portion of the frame member 19AL to the front portion of the frame member 19BL. The frame member 19DL connects the rear portion of the frame member 19AL to the rear portion of the frame member 19BL. The frame member 19EL connects a midpoint in the front-rear direction of the frame member 19AL and a midpoint in the front-rear direction of the frame member 19BL.

[0068] As shown in Figure 13, the second left frame 20L is composed of a second front support column 20L1, a second rear support column 20L2, and a second connector 20L3. The second front support column 20L1 and the second rear support column 20L2 are spaced apart in the front-rear direction and extend parallel to each other in the up-down direction. The second connector 20L3 connects the second front support column 20L1 and the second rear support column 20L2. The second connector 20L3 extends in the front-rear direction and connects the upper part of the second front support column 20L1 to the upper part of the second rear support column 20L2.

[0069] As shown by the downward arrow in Figure 13, the second front support 20L1 is inserted from above into the cylindrical first front support 19L1. The second rear support 20L2 is inserted from above into the cylindrical first rear support 19L2. This combines the first left frame 19L and the second left frame 20L (see Figure 12). The second front support 20L1 can move up and down along the first front support 19L1. The second rear support 20L2 can move up and down along the first rear support 19L2. This allows the second left frame 20L to move up and down relative to the first left frame 19L.

[0070] As shown in FIG. 13 , the right frame 18R is composed of a first right frame 21R and a second right frame 22R. The first right frame 21R is composed of a first front support pillar 21R1, a first rear support pillar 21R2, and a first connector 21R3. The first front support pillar 21R1 and the first rear support pillar 21R2 are spaced apart in the front-to-rear direction and extend parallel to each other in the up-down direction. As shown in FIGS. 5 and 8 , the first front support pillar 21R1 is located on the right side of the front portion of the vehicle body 2. As shown in FIG. 9 , the first rear support pillar 21R2 is located on the right side of the rear portion of the vehicle body 2. The first front support pillar 21R1 and the first rear support pillar 21R2 are formed in a cylindrical (rectangular) shape.

[0071] The first connector 21R3 connects the first front support 21R1 and the first rear support 21R2. The first connector 21R3 is composed of frame members 21AR, 21BR, 21CR, 21DR, and 21ER. The frame member 21AR extends in the front-to-rear direction and connects the upper part of the first front support 21R1 to the upper part of the first rear support 21R2. The frame member 21BR extends in the front-to-rear direction to the right of the frame member 21AR. The frame member 21CR connects the front part of the frame member 21AR to the front part of the frame member 21BR. The frame member 21DR connects the rear part of the frame member 21AR to the rear part of the frame member 21BR. The frame member 21ER connects the midpoint of the frame member 21AR to the midpoint of the frame member 21BR in the front-to-rear direction.

[0072] The second right frame 22R is composed of a second front support 22R1, a second rear support 22R2, and a second connector 22R3. The second front support 22R1 and the second rear support 22R2 are spaced apart in the front-to-rear direction and extend parallel to each other in the up-down direction. The second connector 22R3 connects the second front support 22R1 and the second rear support 22R2. The second connector 22R3 extends in the front-to-rear direction and connects the upper part of the second front support 22R1 to the upper part of the second rear support 22R2.

[0073] As shown by the downward arrow in Figure 13, the second front support 22R1 is inserted from above into the cylindrical first front support 21R1. The second rear support 22R2 is inserted from above into the cylindrical first rear support 21R2. This combines the first right frame 21R and the second right frame 22R (see Figure 12). The second front support 22R1 can move up and down along the first front support 21R1. The second rear support 22R2 can move up and down along the first rear support 21R2. This allows the second right frame 22R to move up and down relative to the first right frame 21R.

[0074] The vehicle body 2 is attached to the second left frame 20L and the second right frame 22R. The left portion (left side surface) of the vehicle body 2 is attached to the second left frame 20L. The right portion (right side surface) of the vehicle body 2 is attached to the second right frame 22R. Specifically, the left portion (left side surface) of the vehicle body 2 is attached to the second connector 20L3 of the second left frame 20L. The right portion (right side surface) of the vehicle body 2 is attached to the second connector 22R3 of the second right frame 22R.

[0075] The method of attachment to the second left frame 20L (second connector 20L3) and the second right frame 22R (second connector 22R3) of the vehicle body 2 is not particularly limited, and may be, for example, detachably attached using fasteners such as bolts, or may be attached by welding, adhesive, etc.

[0076] As described above, the vehicle body 2 is attached to the second left frame 20L and the second right frame 22R, and can therefore move integrally with the left frame 18L and the right frame 18R. Therefore, when the left frame 18L and the right frame 18R move up and down relative to the first left frame 19L and the first right frame 21R, the vehicle body 2 moves up and down together with the second left frame 20L and the second right frame 22R.

[0077] The frame structure 18 has a fixed frame 31 to which the traveling device 3 is attached, and a movable frame 32 attached to the vehicle body 2. The fixed frame 31 is a frame that does not move in the vertical direction. The movable frame 32 is a frame that is movable in the vertical direction. Of the frame structure 18, the second left frame 20L and the second right frame 22R are movable frames 32. The first left frame 19L and the first right frame 21R are fixed frames 31. The vehicle body 2 moves in the vertical direction together with the movable frame 32 relative to the fixed frame 31, i.e., rises and falls.

[0078] A height change mechanism 90, which will be described later, changes the height of the vehicle body 2 from the ground by raising and lowering the movable frame 32 relative to the fixed frame 31. The traveling unit 3 is attached to the fixed frame 31. More specifically, the left traveling unit 3L is attached to the first left frame 19L. The right traveling unit 3R is attached to the first right frame 21R. When the movable frame 32 is raised and lowered relative to the fixed frame 31, the vehicle body 2 is raised and lowered relative to the traveling unit 3. This changes the height of the vehicle body 2 from the ground.

[0079] The configuration of the frame structure 18 is not limited to the configuration shown in the drawings. For example, the frame structure 18 may include a connecting frame that connects the second left frame 20L and the second right frame 22R. In this case, the connecting frame can connect, for example, the upper part of the second left frame 20L and the upper part of the second right frame 22R. In this case, the connecting frame also becomes the movable frame 32.

[0080] As shown in FIG. 11 , the traveling vehicle body 100 includes a drive unit 40 for driving the wheels (left front wheel 3LF, right front wheel 3RF, left rear wheel 3LB, and right rear wheel 3RB). The drive unit 40 includes a drive device 45 that generates power, a transmission mechanism 50 that transmits the power generated by the drive device 45 to the wheels 30, and a steering mechanism 60 that changes the direction of the wheels (left front wheel 3LF, right front wheel 3RF). In this embodiment, the steering mechanism 60 is a mechanism that changes the direction of the front wheels (left front wheel 3LF, right front wheel 3RF), but it may also be a mechanism that changes the direction of the rear wheels (left rear wheel 3LB, right rear wheel 3RB). The steering mechanism 60 may also be a mechanism that changes the direction of both the front and rear wheels.

[0081] 6 and 7 , the drive unit 40 includes a first drive unit 41 for driving the left front wheel 3LF, a second drive unit 42 for driving the right front wheel 3RF, a third drive unit 43 for driving the left rear wheel 3LB, and a fourth drive unit 44 for driving the right rear wheel 3RB. The first drive unit 41, the second drive unit 42, the third drive unit 43, and the fourth drive unit 44 each have a drive device 45 and a transmission mechanism 50, which will be described later. The first drive unit 41 and the second drive unit 42 each have a steering mechanism 60, which will be described later. Each drive unit is attached to the frame structure 18.

[0082] In this embodiment, the drive device 45 is a motor. More specifically, the drive device 45 is the traveling motor 5 described above. In other words, the motor that constitutes the drive device 45 is the same as the motor included in the power unit 4 described above. As will be described below, the motors 5 that constitute the drive device 45 of the drive unit 40 include a motor 5LF, a motor 5RF, a motor 5LB, and a motor 5RB.

[0083] 6, the first drive unit 41 includes a motor 5LF and a transmission mechanism 50LF that transmits the power of the motor 5LF to the left front wheel 3LF. The transmission mechanism 50LF is configured with a gear mechanism including multiple gears. When the first drive unit 41 drives the motor 5LF, the power of the motor 5LF is transmitted to the left front wheel 3LF via the transmission mechanism 50LF.

[0084] 7, the second drive unit 42 includes a motor 5RF and a transmission mechanism 50RF that transmits the power of the motor 5RF to the right front wheel 3RF. The transmission mechanism 50RF is composed of a gear mechanism including multiple gears. When the second drive unit 42 drives the motor 5RF, the power of the motor 5RF is transmitted to the right front wheel 3RF via the transmission mechanism 50RF.

[0085] As shown in Figure 6, the third drive unit 43 has a motor 5LB and a transmission mechanism 50LB that transmits the power of the motor 5LB to the left rear wheel 3LB. The transmission mechanism 50LB is composed of a gear mechanism including multiple gears. When the third drive unit 43 drives the motor 5LB, the power of the motor 5LB is transmitted to the left rear wheel 3LB via the transmission mechanism 50LB.

[0086] 7, the fourth drive unit 44 has a motor 5RB and a transmission mechanism 50RB that transmits the power of the motor 5RB to the right rear wheel 3RB. The transmission mechanism 50RB is composed of a gear mechanism including a plurality of gears. When the fourth drive unit 44 drives the motor 5RB, the power of the motor 5RB is transmitted to the right rear wheel 3RB via the transmission mechanism 50RB.

[0087] As shown in Fig. 11, the drive unit 40 has a steering mechanism 60 that changes the direction of the wheels 30. In the present embodiment, the steering mechanism 60 is a mechanism that changes the direction of the front wheels (left front wheel 3LF and right front wheel 3RF) among the wheels 30. As shown in Figs. 6 and 7, the steering mechanism 60 includes a left steering mechanism 60L that changes the direction of the left front wheel 3LF and a right steering mechanism 60R that changes the direction of the right front wheel 3RF.

[0088] As shown in Figure 6, the first drive unit 41 includes a left steering mechanism 60L. As shown in Figure 7, the second drive unit 42 includes a right steering mechanism 60R. The left steering mechanism 60L drives the cylinder 62 to extend and retract the rod 62a, thereby rotating the left front wheel 3LF about the axis AX1. Similarly, the right steering mechanism 60R drives the cylinder 62 to extend and retract the rod 62a, thereby rotating the right front wheel 3RF about the axis AX2. In this way, by driving the steering mechanism 60 to change the orientation of the left front wheel 3LF and the right front wheel 3RF, the traveling direction of the traveling vehicle body 100 can be changed.

[0089] As another embodiment of the drive unit 45, the motor of the drive unit 45 may be an in-wheel motor. In this case, all of the left front wheel 3LF, the right front wheel 3RF, the left rear wheel 3LB, and the right rear wheel 3RB may be driven by the in-wheel motor, or only some of the wheels (for example, the left front wheel 3LF and the right front wheel 3RF, or the left rear wheel 3LB and the right rear wheel 3RB) may be driven by the in-wheel motor.

[0090] 11 , the traveling machine body 100 is equipped with a first detection device 70. The first detection device 70 detects the situation around the vehicle body 2. The situation around the vehicle body 2 detected by the first detection device 70 is, for example, an obstacle that obstructs the traveling of the vehicle body 2.

[0091] 11 , the first detection device 70 includes a camera (image capture device) 71, a sensor 72, and a calculation unit 73. In the present embodiment, the first detection device 70 includes both the camera 71 and the sensor 72, but may include only one of them.

[0092] The camera 71 is composed of a CCD camera equipped with a CCD (Charge Coupled Devices) image sensor, a CMOS camera equipped with a CMOS (Complementary Metal Oxide Semiconductor) image sensor, or the like. The camera 71 is mounted on the vehicle body 2 and captures images of the surroundings of the vehicle body 2. The camera 71 may be capable of capturing images in at least one direction among the front, rear, left, and right of the vehicle body 2, including at least the traveling direction of the vehicle body 2. Preferably, the camera 71 is positioned so as to capture images in the front, rear, and sides (left and right) of the vehicle body 2. The camera 71 may also be positioned so as to capture images in directions other than the front, rear, and sides (left and right) of the vehicle body 2 (for example, the right front, left front, front-downward, rear-downward, etc.).

[0093] The camera 71 captures images of the surroundings of the vehicle body 2 and generates an image signal. The calculation unit 73 is composed of a computer or the like including a signal processing circuit that processes the generated image signal. The signal processing circuit detects the state of an object (presence or absence of an object, the position of the object, the type of object, the size of the object, etc.) based on the image signal output from the camera 71. The object includes the above-mentioned obstacles, etc.

[0094] The sensor 72 is an optical sensor, such as a LiDAR (Light Detection and Ranging) sensor. The LiDAR (laser sensor) emits pulsed measurement light (laser light) millions of times per second from a light source such as a laser diode, and reflects the measurement light with a rotating mirror to scan horizontally or vertically and project it onto a predetermined detection range (sensing range). The LiDAR then receives the measurement light reflected by an object with a light-receiving element. The signal processing circuit of the calculation unit 73 detects the state of the object (presence / absence of the object, its position, type, size, etc.) based on the light-receiving signal output from the LiDAR's light-receiving element. Examples of objects include the aforementioned obstacles. The signal processing circuit also detects the distance to the object based on the time between the LiDAR emitting the measurement light and receiving the reflected light (the TOF (Time of Flight) method). Note that the LiDAR distance detection method may be a method other than the TOF method.

[0095] The sensor 72 may be an acoustic sensor. Preferably, the sensor 72 includes both an optical sensor and an acoustic sensor, but it may also include either one. The acoustic sensor may be, for example, an airborne ultrasonic sensor such as a sonar. The airborne ultrasonic sensor transmits measurement waves (ultrasound waves) within a predetermined detection range using a transmitter, and receives the reflected waves from an object using a receiver. The signal processing circuit detects the state of the object (presence or absence of the object, its position, type, size, etc.) based on the signal output from the receiver. The object includes the aforementioned obstacles. The signal processing circuit also detects the distance to the object based on the time between the transmission of the measurement wave by the airborne ultrasonic sensor and the reception of the reflected wave (the TOF (Time of Flight) method). Note that the distance detection method using the acoustic sensor may be a method other than the TOF method.

[0096] The sensor 72 described above is mounted on the vehicle body 2 and detects objects around the vehicle body 2. The sensor 72 only needs to be able to detect objects in at least one direction, including the traveling direction of the vehicle body 2, among the front, rear, left, and right of the vehicle body 2. Preferably, the sensor 72 is arranged to detect objects in the front, rear, and sides (left and right) of the vehicle body 2. The sensor 72 may also be arranged to detect objects in directions other than the front, rear, and sides (left and right) of the vehicle body 2 (for example, in the front right, front left, front-downward, rear-downward, etc.).

[0097] As shown in Figure 11, the traveling machine body 100 is equipped with a height change mechanism 90. The height change mechanism 90 changes the height of the vehicle body 2 from the ground. The height change mechanism 90 raises and lowers the vehicle body 2 in which the battery 7 is housed. The height change mechanism 90 raises and lowers the vehicle body 2 at a position between the left traveling unit 3L and the right traveling unit 3R in the width direction (left-right direction) of the vehicle body 2. The height change mechanism 90 raises and lowers the frame structure 18 attached to the vehicle body 2 to change the height of the vehicle body 2 from the ground.

[0098] As shown in Figures 5 to 7, the height change mechanism 90 has a lifting cylinder 91. The lifting cylinder 91 raises and lowers the movable frames 32 (second left frame 20L, second right frame 22R) of the frame structure 18. The vehicle body 2 is raised and lowered by raising and lowering the movable frames 32. Therefore, the vehicle body 2 can be raised and lowered by driving the lifting cylinder 91. In this way, the height change mechanism 90 is a mechanism that can raise and lower the vehicle body 2. Hereinafter, the height change mechanism 90 may be referred to as the "lifting mechanism 90."

[0099] The lift cylinder 91 is composed of a hydraulic cylinder. The lift cylinder 91 has a rod 91a that extends and retracts in the vertical direction and a cylinder tube 91b to which hydraulic oil is supplied to drive the rod 91a (see FIGS. 5 to 7). The tip of the rod 91a is connected to the frame structure 18. The lift cylinder 91 includes a left lift cylinder 91L and a right lift cylinder 91R. The left lift cylinder 91L is disposed on the left side of the vehicle body 2. The right lift cylinder 91R is disposed on the right side of the vehicle body 2.

[0100] 5 and 6, the rod 91La of the left lifting cylinder 91L is connected to the second left frame 20L of the frame structure 18. More specifically, the rod 91La of the left lifting cylinder 91L is connected to a left plate 99L fixed to the second left frame 20L. This allows the left lifting cylinder 91L to lift and lower the second left frame 20L, which is a movable frame of the left frame 18L, by extension and contraction of the rod 91La.

[0101] 5 and 7, the rod 91Ra of the right lift cylinder 91R is connected to the second right frame 22R of the frame structure 18. More specifically, the rod 91Ra of the right lift cylinder 91R is connected to a right plate 99R fixed to the second right frame 22R. This allows the right lift cylinder 91R to lift and lower the second right frame 22R, which is a movable frame of the right frame 18R, by extension and contraction of the rod 91Ra.

[0102] The cylinder tube 91Lb of the left lift cylinder 91L is attached to a bracket (not shown) fixed to the first left frame 19L, and the cylinder tube 91Rb of the right lift cylinder 91R is attached to a bracket (not shown) fixed to the first right frame 21R.

[0103] When the rod 91La of the left lift cylinder 91L extends and retracts, the second left frame 20L rises and lowers. When the rod 91Ra of the right lift cylinder 91R extends and retracts, the second right frame 22R rises and lowers. This allows the frame structure 18 (movable frame 32) to rise and lower as the rods 91a of the lift cylinders 91 (left lift cylinder 91L, right lift cylinder 91R) extend and retract. Because the vehicle body 2 is attached to the frame structure 18 (movable frame 32), the vehicle body 2 can be raised and lowered as the rods 91a of the lift cylinders 91 extend and retract. By raising and lowering the vehicle body 2, the height of the vehicle body 2 from the ground can be changed.

[0104] Figure 14 shows a state in which the rod 91a of the lifting cylinder 91 is extended to lift the vehicle body 2. The harvester 1 (see Figures 1 to 4) can lift the harvesting device 200 attached to the upper part of the vehicle body 2 by lifting the vehicle body 2. Furthermore, as the vehicle body 2 is lifted, the lifting device 10 attached to the vehicle body 2 also lifts. Therefore, by lifting the vehicle body 2, the second work device 300 attached to the lifting device 10 can also be lifted.

[0105] The operation of the height change mechanism (lifting mechanism) 90 is controlled by the control device 15. As shown in Fig. 11 , the control device 15 includes a height change control unit 15B. The height change control unit 15B transmits a control signal to the height change mechanism 90 by causing the calculation unit of the control device 15 to execute a program stored in the storage unit. The height change mechanism 90 is driven based on the control signal transmitted from the height change control unit 15B. In other words, the height change mechanism 90 changes the height of the vehicle body 2 by being driven based on the control of the control device 15.

[0106] The height change mechanism 90 can change the height of the car body 2 to any height within a preset height range. Specifically, the height change mechanism 90 can change the height of the car body 2 to any height between a first height (see FIG. 5 ) and a second height (see FIG. 14 ) that is higher than the first height. In other words, the preset height range is the range between the first height and the second height. In this embodiment, the height of the car body 2 when the rod of the lift cylinder 91 is at its shortest is the first height, and the height of the car body 2 when the rod of the lift cylinder 91 is at its longest is the second height.

[0107] The first height is the lowest height (lower limit height) of the height of the vehicle body 2 that can be changed by the height change mechanism 90. The second height is the highest height (upper limit height) of the height of the vehicle body 2 that can be changed by the height change mechanism 90. The height change mechanism 90 can change the height of the vehicle body 2 to the first height, which is the lower limit height, the second height, which is the upper limit height, or any height (intermediate height) between the upper limit height and the lower limit height.

[0108] The height change mechanism 90 can change the height of the vehicle body 2 in response to a height specification by, for example, an operation device 80 (see FIG. 11 ). The operation device 80 is a device that can perform an operation to specify the height of the vehicle body 2. The operation device 80 is a device (external device) that is external to the traveling machine body 100, and is configured to be able to communicate with the control device 15 wirelessly or via a wire. The operation device 80 is, for example, a portable device such as a remote control device, a tablet, a smartphone, or a PDA.

[0109] The operation device 80 is equipped with an input unit for inputting the desired height of the vehicle body 2. The input unit is, for example, a push button, a rotary dial, a touch panel, etc. When the operator inputs the desired height from the input unit of the operation device 80, the input specified height is sent to the control device 15. The control device 15 sends a control signal to drive the lifting cylinder 91 of the height change mechanism 90 so that the height of the vehicle body 2 becomes the specified height. As a result, the height of the vehicle body 2 is changed to the height specified by the operation device 80.

[0110] As described above, the vehicle body 2 is disposed between the left traveling unit 3L and the right traveling unit 3R. The height change mechanism 90 raises and lowers the vehicle body 2 between the left traveling unit 3L and the right traveling unit 3R to change the height of the vehicle body 2. In other words, the vehicle body 2 moves up and down through the space formed between the left traveling unit 3L and the right traveling unit 3R.

[0111] Next, the harvesting device 200 provided in the harvester 1 will be described with reference to Figures 1 to 4. Figures 1 to 4 show a simplified configuration of the harvesting device 200. The harvesting device 200 is a device that performs at least one of harvesting operations of cutting, digging, and uprooting crops as the traveling machine body 100 travels.

[0112] Examples of crops that can be harvested by the harvesting device 200 include, but are not limited to, rice, wheat, soybeans, corn, etc. Examples of crops that can be dug up by the harvesting device 200 include, but are not limited to, potatoes, sweet potatoes, leeks, onions, etc. Examples of crops that can be pulled out by the harvesting device 200 include, but are not limited to, radishes, burdock, carrots, etc.

[0113] The harvesting device 200 includes a harvesting section 210, a transport section 220, and a storage section 230. The harvesting device 200 also includes a threshing section 240, a release section 250, and a discharge section 260. The harvesting section 210 performs at least one of the harvesting operations of reaping, digging, and uprooting crops. The harvesting device 200 performs harvesting operations with the vehicle body 2 in a lowered state (with the vehicle body 2 at a first height). Figures 1 to 4 show the vehicle body 2 in a lowered state.

[0114] The harvesting device 200 provided in the harvester 1 of the embodiment shown in Figures 1 to 4 is a harvesting device that harvests crops as the traveling body 100 travels. Therefore, the harvesting section 210 harvests crops (rice, etc.).

[0115] The harvesting unit 210 is located at the front of the harvesting device 200 (at the front of the harvester 1). The harvesting unit 210 is provided at the front or rear of the lower part of the traveling body 100. In the embodiment shown in FIGS. 1 to 4, the harvesting unit 210 is provided at the rear (rear wheel side) of the traveling body 100, but the harvesting unit 210 may also be provided at the front (front wheel side) of the traveling body 100 (see FIG. 15). In other words, in the harvester 1, the mounting orientation (front-to-back direction) of the harvesting device 200 relative to the traveling body 100 may be opposite to that shown in FIGS. 1 to 4 (see FIGS. 15, 31, 39, 43, 47, etc.). As such, in the harvester 1, the mounting orientation (front-to-back direction) of the harvesting device 200 relative to the traveling body 100 is not particularly limited and can be changed depending on, for example, the type of harvesting device 200 and the content of the harvesting work.

[0116] The harvesting section 210 is equipped with a weeding tool 211, a raking reel 212, a cutting device (not shown), etc. The weeding tool 211 has the function of dividing the crop into left and right parts as the traveling body 100 travels. The raking reel 212 rakes in the crop separated by the weeding tool 211 toward the rear. The cutting device cuts the base of the crop ripped in by the raking reel 212.

[0117] The transport unit 220 transports the crops harvested by the harvesting unit 210 onto the traveling machine body 100. More specifically, the transport unit 220 transports the crops harvested by the harvesting unit 210 from the front (or rear) of the lower part of the traveling machine body 100 to above the traveling machine body 100. The transport unit 220 includes a cylindrical body 221 and a conveyor disposed inside the cylindrical body 221. The front part of the cylindrical body 221 is connected to the harvesting unit 210. The rear part of the cylindrical body 221 is disposed above the traveling machine body 100. The transport unit 220 (cylindrical body 221) extends diagonally upward from the part connected to the harvesting unit 210 to above the traveling machine body 100. The crops cut by the cutting device of the harvesting section 210 are transported by the conveyor of the transporting section 220, passing through the inside of the cylindrical body 221 and moving diagonally upward from the front (or rear) of the lower part of the running body 100 to above the running body 100.

[0118] The storage section 230 stores the crops transported by the conveying section 220. The storage section 230 is composed of, for example, a grain tank. The storage section 230 stores the crops that have been transported by the conveying section 220 and passed through the threshing section 240. The threshing section 240 is located above the traveling body 100 and on the left side of the harvesting device 200 (the left side of the harvester 1). The rear of the cylindrical body 221 is connected to the threshing section 240. The crops transported through the inside of the cylindrical body 221 are supplied to the threshing section 240 for threshing. A discharge section 250 is provided at the rear of the threshing section 240, which cuts and discharges the straw waste generated by the threshing process. The discharge section 250 is located at the rear of the harvesting device 200 (the rear of the harvester 1).

[0119] The storage section 230 stores the grains that have been threshed and sorted by the threshing section 240. The storage section 230 is located above the traveling body 100 and on the right side of the harvesting device 200 (the right side of the harvester 1). A discharge section 260 is connected to the storage section 230. The discharge section 260 can discharge the crops (grains) stored in the storage section 230 to the outside by driving an auger or the like. When the storage section (grain tank) 230 becomes full, the crops (grains) stored in the storage section 230 are discharged by the discharge section 260.

[0120] The harvesting device 200 is equipped with a base plate 270 that supports each component part (harvesting section 210, conveying section 220, storage section 230, threshing section 240, releasing section 250, and discharging section 260) that has a harvesting function. The harvesting section 210 is arranged below the base plate 270 (below and in front of the base plate 270). More specifically, the harvesting section 210 is arranged below and in front of the base plate 270. The front part of the conveying section 220 is arranged below the base plate 270. More specifically, the front part of the conveying section 220 is arranged below and in front of the base plate 270. The rear part of the conveying section 220 is arranged above the base plate 270. The threshing section 240 and storage section 230 are fixed on the base plate 270.

[0121] The substrate 270 is, for example, a plate that is substantially rectangular in plan view. In the example shown in Fig. 16, the substrate 270 has a rectangular shape with a portion cut out. The shape, size, and thickness of the substrate 270 can be changed as appropriate depending on the shape, size, weight, etc. of the components of the harvesting device 200 (the storage unit 230, the threshing unit 240) that are fixed on the substrate 270.

[0122] The shape, size, and thickness of the substrate 270 can also be changed depending on the mounting structure (described later) of the harvesting device 200 to the traveling body 100. For example, when recesses 501, insertion holes 503, protrusions 504, grooves 505, etc. (described later) are provided on the substrate 270, the thickness of the substrate 270 can be increased as necessary.

[0123] As shown in FIGS. 1 to 4, the harvesting device 200 is attached to the top of the traveling machine body 100. This allows the harvesting device 200 to move as the traveling machine body 100 travels. For this reason, the harvesting device 200 does not have a traveling device. In other words, by attaching the harvesting device 200 to the top of the traveling machine body 100, there is no need to provide the harvesting device 200 with a traveling device. Furthermore, because the traveling machine body 100 can be operated automatically, the harvesting device 200 does not have a driver's seat. In this way, by not having a traveling device or a driver's seat in the harvesting device 200, it is possible to make the harvesting device 200 smaller and lighter.

[0124] The harvesting device 200 is mounted so that at least the power input unit 280, which will be described later, is disposed on the traveling machine body 100. Preferably, the harvesting device 200 is mounted so that at least a portion of the drive unit (such as the threshing unit 240) that is driven by power input from the power input unit 280 is disposed on the traveling machine body 100 (above the vehicle body 2). Also, preferably, the harvesting device 200 is disposed so that at least a portion of the harvesting unit 210 is located below the upper end of the vehicle body 2 (near the ground).

[0125] The harvesting device 200 is configured separately from the traveling machine body 100 and can be attached to and detached from the traveling machine body 100. As described above, the harvesting device 200 can be made smaller and lighter, which makes it possible to easily attach and detach the harvesting device 200 to and from the traveling machine body 100.

[0126] Next, we will explain the mounting structure of the harvesting device 200 to the traveling machine body 100. Figures 17 to 22 show examples of the mounting structure of the harvesting device 200 to the traveling machine body 100. The mounting structure is composed of an attachment / detachment mechanism 400 provided on the vehicle body 2 and a detachable part 500 provided on the harvesting device 200.

[0127] The mounting structure of the harvesting device 200 to the traveling machine body 100 will be described below with reference to Figures 17 to 22. The traveling machine body 100 and the harvesting device 200 shown in Figures 17 to 22 are simplified versions of the traveling machine body 100 and the harvesting device 200 shown in Figures 1 to 10, 14, etc.

[0128] 17 shows a first example of the mounting structure of the harvesting device 200 to the traveling machine body 100. In the case of the first example of the mounting structure, the attachment / detachment mechanism 400 has a convex portion 401 that protrudes upward from the top surface of the traveling machine body 100 (top surface of the vehicle body 2). In other words, the top of the vehicle body 2 is provided with a convex portion 401 that protrudes upward. The convex portion 401 is configured to be able to rise and fall. Specifically, the convex portion 401 rises and falls by raising and lowering the vehicle body 2.

[0129] The convex portion 401 protrudes upward from the upper surface of the vehicle body 2. The convex portion 401 has a shape that tapers upward. In other words, the convex portion 401 has a shape in which the area in a plan view becomes smaller as it goes upward. The shape of the convex portion 401 is, for example, a cone shape, a truncated cone shape, a pyramid shape, a truncated pyramid shape, a hemisphere shape, or the like. In the case of the embodiment shown in FIG. 17 , the shape of the convex portion 401 is a truncated cone shape or a truncated pyramid shape.

[0130] The convex portion 401 has a first tapered surface 402 that is inclined so that the width of the convex portion 401 narrows upward. The first tapered surface 402 is inclined so that the width of the convex portion 401 in the front-to-rear and left-to-right directions narrows upward. When the convex portion 401 is conical or truncated conical, the first tapered surface 402 is composed of a single curved surface. When the convex portion 401 is pyramidal or truncated pyramidal, the first tapered surface 402 is composed of multiple flat surfaces. For example, when the convex portion 401 is quadrangular pyramidal or truncated pyramidal, the first tapered surface 402 is composed of four flat surfaces (front, rear, left, and right surfaces).

[0131] 17 , the convex portion 401 is preferably provided as a single protrusion that covers the entire or substantially entire top surface of the vehicle body 2. By providing the convex portion 401 as a protrusion that covers the entire or substantially entire top surface of the vehicle body 2, the harvesting device 200 can be stably attached. However, the size, shape, and number of the convex portion 401 can be changed as appropriate depending on the type of the harvesting device 200, etc. For example, the convex portion 401 may be a protrusion provided at multiple locations on the top surface of the vehicle body 2.

[0132] 17 , in the case of the first example mounting structure, the detachable portion 500 is composed of a recess 501 provided on the underside of the harvesting device 200. The recess 501 is formed by recessing upward from the underside of the harvesting device 200. In other words, the lower portion of the harvesting device 200 is provided with the recess 501 into which the protrusion 401 fits when the harvesting device 200 is mounted on the vehicle body 2. The size, shape, and number of the recess 501 are set to correspond to the size, shape, and number of the protrusion 401.

[0133] The recess 501 can be formed, for example, in the base plate 270 (see FIGS. 1 to 4 and 16) of the harvesting device 200. In this case, the thickness of the base plate 270 is set to a thickness sufficient for forming the recess 501. However, the recess 501 may also be formed on the underside of a portion of the harvesting device 200 other than the base plate 270.

[0134] The recess 501 has a second tapered surface 502. The second tapered surface 502 has a shape corresponding to the first tapered surface 402 of the protrusion 401. The second tapered surface 502 abuts (comes in surface contact with) the first tapered surface 402 when the harvesting device 200 is attached to the vehicle body 2.

[0135] The recess 501 is provided at a position corresponding to the protrusion 401 of the attachment / detachment mechanism 400 when the harvesting device 200 is attached to the vehicle body 2. The protrusion 401 of the attachment / detachment mechanism 400 is fitted into the recess 501. As will be described in detail later, the protrusion 401 moves up toward the recess 501 (the vehicle body 2 moves up toward the harvesting device 200), causing the protrusion 401 to fit into the recess 501.

[0136] According to the mounting structure of the first example, the harvesting device 200 can be mounted on the top of the vehicle body 2 by fitting the convex portion 401 provided on the top surface of the vehicle body 2 into the concave portion 501 provided on the bottom surface of the harvesting device 200. In addition, by removing the convex portion 401 from the concave portion 501, the harvesting device 200 can be detached from the top of the vehicle body 2.

[0137] More specifically, the recess 501 is positioned above the protrusion 401, and then the vehicle body 2 is raised or the harvesting device 200 is lowered, thereby fitting the protrusion 401 into the recess 501. This allows the harvesting device 200 to be attached to the upper part of the vehicle body 2. Furthermore, when the protrusion 401 is fitted into the recess 501, the vehicle body 2 is lowered or the harvesting device 200 is raised, thereby removing the protrusion 401 from the recess 501. This allows the harvesting device 200 to be detached from the upper part of the vehicle body 2.

[0138] In the mounting structure of the first example described above, it is preferable that both the first tapered surface 402 and the second tapered surface 502 are present, but it is sufficient to have at least one of them. That is, the convex portion 401 may have the first tapered surface 402, but the concave portion 501 may not have the second tapered surface 502. Alternatively, the convex portion 401 may not have the first tapered surface 402, but the concave portion 501 may have the second tapered surface 502.

[0139] The first tapered surface 402 is preferably provided over the entire convex portion 401 (from the upper end to the lower end), but it is sufficient that it is provided at least in the upper portion including the upper end of the convex portion 401 (the range from the upper end to the middle in the vertical direction). The second tapered surface 502 is preferably provided over the entire concave portion 501 (from the lower end to the upper end), but it is sufficient that it is provided at least in the upper portion including the upper end of the concave portion 501 (the range from the upper end to the middle in the vertical direction). In other words, it is sufficient that the second tapered surface 502 is provided in a position (range) where it abuts against the first tapered surface 402 provided in the upper portion including the upper end of the convex portion 401 when the convex portion 401 is fitted into the concave portion 501.

[0140] Furthermore, instead of providing the first tapered surface 402 on the convex portion 401, the convex portion 401 may be chamfered to remove a corner of the outer peripheral edge at the upper end. Instead of providing the second tapered surface 502 on the concave portion 501, the concave portion 501 may be chamfered to remove a corner of the inner peripheral edge at the lower end.

[0141] As a modification of the mounting structure of the first example described above, the harvesting device 200 may be provided with a convex portion 401, and the traveling body 100 may be provided with a concave portion 501. In this case, the convex portion 401 is formed by protruding downward from the underside of the harvesting device 200 (for example, the underside of the base plate 270). The concave portion 501 is formed by recessing downward from the upper surface of the traveling body 100 (the upper surface of the vehicle body 2).

[0142] The method of mounting the harvesting device 200 to the traveling body 100 using the mounting structure of the first example and the method of detaching the harvesting device 200 from the traveling body 100 will be described in detail later.

[0143] FIG. 18 shows a second example of the mounting structure of the harvesting device 200 to the traveling machine body 100. In the case of the second example of the mounting structure, the attachment / detachment mechanism 400 has a protrusion 403 that protrudes upward from the top of the traveling machine body 100. The protrusion 403 protrudes upward from the top of the vehicle body 2. The protrusion 403 protrudes upward from multiple locations on the top surface of the vehicle body 2. For example, as shown in FIG. 10, the protrusions 403 can be provided near each of the four corners on the top surface of the vehicle body 2. However, the number and positions of the protrusions 403 can be changed as appropriate depending on the type, size, etc. of the harvesting device 200.

[0144] The protrusion 403 is, for example, a rod-shaped (cylindrical, conical, truncated cone, etc.) pin. The protrusion 403 may be fixed to the upper surface of the traveling machine body 100 (the upper surface of the vehicle body 2), or may be provided so as to be retractable from the upper surface of the traveling machine body 100 (the upper surface of the vehicle body 2). When the protrusion 403 is provided so as to be retractable, for example, as shown in FIG. 23 , the pin 404 constituting the protrusion 403 is connected to an upward rod 406 of a cylinder device 405. This allows the pin 404 constituting the protrusion 403 to be retractable from the upper surface of the traveling machine body 100 (the upper surface of the vehicle body 2) by moving (extending and retracting) the rod 406 in the vertical direction. The cylinder device 405 is, for example, a hydraulic cylinder that can be driven by hydraulic oil supplied from the above-mentioned hydraulic pump.

[0145] 23, the multiple (all) pins 404 that make up the protrusion 403 are erected on a single plate 407, and this plate 407 is connected to an upward rod 406 of a cylinder device 405. This allows the multiple pins 404 to move and protrude together with the plate 407 by moving (extending and retracting) the rod 406 in the vertical direction. However, a configuration may also be adopted in which multiple cylinder devices 405 are provided and the multiple pins 404 are individually connected to the rods 406 of the cylinder devices 405.

[0146] 18 , in the case of the second example mounting structure, the detachable part 500 is composed of insertion holes 503 provided in the lower part of the harvesting device 200. The shape of the insertion holes 503 corresponds to the shape of the protrusions 403 of the detachable mechanism 400. The number and positions of the insertion holes 503 correspond to the number and positions of the protrusions 403 of the detachable mechanism 400.

[0147] The insertion holes 503 can be formed, for example, in the base plate 270 of the harvesting device 200. When the protrusions 403 are provided near each of the four corners of the upper surface of the vehicle body 2 (see FIG. 10 ), the insertion holes 503 are provided near each of the four corners of the lower surface of the base plate 270. However, the number and positions of the insertion holes 503 can be changed depending on the number and positions of the protrusions 403. Furthermore, the insertion holes 503 may be formed in a portion of the harvesting device 200 other than the base plate 270.

[0148] According to the mounting structure of the second example, the harvesting device 200 can be mounted on the top of the vehicle body 2 by inserting the protrusion 403 provided on the top of the vehicle body 2 into the insertion hole 503 provided on the bottom of the harvesting device 200. In addition, the harvesting device 200 can be detached from the top of the vehicle body 2 by removing the protrusion 403 from the insertion hole 503.

[0149] In a configuration in which the protrusion 403 is fixed to the upper surface of the vehicle body 2, the insertion hole 503 is disposed above the protrusion 403, and then the vehicle body 2 is raised or the harvesting device 200 is lowered, whereby the protrusion 403 can be inserted into the insertion hole 503. Furthermore, when the protrusion 403 is inserted into the insertion hole 503, the vehicle body 2 is lowered or the harvesting device 200 is raised, whereby the protrusion 403 can be removed from the insertion hole 503.

[0150] When the protruding portion 403 is configured to be able to protrude and retract from the top surface of the vehicle body 2, the protruding portion 403 can be inserted into the insertion hole 503 by arranging the insertion hole 503 above the protruding portion 403 and then moving the protruding portion 403 upward while the protruding portion 403 is not protruding from the vehicle body 2. Furthermore, when the protruding portion 403 is inserted into the insertion hole 503, the protruding portion 403 can be removed from the insertion hole 503 by moving the protruding portion 403 downward.

[0151] The method of attaching the harvesting device 200 to the traveling body 100 using the attachment structure of the second example and the method of detaching the harvesting device 200 from the traveling body 100 will be described in detail later.

[0152] 19 and 20 show a third example of the mounting structure of the harvesting device 200 to the traveling machine body 100. In the case of the third example of the mounting structure, the attachment / detachment mechanism 400 has a groove 408 extending in the fore-and-aft direction of the traveling machine body 100. The groove 408 is formed in the upper part of the vehicle body 2. As shown in FIG. 20 , the vehicle body 2 is provided with an upper left portion 409 that protrudes upward from the left portion of the top surface of the vehicle body 2 and extends in the fore-and-aft direction, and an upper right portion 410 that protrudes upward from the right portion of the top surface of the vehicle body 2 and extends in the fore-and-aft direction. The groove 408 is formed on the inner surface (right surface) of the upper left portion 409 and the inner surface (left surface) of the upper right portion 410, respectively.

[0153] In the case of the third example mounting structure, the detachable portion 500 is composed of a protrusion 504 provided on the harvesting device 200. The protrusion 504 is provided on the lower left and right sides of the harvesting device 200. The protrusion 504 extends in the front-to-rear direction of the harvesting device 200. The protrusion 504 can be formed on the base plate 270 of the harvesting device 200 (see FIGS. 1 to 4 and 16). However, the protrusion 504 may also be formed on a portion of the harvesting device 200 other than the base plate 270.

[0154] According to the mounting structure of the third example, the harvesting device 200 can be mounted on the upper part of the vehicle body 2 by sliding the protrusion 504 provided on the harvesting device 200 into the groove 408 provided on the vehicle body 2. In addition, the harvesting device 200 can be detached from the upper part of the vehicle body 2 by sliding the protrusion 504 relative to the groove 408 and removing it from the groove 408.

[0155] In the mounting structure of the third example described above, the upper and lower surfaces of the ridges 504 are preferably tapered so that the vertical width of the ridges 504 narrows toward the outer side (the side facing the grooves 408) of the ridges 504. Also, the upper and lower surfaces of the grooves 408 are preferably tapered so that the vertical width of the grooves 408 widens toward the inner side (the side facing the ridges 504) of the grooves 408.

[0156] In this case, it is preferable that both the ridges 504 and the grooves 408 have tapered surfaces, but it is sufficient that at least one of them has tapered surfaces. That is, the ridges 504 may have tapered surfaces, but the grooves 408 may not. Also, the ridges 504 may not have tapered surfaces, but the grooves 408 may have tapered surfaces.

[0157] The method of attaching the harvesting device 200 to the traveling body 100 using the attachment structure of the third example and the method of detaching the harvesting device 200 from the traveling body 100 will be described in detail later.

[0158] 21 and 22 show a fourth example of the mounting structure of the harvesting device 200 to the traveling body 100. In the case of the fourth example of the mounting structure, the attachment / detachment mechanism 400 has a rib 411 that extends in the front-to-rear direction of the traveling body 100. The rib 411 is provided on the upper part of the left side surface and the upper part of the right side surface of the vehicle body 2. The rib 411 extends in the front-to-rear direction of the vehicle body 2.

[0159] In the case of the mounting structure of the fourth example, the detachable portion 500 is composed of a groove 505 provided in the harvesting device 200. The groove 505 can be formed, for example, in the base plate 270. In the example shown in FIG. 22 , the base plate 270 is provided with a lower left portion 271 that protrudes downward from the left portion of the underside of the base plate 270 and extends in the front-to-rear direction, and a lower right portion 272 that protrudes downward from the right portion of the underside of the base plate 270 and extends in the front-to-rear direction. The groove 505 is formed on the inner surface (right surface) of the lower left portion 271 and the inner surface (left surface) of the lower right portion 272. However, the groove 505 may be formed in a portion of the harvesting device 200 other than the base plate 270.

[0160] According to the mounting structure of the fourth example, the harvesting device 200 can be mounted on the upper part of the vehicle body 2 by sliding the protrusion 411 provided on the vehicle body 2 into the groove 505 provided on the harvesting device 200. In addition, the harvesting device 200 can be detached from the upper part of the vehicle body 2 by sliding the protrusion 411 relative to the groove 505 and removing it from the groove 505.

[0161] In the mounting structure of the fourth example described above, the upper and lower surfaces of the ridges 411 are preferably tapered so that the vertical width of the ridges 411 narrows toward the outer side (the side facing the grooves 505) of the ridges 411. Also, the upper and lower surfaces of the grooves 505 are preferably tapered so that the vertical width of the grooves 505 widens toward the inner side (the side facing the ridges 411) of the grooves 505.

[0162] In this case, it is preferable that both the protrusions 411 and the grooves 505 have tapered surfaces, but it is sufficient that at least one of them has tapered surfaces. That is, the protrusions 411 may have tapered surfaces, but the grooves 505 may not. Also, the protrusions 411 may not have tapered surfaces, but the grooves 505 may have tapered surfaces.

[0163] The method of mounting the harvesting device 200 to the traveling body 100 using the mounting structure of the fourth example and the method of detaching the harvesting device 200 from the traveling body 100 will be described in detail later.

[0164] In the mounting structures of the first to fourth examples described above, the attachment / detachment mechanism 400 preferably has a locking mechanism 420. The locking mechanism 420 is a mechanism that fixes the traveling machine body 100 and the harvesting device 200. Specifically, the locking mechanism 420 is a mechanism that fixes the vehicle body 2 and the harvesting device 200.

[0165] 24 and 25 are diagrams showing an example of the configuration of the locking mechanism 420 and the fixed part 430 fixed by the locking mechanism 420. The locking mechanism 420 is provided on the traveling machine body 100 (specifically, the vehicle body 2). The fixed part 430 is provided on the harvesting device 200.

[0166] Figure 24 is a vertical cross-sectional view of the locking mechanism 420 and the fixed portion 430 as viewed from the side. Figure 25 is a vertical cross-sectional view of the locking mechanism 420 and the fixed portion 430 as viewed from the front. Hatching has been omitted in Figures 24 and 25 to simplify the drawings. Note that the illustrated locking mechanism 420 and fixed portion 430 are merely examples, and the configurations of the locking mechanism 420 and fixed portion 430 are not limited to these.

[0167] The locking mechanism 420 is provided on the upper part of the vehicle body 2. The locking mechanism 420 has a locking member 421 that is arc-shaped in a side view and a rotation shaft 422 that serves as the rotation center of the locking member 421. A recess 2a is formed on the upper surface of the vehicle body 2, and the locking member 421 and the rotation shaft 422 are disposed within this recess 2a. The rotation shaft 422 extends in the left-right direction and rotates around an axis in the left-right direction. The rotation shaft 422 is directly or indirectly connected to an output shaft of a motor (not shown) and rotates when driven by the motor. The locking member 421 and the rotation shaft 422 are connected via a connection part 423. As a result, the locking member 421 rotates around the rotation shaft 422 as the rotation shaft 422 rotates.

[0168] The fixed part 430 is provided on the lower part of the base plate 270 of the harvesting device 200. The fixed part 430 has a fixed shaft 431 extending in the left-right direction. A recess 270a is formed on the lower surface of the base plate 270, and the fixed shaft 431 is disposed within this recess 270a. The recess 2a formed on the upper surface of the vehicle body 2 and the recess 270a formed on the lower surface of the base plate 270 are positioned to overlap in the vertical direction when the harvesting device 200 is attached to the upper part of the vehicle body 2.

[0169] 26 shows a state in which the locking mechanism 420 is not activated (left diagram) and a state after the locking mechanism 420 has been activated (right diagram). When the locking mechanism 420 is not activated, the locking member 421 of the locking mechanism 420 is located within the recess 2a of the vehicle body 2 and does not protrude from the top surface of the vehicle body 2. In this state, the locking member 421 is not locked to the fixed shaft 431 of the fixed part 430.

[0170] When the locking mechanism 420 is not activated, the motor is driven to rotate the locking member 421 together with the rotating shaft 422 (see arrow R1), and the locking member 421 protrudes upward from the recess 2a of the vehicle body 2 and is locked to the fixed shaft 431 located in the recess 270a of the base plate 270. This fixes the traveling machine body 100 (specifically, the vehicle body 2) and the harvesting device 200 together.

[0171] In the case of the first example mounting structure, the locking mechanism 420 secures the traveling machine body 100 (specifically, the vehicle body 2) and the harvesting device 200 in a state where a convex portion 401 provided on the vehicle body 2 is inserted into a concave portion 501 provided on the harvesting device 200. In the case of the second example mounting structure, the locking mechanism 420 secures the traveling machine body 100 (specifically, the vehicle body 2) and the harvesting device 200 in a state where a protrusion 403 provided on the vehicle body 2 is inserted into an insertion hole 503 provided on the harvesting device 200. In the case of the third example mounting structure, the locking mechanism 420 secures the traveling machine body 100 (specifically, the vehicle body 2) and the harvesting device 200 in a state where a protrusion 504 provided on the harvesting device 200 is inserted into a groove portion 408 provided on the vehicle body 2. In the fourth example mounting structure, the locking mechanism 420 secures the running body 100 (specifically, the vehicle body 2) and the harvesting device 200 in a state in which the protrusion 411 on the vehicle body 2 is inserted into the groove portion 505 on the harvesting device 200.

[0172] The locking mechanism 420 may be a mechanism that fixes the movable frame 32 attached to the vehicle body 2 and the harvesting device 200. In this case, the locking mechanism 420 is provided on the movable frame 32. In this case, by fixing the movable frame 32 and the harvesting device 200, the traveling machine body 100 and the harvesting device 200 are fixed.

[0173] The mounting structures of the first to fourth examples described above can also be combined. For example, the traveling machine body 100 may be provided with the convex portion 401 of the first example and the protruding portion 403 of the second example, and the harvesting device 200 may be provided with the concave portion 501 of the first example and the insertion hole 503 of the second example.

[0174] Below, we will explain how to attach the harvesting device 200 to the traveling machine body 100. Figures 27 to 47 show examples of how to attach the harvesting device 200 to the traveling machine body 100. Below, we will explain how to attach the harvesting device 200 to the traveling machine body 100 with reference to Figures 27 to 47. Note that the traveling machine body 100 and the harvesting device 200 shown in Figures 27 to 47 are simplified versions of the traveling machine body 100 and the harvesting device 200 shown in Figures 1 to 10 and 14.

[0175] 27 to 31 show a first example of a method for mounting the harvesting device 200 to the traveling machine body 100. The first example of the mounting method will be described below. The first example of the mounting method is used when the traveling machine body 100 and the harvesting device 200 have the mounting structure of the first example described above. In the first example of the mounting method, the vehicle body 2 can be raised and lowered by the height change mechanism (lifting mechanism) 90 described above.

[0176] 27, the harvesting device 200 is held in a state where it is lifted above the ground G1 (holding step). Specifically, the harvesting device 200 is placed on the stand 150, whereby the harvesting device 200 is held in a state where it is lifted above the ground G1.

[0177] The platform 150 has an upper plate 151 and support posts 152. The upper plate 151 is a plate on which the harvesting device 200 is placed. The upper plate 151 is not limited to being made of a plate material, and may be made by combining multiple rods into a frame shape. The support posts 152 are erected on the ground G1 and support the upper plate 151 at a position (height) away from the ground G1. A space SP into which the traveling machine body 100 can enter is formed below the upper plate 151 of the platform 150. An opening 151a is formed in the upper plate 151, into which the upper part of the vehicle body 2 is inserted. As shown in FIG. 32 , the opening 151a forms the upper plate 151, making it approximately U-shaped in plan view and open at the front.

[0178] Next, as shown in FIG. 28 , the traveling machine body 100 is moved below the harvesting device 200 to position the vehicle body 2 below the harvesting device 200 (moving step). When positioning the vehicle body 2 below the harvesting device 200, the vehicle body 2 does not have to be positioned below the entire harvesting device 200; it only needs to be positioned below at least the portion of the harvesting device 200 that is attached to the vehicle body 2. This also applies to other attachment methods described below. At this time, the traveling machine body 100 is placed in the space SP formed below the upper plate 151 of the stand 150. The moving step is performed when the height of the vehicle body 2 of the traveling machine body 100 is at a height that does not contact the upper plate 151 (a height below the upper plate 151). The height of the vehicle body 2 in this state is, for example, the first height (lower limit height) described above.

[0179] Next, as shown in FIG. 29 , the vehicle body 2 positioned below the harvesting device 200 is raised, and the harvesting device 200 is mounted on the vehicle body 2 (mounting step). At this time, the vehicle body 2 moves upward relative to the traveling device 3 and the frame structure 18 (fixed frame 31). In the mounting step, the upper part of the vehicle body 2 passes through the opening 151a formed in the upper plate 151 and rises to above the platform 150 (above the upper plate 151). As a result, the harvesting device 200, together with the vehicle body 2, rises to above the platform 150 (above the upper plate 151) and is placed on the upper part of the vehicle body 2. At this time, the convex portion 401 provided on the vehicle body 2 is fitted into the concave portion 501 provided on the harvesting device 200. The fitting of the convex portion 401 into the concave portion 501 is performed smoothly by the first tapered surface 402 being guided by the second tapered surface 502.

[0180] When the harvesting device 200 and the vehicle body 2 are raised above the platform 150, the harvesting device 200 is placed on the vehicle body 2 and positioned above the platform 150 (above the upper surface of the upper plate 151) (see FIG. 29). The height of the vehicle body 2 in this state is, for example, the second height (upper limit height) described above, but may also be a height between the first height and the second height.

[0181] Thereafter, with the convex portion 401 fitted into the concave portion 501, the locking mechanism 420 is activated (see arrow R2) to fix the harvesting device 200 to the upper part of the vehicle body 2. This allows the harvesting device 200 to be attached to the vehicle body 2.

[0182] Next, as shown in Figure 30, the harvesting device 200 moves the traveling machine body 100 attached to the vehicle body 2 in a direction away from the stand 150 (detachment step). As a result, the traveling machine body 100 detaches from the space SP formed below the upper plate 151 of the stand 150. At this time, the vehicle body 2 passes through the front part of the opening 151a formed in a substantially U-shape in a plan view (see arrow R3 in Figure 32) and can detach from the stand 150.

[0183] Finally, as shown in Fig. 31 , the vehicle body 2 to which the harvesting device 200 is attached is lowered (lowering step). As a result, the height of the harvesting device 200 attached to the vehicle body 2 becomes a height suitable for harvesting work. In other words, in the lowering step, the harvesting device 200 lowers the vehicle body 2 until it becomes a height suitable for harvesting work. The height of the vehicle body 2 after lowering is, for example, the first height (lower limit height) described above.

[0184] By performing the operations of each of the above steps (holding step, moving step, attaching step, detaching step, and lowering step), the traveling machine body 100 and the harvesting device 200 change from a state in which they are separate to a state in which they are integrated. In other words, a harvester 1 (see FIGS. 1 to 4) is configured that includes the traveling machine body 100 and the harvesting device 200. Therefore, this harvester 1 can be used to harvest crops.

[0185] In the case of the above-described first example of the mounting method, in the holding step, the harvesting device 200 can be held in a state in which it is placed on the platform 150. Therefore, the harvesting device 200 can be held in a stable state in a state in which it is lifted above the ground G1. This allows the mounting step to be performed stably and reliably.

[0186] FIG. 33 shows a modified example of the upper plate 151 used in the first example of the mounting method described above. The modified upper plate 151 has a shape that is open at the front and rear. That is, the opening 151a is formed so that it extends from the front end to the rear end of the upper plate 151. In other words, the upper plate 151 is divided into left and right halves with the opening 151a in between. When the modified upper plate 151 is used, in the removal step, the traveling machine body 100 can remove in a direction different from or the same as the direction from which it entered the space SP in the movement step. When the traveling machine body 100 enters the space SP from the rear in the movement step, it can move forward to remove from the pedestal 150 (see arrow R3) or move backward to remove from the pedestal 150 (see arrow R4).

[0187] When detaching the harvesting device 200 from the traveling machine body 100, as shown in FIG. 34 , after releasing the locking mechanism 420 (see arrow S1), the harvesting device 200 attached to the vehicle body 2 is positioned above the platform 150 (floating above the platform 150), and then the harvesting device 200 is lowered together with the vehicle body 2 toward the platform 150 (see arrow S2). This places the harvesting device 200 on the upper surface of the upper plate 151 of the platform 150. Next, as shown in FIG. 35 , with the harvesting device 200 on the upper surface of the upper plate 151 of the platform 150, only the vehicle body 2 is lowered to a position lower than the upper plate 151 (see arrow S3). This allows the harvesting device 200 to be detached from the vehicle body 2.

[0188] The mounting method of the first example described above can also be used when the traveling machine body 100 and the harvesting device 200 have the mounting structure of the second example. In this case, in the mounting step, the protrusion 403 provided on the vehicle body 2 is inserted into the insertion hole 503 provided on the harvesting device 200, and the locking mechanism 420 is activated with the protrusion 403 inserted into the insertion hole 503, thereby fixing the harvesting device 200 to the top of the vehicle body 2. Other than this, the mounting method is the same as the mounting method when the traveling machine body 100 and the harvesting device 200 have the mounting structure of the first example.

[0189] 36 to 39 show a second example of a method for mounting the harvesting device 200 to the traveling machine body 100. The second example of the mounting method will be described below. The second example of the mounting method is used when the traveling machine body 100 and the harvesting device 200 have the mounting structure of the second example described above.

[0190] First, as shown in Fig. 36, the harvesting device 200 is held in a state where it is lifted above the ground G1 (holding step). Specifically, the harvesting device 200 is lifted by a lifting device 160 such as a crane, thereby holding the harvesting device 200 in a state where it is lifted above the ground G1. The lifting device 160 has a holding mechanism that can be changed between a state where the harvesting device 200 is held and a state where the holding is released. The lifting device 160 shown in Fig. 36 has a pair of holding claws 161 that can be opened and closed as a holding mechanism.

[0191] Next, as shown in Figure 37, the traveling machine body 100 is moved below the harvesting device 200 to position the vehicle body 2 below the harvesting device 200 (moving step). The moving step is performed when the height of the vehicle body 2 of the traveling machine body 100 is at a height that does not make contact with the lifted harvesting device 200. The height of the vehicle body 2 in this state is, for example, the first height (lower limit height) described above, but may be higher than the first height. If the height of the vehicle body 2 is higher than the first height, the vehicle body 2 to which the harvesting device 200 is attached is lowered to the first height after the detaching step described below.

[0192] 38 , the harvesting device 200 is lowered together with the lifting device 160, and the harvesting device 200 is attached to the vehicle body 2 (attaching step). At this time, the protrusion 403 provided on the vehicle body 2 is inserted into the insertion hole 503 provided on the harvesting device 200. Then, with the protrusion 403 inserted into the insertion hole 503, the locking mechanism 420 is activated (see arrow R2), thereby fixing the harvesting device 200 to the upper part of the vehicle body 2. In this way, the harvesting device 200 is attached to the vehicle body 2.

[0193] Finally, as shown in Figure 39, the lifting device 160 releases its hold on the harvesting device 200, raising the lifting device 160, and the running body 100 attached to the vehicle body 2 of the harvesting device 200 is moved in a direction away from the lifting device 160 (detachment step).

[0194] By performing the operations of each of the steps described above (holding step, moving step, mounting step, and detaching step), a harvester 1 (see FIGS. 1 to 4) is configured, which includes a traveling machine body 100 and a harvesting device 200. In the case of the mounting method of the second example, there is no need to construct a platform 150 as in the first example in the holding step. Furthermore, because the platform 150 is not used, the mounting work can be performed in various positions.

[0195] When detaching the harvesting device 200 from the traveling machine body 100, the locking mechanism 420 is released, and then the harvesting device 200 attached to the vehicle body 2 is lifted by the lifting device 160. This causes the protrusion 403 provided on the vehicle body 2 to come out of the insertion hole 503 provided on the harvesting device 200, allowing the harvesting device 200 to be detached from the vehicle body 2.

[0196] The mounting method of the second example described above can also be used when the traveling machine body 100 and the harvesting device 200 have the mounting structure of the first example. In this case, in the mounting step, the convex portion 401 provided on the vehicle body 2 is fitted into the concave portion 501 provided on the harvesting device 200, and with the convex portion 401 fitted into the concave portion 501, the locking mechanism 420 is activated to fix the harvesting device 200 to the top of the vehicle body 2. Other than this, the mounting method is the same as the mounting method when the traveling machine body 100 and the harvesting device 200 have the mounting structure of the second example.

[0197] 40 to 43 show a third example of a method for mounting the harvesting device 200 to the traveling machine body 100. The third example of the mounting method will be described below. The third example of the mounting method is used when the traveling machine body 100 and the harvesting device 200 have the mounting structure of the third example described above.

[0198] First, as shown in Fig. 40, the harvesting device 200 is held in a state where it is lifted above the ground G1 (holding step). Specifically, the harvesting device 200 is lifted by a lifting device 160 such as a crane, thereby holding the harvesting device 200 in a state where it is lifted above the ground G1. The lifting device 160 has a holding mechanism that can be changed between a state where it holds the harvesting device 200 and a state where it is released from the hold. The lifting device 160 shown in Fig. 40 has a pair of holding claws 161 that can be opened and closed as a holding mechanism.

[0199] Next, as shown in Figure 41 , the traveling machine body 100 is moved (forward or backward) toward the harvesting device 200 to mount the harvesting device 200 on the vehicle body 2 (mounting step). At this time, the protrusions 504 provided on the harvesting device 200 are slidably inserted into the grooves 408 provided on the vehicle body 2 (see Figure 42). Then, with the protrusions 504 inserted into the grooves 408, the locking mechanism 420 is activated (see arrow R2) to fix the harvesting device 200 to the top of the vehicle body 2. In this way, the harvesting device 200 is mounted on the vehicle body 2.

[0200] In the illustrated example, the height of the vehicle body 2 in the attachment step is the first height (lower limit height) described above, but it may be higher than the first height. If the height of the vehicle body 2 is higher than the first height, the vehicle body 2 to which the harvesting device 200 is attached is lowered to the first height after the detachment step described below.

[0201] Finally, as shown in Figure 43, the lifting device 160 releases its hold on the harvesting device 200, raising the lifting device 160, and the harvesting device 200 moves the traveling body 100 attached to the vehicle body 2 in a direction away from the lifting device 160 (detachment step).

[0202] By performing the operations of the above steps (holding step, mounting step, and detaching step), a harvester 1 (see FIGS. 1 to 4) equipped with a traveling machine body 100 and a harvesting device 200 is configured. In the case of the mounting method of the third example, it is also not necessary to construct a platform 150 in the holding step as in the first example. Furthermore, because the platform 150 is not used, the mounting work can be performed in various positions.

[0203] When detaching the harvesting device 200 from the traveling machine body 100, the harvesting device 200 is held by the holding mechanism of the lifting device 160, and after the locking mechanism 420 is released, the traveling machine body 100 is moved (forward or backward) relative to the harvesting device 200. The direction of movement of the traveling machine body 100 at this time is opposite to the direction of movement in the attachment step. This movement disengages the protrusion 504 provided on the harvesting device 200 from the groove 408 provided on the vehicle body 2, allowing the harvesting device 200 to be detached from the vehicle body 2.

[0204] 44 to 47 show a fourth example of a method for mounting the harvesting device 200 to the traveling machine body 100. The mounting method of the fourth example will be described below. The mounting method of the fourth example is used when the traveling machine body 100 and the harvesting device 200 have the mounting structure of the fourth example described above.

[0205] First, as shown in Fig. 44, the harvesting device 200 is held in a state where it is lifted above the ground G1 (holding step). Specifically, the harvesting device 200 is lifted by a lifting device 160 such as a crane, thereby holding the harvesting device 200 in a state where it is lifted above the ground G1. The lifting device 160 is equipped with a holding mechanism having the pair of holding claws 161 described above.

[0206] Next, as shown in Figure 45, the traveling machine body 100 is moved (forward or backward) toward the harvesting device 200, thereby mounting the harvesting device 200 on the vehicle body 2 (mounting step). At this time, the protrusion 411 provided on the vehicle body 2 is slid into the groove 505 provided on the harvesting device 200 (see Figure 46). Then, with the protrusion 411 inserted into the groove 505, the locking mechanism (not shown) is activated to fix the harvesting device 200 to the top of the vehicle body 2. In this way, the harvesting device 200 is mounted on the vehicle body 2.

[0207] In the illustrated example, the height of the vehicle body 2 in the attachment step is the first height (lower limit height) described above, but it may be higher than the first height. If the height of the vehicle body 2 is higher than the first height, the vehicle body 2 to which the harvesting device 200 is attached is lowered to the first height after the detachment step described below.

[0208] Finally, as shown in Figure 47, the lifting device 160 releases its hold on the harvesting device 200, raising the lifting device 160, and the running body 100 attached to the vehicle body 2 of the harvesting device 200 is moved in a direction away from the lifting device 160 (detachment step).

[0209] By performing the operations of the above steps (holding step, mounting step, and detaching step), a harvester 1 (see FIGS. 1 to 4) equipped with a traveling machine body 100 and a harvesting device 200 is configured. In the case of the mounting method of the fourth example, it is also not necessary to construct a platform 150 in the holding step as in the first example. Furthermore, because the platform 150 is not used, the mounting work can be performed in various positions.

[0210] When detaching the harvesting device 200 from the traveling machine body 100, the harvesting device 200 is held by the holding mechanism of the lifting device 160, and after the locking mechanism 420 is released, the traveling machine body 100 is moved (forward or backward) relative to the harvesting device 200. The direction of movement of the traveling machine body 100 at this time is opposite to the direction of movement in the attachment step. This movement disengages the protrusion 411 provided on the vehicle body 2 from the groove 505 provided on the harvesting device 200, allowing the harvesting device 200 to be detached from the vehicle body 2.

[0211] Although the mounting methods of the first to fourth examples have been described above, the method of mounting the harvesting device 200 to the traveling machine body 100 is not limited to the above-described methods. For example, the holding step of the mounting method of the first example described above may also be performed in the same manner as in the second and third examples. That is, as a method of holding the harvesting device 200 in a state where it is lifted above the ground G1, instead of placing the harvesting device 200 on the platform 150, the harvesting device 200 may be lifted by the lifting device 160. In this case, in the moving step, the traveling machine body 100 is moved below the lifted harvesting device 200, thereby positioning the vehicle body 2 below the harvesting device 200. In the mounting step, the vehicle body 2 is raised toward the lifted harvesting device 200, thereby mounting the harvesting device 200 on top of the vehicle body 2. After the mounting step, the lifting device is detached from the harvesting device 200, and the lowering step is performed.

[0212] The convex portion 401, the protruding portion 403, the groove portion 408, and the ridge 411 in the mounting structure and mounting method described above are provided on the traveling machine body 100. More specifically, the convex portion 401, the protruding portion 403, the groove portion 408, and the ridge 411 are provided on the vehicle body 2 of the traveling machine body 100. Specifically, the convex portion 401, the protruding portion 403, the groove portion 408, and the ridge 411 can be provided on the upper part of the vehicle body 2 as follows.

[0213] 5 to 9 , the top surface of the car body 2 is located higher than the top surface of the frame structure 18. Therefore, the upper parts of the side surfaces of the car body 2 protrude higher than the frame structure 18. The grooves 408 and the protrusions 411 can be provided in the parts of the side surfaces of the car body 2 that protrude higher than the frame structure 18. Furthermore, the top surface of the car body 2 is exposed and not covered by the frame structure 18. Therefore, the convex portions 401 and the protrusions 403 can be provided on the exposed top surface of the car body 2 that is not covered by the frame structure 18.

[0214] However, the convex portion 401, the protruding portion 403, the groove portion 408, and the ridge 411 may be provided on a portion other than the vehicle body 2 of the traveling machine body 100. For example, the convex portion 401, the protruding portion 403, the groove portion 408, and the ridge 411 may be provided on the frame structure 18 of the traveling machine body 100. In this case, the mounting structure for mounting the harvesting device 200 to the traveling machine body 100 is not a structure for mounting the harvesting device 200 directly to the vehicle body 2, but a structure for mounting the working device 200 indirectly to the vehicle body 2 via the frame structure 18. In other words, the working device 200 is mounted to the frame structure 18 of the traveling machine body 100.

[0215] When a structure in which the harvesting device 200 is attached to the frame structure 18 is adopted, the upper surface of the vehicle body 2 does not have to be located higher than the upper surface of the frame structure 18. In this case, grooves 408 and protrusions 411 can be provided on the upper parts of the sides of the frame structure 18 (the upper parts of the left surface of the second left frame 20L and the upper parts of the right surface of the second right frame 22R). Also, part or all of the upper surface of the vehicle body 2 may be covered by the frame structure 18 (the connecting frame described above). In this case, convex portions 401 and protrusions 403 can be provided on the upper surface of the frame structure 18 (the upper surface of the connecting frame).

[0216] As described above, when employing a structure in which the harvesting device 200 is attached to the frame structure 18, the convex portion 401, the protruding portion 403, the groove portion 408, and the ridge 411 can be provided on the movable frame 32 (the second left frame 20L, the second right frame 22R, and the connecting frame) of the frame structure 18. In this case, the harvesting device 200 is indirectly attached to the vehicle body 2 via the movable frame 32.

[0217] Next, a description will be given of the power transmission path of the harvester 1. Specifically, a description will be given of several examples of paths for transmitting power to the traveling device 3 and the harvesting device 200 provided in the harvester 1 to drive these devices.

[0218] 48 is a diagram showing an example (first example) of a power transmission path of the harvester 1. In the first example, power generated by the power unit 4 of the traveling body 100 is supplied to the traveling device 3 and the harvesting device 200 (see arrows P1 and P2). That is, in the harvester 1, power is supplied to the harvesting device 200 from the power unit 4 of the traveling body 100. The power supplied from the power unit 4 to the harvesting device 200 is input to the power input unit 280 of the harvesting device 200.

[0219] This drives the drive units (harvesting unit 210, conveying unit 220, threshing unit 240, discharge unit 260, and release unit 250) of the harvesting device 200, allowing the harvesting operation to be performed. In this way, the harvesting device 200 performs the harvesting operation based on the power supplied from the power unit 4 of the traveling machine body 100. Therefore, the harvesting device 200 is not provided with a power unit that supplies power for performing the harvesting operation. Furthermore, since the harvesting device 200 is not provided with a traveling device, it is not provided with a power unit that supplies power for traveling either.

[0220] In this way, in the case of the harvester 1 equipped with the power transmission path of the first example, operation (harvesting work, traveling) can be performed by the power unit 4 provided in the traveling machine body 100, so no power unit is provided in the harvesting device 200. Therefore, it is possible to make the harvesting device 200 lighter and smaller.

[0221] 49 is a diagram showing another example (second example) of the power transmission path of the harvester 1. In the second example, the harvester 200 has a separate power unit 201 that generates power for harvesting work, separate from the power unit 4 of the traveling machine body 100. The power generated from the power unit 4 of the traveling machine body 100 is supplied to the traveling unit 3 (see arrow P1), but is not supplied to the harvester 200. The power generated from the power unit 201 of the harvester 200 is supplied to the drive units of the harvester 200 (harvesting unit 210, conveying unit 220, threshing unit 240, discharge unit 260, and release unit 250) (see arrow P3).

[0222] This drives the drive units (harvesting unit 210, conveying unit 220, threshing unit 240, discharge unit 260, and release unit 250) of the harvesting device 200, allowing the harvesting operation to be performed. In this way, the harvesting device 200 performs the harvesting operation based on the power supplied from the power unit 201 possessed by the harvesting device 200. Therefore, power is not supplied to the harvesting device 200 from the power unit 4 possessed by the traveling machine body 100.

[0223] In the second example, the power unit 201 of the harvesting device 200 is not particularly limited and can include a motor and a battery, similar to the power unit 4 of the traveling machine body 100. Furthermore, the power unit 201 of the harvesting device 200 may include an engine instead of a motor, or may include a fuel cell.

[0224] In this way, in the case of the harvester 1 equipped with the power transmission path of the second example, the power from the power unit 4 provided on the traveling machine body 100 is not transmitted to the harvesting device 200. Therefore, the mechanism for transmitting power from the traveling machine body 100 to the harvesting device 200 can be omitted.

[0225] Next, a mechanism for transmitting power from the traveling machine body 100 to the harvesting device 200 will be described. In the case of a harvester 1 equipped with the power transmission path of the first example described above, the harvester 1 is configured so that power is supplied to the harvesting device 200 from the power unit 4 of the traveling machine body 100 (see FIG. 48 ). When this configuration is adopted, the traveling machine body 100 is equipped with a power transmission mechanism 600 that can transmit power generated from the power unit 4 to the harvesting device 200. The power transmission mechanism 600 outputs power generated from the power unit 4 above the traveling machine body 100 so that it can be transmitted to the harvesting device 200.

[0226] The following describes the traveling machine body 100 equipped with the power transmission mechanism 600. Figure 50 is a diagram showing the traveling machine body 100 equipped with the power transmission mechanism 600 of the first example and the harvesting device 200 attached to this traveling machine body 100.

[0227] First, we will explain the configuration of the traveling machine body 100 equipped with the first example power transmission mechanism 600. The first example power transmission mechanism 600 has an upward output shaft 601 that extends upward and outputs power generated by the power unit 4 above the traveling machine body 100. The upward output shaft 601 extends vertically or approximately vertically.

[0228] The traveling machine body 100 equipped with the power transmission mechanism 600 of the first example is equipped with, in addition to the upward output shaft 601, a lateral output shaft 602 that outputs power generated by the power unit 4 rearward. The lateral output shaft 602 extends horizontally or approximately horizontally. The front end of the lateral output shaft 602 is connected to the working motor 6 of the power unit 4. The rear end of the lateral output shaft 602 protrudes rearward from the vehicle body 2. The lateral output shaft 602 is capable of supplying power to a working device (second working device) attached to the lifting device 10 consisting of a three-point linkage mechanism.

[0229] The upward output shaft 601 branches off from a midpoint of the lateral output shaft 602 and extends upward. Specifically, a first bevel gear 603 is attached to a midpoint in the extension direction (front-rear direction) of the lateral output shaft 602. A second bevel gear 604 that meshes with the first bevel gear 603 is attached to a lower end of the upward output shaft 601. As the first bevel gear 603 and the second bevel gear 604 mesh with each other, the upward output shaft 601 branches off from a midpoint of the lateral output shaft 602. An upper end of the upward output shaft 601 is located near the upper end of the vehicle body 2. A shaft coupling 605 that can connect shafts to each other is provided to the upper end of the upward output shaft 601.

[0230] According to the power transmission mechanism 600 of the first example, the power generated by the power unit 4 is transmitted to the horizontal output shaft 602, and the horizontal output shaft 602 rotates around its axis in the front-to-rear direction. The rotation of the horizontal output shaft 602 is transmitted from the first bevel gear 603 to the second bevel gear 604. As a result, the upward output shaft 601 rotates around its axis in the up-down direction.

[0231] Next, the configuration of the harvesting device 200 attached to the traveling machine body 100 equipped with the power transmission mechanism 600 of the first example will be described. As shown in Figure 50, the harvesting device 200 attached to the traveling machine body 100 equipped with the power transmission mechanism 600 of the first example has a power input unit 280 to which power output from the power transmission mechanism 600 to the upper part of the traveling machine body 100 is input. The harvesting device 200 has, as the power input unit 280, a downward input shaft 281 connected to the upward output shaft 601. The lower end of the downward input shaft 281 protrudes downward from the harvesting device 200.

[0232] As shown by the downward arrow in Figure 50, when the harvesting device 200 is mounted on the upper part of the traveling machine body 100 equipped with the power transmission mechanism 600 of the first example, the upward output shaft 601 and the downward input shaft 281 are connected via a shaft coupling 605 (see Figure 51). As a result, the rotational power output from the upward output shaft 601 is input to the downward input shaft 281. The drive units of the harvesting device 200 (harvesting unit 210, conveying unit 220, threshing unit 240, discharge unit 260, and release unit 250) are driven by the power input to the downward input shaft 281.

[0233] Figure 52 is a diagram showing a traveling machine body 100 equipped with a power transmission mechanism 600 of the second example. The power transmission mechanism 600 of the second example has a change mechanism 610 that extends a lateral output shaft 602 that outputs power generated by the power unit 4 rearward, and that can change the orientation upward. The change mechanism 610 includes a lifting device 10 that raises and lowers the second working device 300 (see Figures 6 and 7) located behind the traveling machine body 100. By attaching the second working device 300 to the lifting device 10 provided at the rear of the vehicle body 2, the second working device 300 located behind the traveling machine body 100 can be raised and lowered.

[0234] When the second working device 300 is not attached, the lifting device 10 changes the orientation of the lateral output shaft 602 to an upward orientation that extends upward. More specifically, when the second working device 300 is not attached, the lifting device 10 changes the orientation of the lateral output shaft 602 to an upward orientation that extends upward by rising relative to the vehicle body 2. In other words, the orientation of the lateral output shaft 602 changes from a lateral orientation to an upward orientation as the lifting device 10 rises. Furthermore, the orientation of the lateral output shaft 602 changes from an upward orientation to a lateral orientation as the lifting device 10 descends.

[0235] The portion of the lateral output shaft 602 that protrudes from the traveling machine body 100 (vehicle body 2) (hereinafter referred to as the "protruding portion of the lateral output shaft 602") has a configuration in which multiple shafts are connected by joints 611. The joints 611 are configured to be bendable at least in the vertical direction. A universal joint that can bend in multiple directions is preferably used as the joint 611. The following description will be given assuming that the joint 611 is a universal joint. However, the joint 611 is not limited to a universal joint.

[0236] As shown in FIG. 52, the multiple shafts include at least a first shaft 612 located on the base end side (toward the vehicle body 2) of the protruding portion of the lateral output shaft 602, and a second shaft 613 located on the tip end side (opposite the vehicle body 2) of the protruding portion of the lateral output shaft 602.

[0237] The number of shafts constituting the horizontal output shaft 602 may be two or three or more. The number of universal joints 611 can be increased according to the number of shafts constituting the horizontal output shaft 602. In the illustrated example, the horizontal output shaft 602 has four shafts connected by three universal joints 611. In other words, the illustrated horizontal output shaft 602 has two more shafts (a third shaft 614 and a fourth shaft 615) between the first shaft 612 and the second shaft 613 (see FIG. 52 ).

[0238] The protruding portion of the lateral output shaft 602 can bend at the universal joint 611. By bending the protruding portion of the lateral output shaft 602 at the universal joint 611, the second shaft 613 can rotate upward relative to the first shaft 612.

[0239] The protruding portion of the horizontal output shaft 602 is connected to the lifting device 10. More specifically, the protruding portion of the horizontal output shaft 602 is connected to the lower link 10b and / or the top link 10c of the lifting device 10. In the example shown in FIG. 56 , the protruding portion of the horizontal output shaft 602 is connected to the lower link 10b via a connecting member 617 and to the top link 10c via a connecting member 618. As a result, the protruding portion of the horizontal output shaft 602 moves up and down in conjunction with the lifting device 10 moving up and down (moving up and down of the lower link 10b and the top link 10c). However, it is sufficient that the protruding portion of the horizontal output shaft 602 is connected to at least one of the lower link 10b and the top link 10c.

[0240] When the lower link 10b and the top link 10c move up and down, the protruding portion of the lateral output shaft 602 bends at the universal joint 611, causing the second shaft 613 to rotate upward or downward relative to the first shaft 612. When the lower link 10b and the top link 10c move up, the second shaft 613 rotates upward relative to the first shaft 612. As a result, the orientation of the lateral output shaft 602 (specifically, the second shaft 613) is changed to an upward orientation, extending upward (see FIG. 53 ).

[0241] A shaft coupling 616 that can connect the shafts is provided at the tip of the protruding portion of the horizontal output shaft 602 (the tip of the second shaft 613). When the lower link 10 b and the top link 10 c move upward, the second shaft 613 rotates upward relative to the first shaft 612, and the shaft coupling 616 faces upward (see FIG. 53).

[0242] The protruding portion of the lateral output shaft 602 is disposed below the top link 10c of the lifting device 10 and above the lower link 10b (see FIG. 52, etc.). The protruding portion of the lateral output shaft 602 is disposed at a position offset from the top link 10c in the left-right direction (see FIG. 56). This prevents the lateral output shaft 602 from interfering with the top link 10c when the lower link 10b and the top link 10c are raised or lowered to change the orientation of the lateral output shaft 602 (specifically, the second shaft 613) upward.

[0243] Note that the top link 10c and / or the lower link 10b may also be configured by connecting multiple members with a bendable joint (universal joint), similar to the lateral output shaft 602. This allows the top link 10c and / or the lower link 10b to bend midway in the length direction, making it easy to change the orientation of the lateral output shaft 602 (specifically, the second shaft 613) connected to the lower link 10b and / or the top link 10c upward.

[0244] Next, the configuration of the harvesting device 200 attached to the traveling machine body 100 equipped with the power transmission mechanism 600 of the second example will be described. As shown in Figure 54, the harvesting device 200 attached to the traveling machine body 100 equipped with the power transmission mechanism 600 of the second example has a power input unit 280 to which power output from the power transmission mechanism 600 to the upper part of the traveling machine body 100 is input. The harvesting device 200 has, as the power input unit 280, a downward input shaft 281 connected to the lateral output shaft 602 that has been changed to face upward. The lower end of the downward input shaft 281 protrudes downward from the harvesting device 200.

[0245] As shown in Figure 54, when the harvesting device 200 is attached to the top of the traveling body 100 with the horizontal output shaft 602 (second shaft 613) of the traveling body 100 equipped with the second example power transmission mechanism 600 changed to an upward orientation so that it extends upward, the horizontal output shaft 602 (second shaft 613) and the downward input shaft 281 are connected via a shaft coupling 616 (see Figure 55). As a result, the rotational power output from the horizontal output shaft 602 changed to an upward orientation is input to the downward input shaft 281. The drive units of the harvesting device 200 (harvesting unit 210, conveying unit 220, threshing unit 240, discharge unit 260, and release unit 250) are driven by the power input to the downward input shaft 281.

[0246] The lifting device 10 may also be configured to lift and lower the second working device 300 located in front of the traveling machine body 100. In this case, the second working device 300 located in front of the traveling machine body 100 can be lifted and lowered by attaching the second working device 300 to the lifting device 10 provided at the front of the vehicle body 2. In this case, the lateral output shaft 602 outputs the power generated by the power unit 4 forward, and the change mechanism 610 changes the orientation of the lateral output shaft 602, which outputs the power forward, to extend upward.

[0247] FIG. 57 is a diagram showing a traveling machine body 100 equipped with a power transmission mechanism 600 of the third example, and a harvesting device 200 attached to this traveling machine body 100.

[0248] First, the configuration of the traveling machine body 100 equipped with the power transmission mechanism 600 of the third example will be described. The power transmission mechanism 600 of the third example has a gear transmission mechanism 620 that extracts power from the middle part of the lateral output shaft 602 and outputs it above the traveling machine body 100. The gear transmission mechanism 620 includes a plurality of gears. In the example shown in Figure 57, the gear transmission mechanism 620 includes a first gear 621, a second gear 622, a third gear 623, and a fourth gear 624.

[0249] The first gear 621 and the second gear 622 are bevel gears. The first gear 621 is attached to the middle of the horizontal output shaft 602 and rotates around the axis of the horizontal output shaft 602. The second gear 622, the third gear 623, and the fourth gear 624 are arranged in a line in the vertical direction. The second gear 622 is in mesh with the first gear 621. The meshing of the first gear 621 and the second gear 622 makes it possible to extract power from the middle of the horizontal output shaft 602.

[0250] The third gear 623 is a spur gear arranged above the second gear 622 and meshes with the second gear 622. The fourth gear 624 is a spur gear arranged above the third gear 623 and meshes with the third gear 623. The fourth gear 624 is arranged near the upper end of the vehicle body 2. The fourth gear 624 is an output gear that outputs the power taken out from the middle of the lateral output shaft 602 above the traveling machine body 100.

[0251] When the horizontal output shaft 602 rotates, the first gear 621 rotates, and the second gear 622 meshing with the first gear 621 rotates. When the second gear 622 rotates, the third gear 623 meshing with the second gear 622 rotates. When the third gear 623 rotates, the fourth gear 624 meshing with the third gear 623 rotates. By rotating the fourth gear (output gear) 624 at the top of the gear transmission mechanism 620, power can be output above the traveling machine body 100.

[0252] The number of gears constituting the gear transmission mechanism 620 can be changed (increased or decreased) as appropriate. For example, the number of three gears (first gear 621, third gear 623, and fourth gear 624) that are aligned and meshed in the vertical direction can be increased or decreased. When increasing or decreasing the number of gears, the diameter of the gears can be adjusted so that the uppermost gear (output gear) is positioned near the upper end of the vehicle body 2.

[0253] Next, the configuration of the harvesting device 200 attached to the traveling machine body 100 equipped with the third example power transmission mechanism 600 will be described. As shown in Figure 57, the harvesting device 200 attached to the traveling machine body 100 equipped with the third example power transmission mechanism 600 has a power input unit 280 to which power output from the power transmission mechanism 600 to the upper side of the traveling machine body 100 is input. The harvesting device 200 has, as the power input unit 280, an input gear 282 that meshes with the output gear (fourth gear 624) of the gear transmission mechanism 620.

[0254] As shown by the downward arrow in Figure 57 , when the harvesting device 200 is attached to the top of the traveling body 100 equipped with the power transmission mechanism 600 of the third example, the output gear (fourth gear 624) provided on the traveling body 100 and the input gear 282 provided on the harvesting device 200 mesh together (see Figure 58 ). As a result, the rotational power output from the output gear (fourth gear 624) is input to the input gear 282. The drive units of the harvesting device 200 (harvesting unit 210, conveying unit 220, threshing unit 240, discharge unit 260, and release unit 250) are driven by the power input to the input gear 282.

[0255] FIG. 59 is a diagram showing a traveling machine body 100 equipped with a power transmission mechanism 600 of the fourth example, and a harvesting device 200 attached to this traveling machine body 100.

[0256] First, the configuration of a traveling machine body 100 equipped with a power transmission mechanism 600 of the fourth example will be described. The power transmission mechanism 600 of the fourth example has a belt transmission mechanism 630 that extracts power from the middle portion of the lateral output shaft 602 and outputs it above the traveling machine body 100. The belt transmission mechanism 630 includes multiple pulleys. In the example shown in Figure 59, the belt transmission mechanism 630 includes multiple pulleys (an output pulley 631, a tension pulley 632) and an endless (loop-shaped) belt 633. The number of pulleys that make up the belt transmission mechanism 630 can be changed (increased or decreased) as appropriate.

[0257] The output pulley 631 has a central shaft 634 extending in the left-right direction. The rotational power of the horizontal output shaft 602 is transmitted to the central shaft 634 via a transmission mechanism (not shown), such as a gear mechanism, provided in the middle of the horizontal output shaft 602. The output pulley 631 is a pulley that extracts power from the middle of the horizontal output shaft 602. The tension pulley 632 is a pulley that applies tension to a belt 633. The belt 633 is looped around the output pulley 631 and transmits power from the output pulley 631.

[0258] Next, the configuration of the harvesting device 200 attached to the traveling machine body 100 equipped with the power transmission mechanism 600 of the fourth example will be described. As shown in Figure 59, the harvesting device 200 attached to the traveling machine body 100 equipped with the power transmission mechanism 600 of the fourth example has a power input unit 280 to which power output from the power transmission mechanism 600 to the upper part of the traveling machine body 100 is input. The harvesting device 200 has an input pulley 283 as the power input unit 280. The input pulley 283 is fitted with the belt 633 of the belt transmission mechanism 630, and power is transmitted from the output pulley 631.

[0259] As shown in Figures 60 and 61 , when the harvesting device 200 is mounted on top of the traveling machine body 100 equipped with the fourth example of the power transmission mechanism 600, a belt 633 is stretched between an output pulley 631 provided on the traveling machine body 100 and an input pulley 283 provided on the harvesting device 200, and a tension pulley 632 is brought into contact with the outer surface of the belt 633. As a result, the rotational power output from the output pulley 631 is input to the input pulley 283 via the belt 633. The driving units of the harvesting device 200 (the harvesting unit 210, the conveying unit 220, the threshing unit 240, the discharge unit 260, and the releasing unit 250) are driven by the power input to the input pulley 283.

[0260] In the first to fourth examples described above, the lateral output shaft 602 may output the power generated by the power unit 4 forward. In this case, the rear end of the lateral output shaft 602 protrudes forward from the vehicle body. Furthermore, the lifting device 10 is preferably provided at the front of the vehicle body 2 so that the power output from the lateral output shaft 602 to the front of the vehicle body 2 can be input to the second working device 300 attached to the lifting device 10.

[0261] Furthermore, in the first to fourth examples described above, the lateral output shaft 602 may output the power generated by the power unit 4 laterally (to the left or right). In this case, the rear end of the lateral output shaft 602 protrudes laterally from the vehicle body 2. In this case, the lifting device 10 is preferably provided on the side of the vehicle body 2 so that the power output from the lateral output shaft 602 to the side of the vehicle body 2 can be input to the second working device 300 attached to the lifting device 10.

[0262] Furthermore, the above-described power transmission mechanism 600 may be a power transmission mechanism that combines a gear transmission mechanism 620 and a belt transmission mechanism 630. In this case, the power input unit 280 of the harvesting device 200 has an input gear and / or an input pulley that can input power from the power transmission mechanism that combines the gear transmission mechanism 620 and the belt transmission mechanism 630.

[0263] As described above, the traveling machine body 100 is equipped with the upward output shaft 601 and / or the lateral output shaft 602 as external output shafts for extracting the power of the power unit 4 (work system motor 6) outside the vehicle body 2. The power extracted from the upward output shaft 601 can be input to the harvesting device 200 attached to the upper part of the traveling machine body 100. The power extracted from the lateral output shaft 602 can be input to the second work device 300 separate from the harvesting device 200 when the lateral output shaft 602 is in a lateral position, and can be input to the harvesting device 200 when the lateral output shaft 602 is changed to an upward position.

[0264] The configuration of the embodiment described above can be applied not only when the harvesting device 200 is a harvesting device that harvests crops, but also when the harvesting device 200 is a digging device that digs up crops, or when the harvesting device 200 is a pulling device that pulls out crops.

[0265] 62 and 63 show the power transmission path of the harvester 1 when the harvesting device 200 is a digging device that digs up crops. The digging device that is the harvesting device 200 includes a digging section serving as a harvesting unit 210 (hereinafter referred to as the "digging section 210"), a transport section 220, and a storage section 230.

[0266] The digging unit 210 is equipped with, for example, a plate-shaped or comb-shaped digging blade. The digging unit 210 digs up crops (potatoes, etc.) planted in the field, for example, by swinging the digging blade up and down using a cylinder device. The digging unit 210 is located at the front of the harvesting device 200 (the front of the harvester 1). The digging unit 210 is provided at the front (front wheel side) or rear (rear wheel side) of the lower part of the traveling body 100.

[0267] The transport unit 220 is equipped with a conveyor that transports crops dug up by the digging unit 210 upward (above the traveling body 100). The front part of the transport unit 220 is connected to the digging unit 210. The transport unit 220 extends diagonally upward from the part connected to the digging unit 210 to above the traveling body 100. The transport unit 220 transports the crops dug up by the digging unit 210 from the front (or rear) of the lower part of the traveling body 100 to above the traveling body 100. The rear part of the transport unit 220 is connected to the storage unit 230. The storage unit 230 stores the crops transported by the transport unit 220. The storage unit 230 is arranged above the traveling body 100.

[0268] However, the above-described configuration of the digging device is merely an example, and the configuration of the digging device is not limited to the above-described configuration.

[0269] 62 is a diagram showing an example (first example) of a power transmission path of the harvester 1 when the harvesting device 200 is a digging device that digs up crops. As shown by arrow P2, in the harvester 1, power is supplied from the power unit 4 of the traveling machine body 100 to the harvesting device (digging device) 200. The power generated by the power unit 4 is also supplied to the traveling device 3 of the traveling machine body 100 (see arrow P1).

[0270] The power supplied from the power unit 4 to the harvesting device (digging device) 200 is input to the power input unit 280 of the harvesting device (digging device) 200. This drives the drive units (digging unit 210, transport unit 220) of the harvesting device (digging device) 200, allowing the device to perform work (digging work). In this way, the harvesting device (digging device) 200 can perform harvesting work (digging work) based on the power supplied from the power unit 4 of the traveling machine body 100.

[0271] FIG. 63 is a diagram showing another example (second example) of the power transmission path of the harvester 1 when the harvesting device 200 is a digging device. In the second example, the harvesting device (digging device) 200 has a separate power unit 201 that generates power for performing the harvesting work (digging work) in addition to the power unit 4 that the traveling machine body 100 has. Therefore, as shown by arrow P3, power is supplied to the drive units (digging unit 210, transport unit 220) of the harvesting device (digging device) 200 from the power unit 201 that the harvesting device (digging device) 200 has. This drives the drive units (digging unit 210, transport unit 220) of the harvesting device 200, allowing the harvesting work (digging work) to be performed.

[0272] 64 and 65 show the power transmission path of the harvester 1 when the harvesting device 200 is a harvesting device that pulls out crops. The harvesting device 200 includes a harvesting section 210 (hereinafter referred to as the "pulling section 210"), a transport section 220, and a storage section 230.

[0273] The pulling-out unit 210 has, for example, clamping units that clamp the stems and leaves of crops (carrots, radishes, etc.) planted in the field from the left and right. The pulling-out unit 210 pulls out the crops by pulling up the stems and leaves clamped by the clamping units along an inclined surface as it moves forward. The pulling-out unit 210 is located at the front of the harvesting device 200 (the front of the harvester 1). The pulling-out unit 210 is provided at the front (front wheel side) or rear (rear wheel side) of the lower part of the traveling body 100.

[0274] The transport unit 220 is equipped with a conveyor that transports the crops pulled out by the plucking unit 210 upward (above the traveling machine body 100). The front part of the transport unit 220 is connected to the plucking unit 210. The transport unit 220 extends diagonally upward from the part connected to the plucking unit 210 to above the traveling machine body 100. The transport unit 220 transports the crops pulled out by the plucking unit 210 from the front (or rear) of the lower part of the traveling machine body 100 to above the traveling machine body 100. The rear part of the transport unit 220 is connected to the storage unit 230. The storage unit 230 stores the crops transported by the transport unit 220. The storage unit 230 is arranged above the traveling machine body 100.

[0275] However, the configuration of the extracting device described above is merely an example, and the configuration of the extracting device is not limited to the above configuration. For example, the extracting unit 210 may be configured to pull up the stems and leaves clamped by the clamping unit by extending and retracting the rod of the cylinder device.

[0276] 64 is a diagram showing an example (first example) of a power transmission path of the harvester 1 when the harvesting device 200 is a pull-out device. As shown by arrow P2, in the harvester 1, power is supplied from the power unit 4 of the traveling machine body 100 to the harvesting device (pulling device) 200. The power generated by the power unit 4 is also supplied to the traveling device 3 of the traveling machine body 100 (see arrow P1).

[0277] The power supplied from the power unit 4 to the harvesting device (pulling device) 200 is input to the power input unit 280 of the harvesting device (pulling device) 200. This drives the drive unit (transport unit 220, or the extraction unit 210 and the transport unit 220) of the harvesting device (pulling device) 200, allowing the harvesting device (pulling device) 200 to perform the work (pulling work). In this way, the harvesting device (pulling device) 200 can perform the harvesting work (pulling work) based on the power supplied from the power unit 4 of the traveling machine body 100.

[0278] 65 is a diagram showing another example (second example) of the power transmission path of the harvester 1 when the harvesting device 200 is a puller. In the second example, the harvesting device (pulling device) 200 has a separate power unit 201 that generates power for performing the harvesting work (pulling work) in addition to the power unit 4 that the traveling machine body 100 has. Therefore, as shown by arrow P3, power is supplied to the drive unit (conveyor unit 220) of the harvesting device (pulling device) 200 from the power unit 201 that the harvesting device (pulling device) 200 has. This drives the drive unit (conveyor unit 220) of the harvesting device 200, allowing the harvesting work (pulling work) to be performed.

[0279] A preferred embodiment of the present invention provides a harvester 1 as described in the following paragraphs.

[0280] (Item 1) A harvester 1 comprising a running body 100 and a harvesting device 200 that performs at least one of the harvesting tasks of cutting, digging, or uprooting crops as the running body 100 runs, wherein the running body 100 has a power unit 4 that generates power for running, and an attachment / detachment mechanism 400 that allows the harvesting device 200 to be attached and detached to the top of the running body 100.

[0281] According to the harvester 1 according to this item 1, the harvesting device 200 and the traveling machine body 100 can be separated, which makes it possible to use the traveling machine body 100 for other purposes (purposes other than harvesting work performed by the harvesting device 200). Furthermore, because the harvesting device 200 can be attached to the traveling machine body 100, there is no need to provide a traveling device in the harvesting device 200, which allows the harvesting device 200 to be made smaller and lighter. Furthermore, there is no need to provide a drive device for driving the traveling device in the harvesting device 200, which allows the harvesting device 200 to be made smaller and lighter.

[0282] (Item 2) The harvesting device 200 is a harvester 1 described in Item 1, which is provided with a harvesting section 210 that is provided in front of or behind the traveling body 100 and performs at least one of the harvesting operations, and a transporting section 220 that transports the crops harvested by the harvesting section 210 onto the traveling body 100.

[0283] According to the harvester 1 of this item 2, crops can be transported in front of or behind the traveling body 100 by the harvesting section 210 and onto the traveling body 100 by the transporting section 220.

[0284] (Item 3) The harvester 1 described in Item 2, wherein the harvesting device 200 is provided with a storage section 230 that stores the crops transported by the transport section 220.

[0285] According to the harvester 1 relating to this item 3, the crops transported by the transport section 220 can be stored in the storage section 230.

[0286] (Item 4) The traveling machine body 100 has a body 2 having the power unit 4, a left traveling unit 3L provided on the left side of the body 2, and a right traveling unit 3R provided on the right side of the body 2, and the attachment / detachment mechanism 400 is provided on the body 2. A harvester 1 described in any one of items 1 to 3.

[0287] According to the harvester 1 relating to item 4, the harvesting device 200 can be attached and detached to the vehicle body 2 sandwiched between the left running device 3L and the right running device 3R, so that the harvesting device 200 can be stably attached and detached to the running body 100.

[0288] (Item 5) The harvester 1 according to any one of items 1 to 4, wherein the harvesting device 200 performs the harvesting work based on power supplied from the power unit 4.

[0289] According to the harvester 1 according to this item 5, there is no need to provide a power unit that supplies power to the harvesting device 200 for harvesting work, so the harvesting device 200 can be made smaller and lighter.

[0290] (Item 6) The harvesting device 200 is a harvester 1 described in any one of items 1 to 4, which has another power unit 201 that generates power for the harvesting work, separate from the power unit 4 that the traveling body 100 has.

[0291] According to the harvester 1 according to this item 6, there is no need to supply power from the traveling machine body 100 to the harvesting device 200 for harvesting work, and therefore there is no need for a structure for supplying power from the traveling machine body 100 to the harvesting device 200. Therefore, the mounting structure of the harvesting device 200 to the traveling machine body 100 can be simplified.

[0292] (Item 7) A harvester 1 according to any one of items 1 to 6, wherein the traveling machine body 100 is equipped with a control device 15 for automatic operation.

[0293] According to the harvester 1 relating to this item 7, the harvester 1 with the harvesting device 200 mounted on the traveling body 100 can be operated automatically, thereby reducing the manpower required for harvesting work.

[0294] (Item 8) A harvester 1 described in any of items 1 to 7, in which the attachment / detachment mechanism 400 has a protrusion 403 that protrudes upward from the upper part of the running body 100, and an insertion hole 503 into which the protrusion 403 is inserted is provided at the lower part of the harvesting device 200.

[0295] According to the harvester 1 according to this item 8, the harvesting device 200 can be easily and reliably mounted on the traveling body 100 by inserting the protruding portion 403 into the insertion hole 503. In addition, the harvesting device 200 can be easily removed from the traveling body 100 by removing the protruding portion 403 from the insertion hole 503.

[0296] (Item 9) The harvester 1 according to Item 8, wherein the protrusion 403 is provided so as to be able to appear and disappear from the upper surface of the traveling body 100.

[0297] According to the harvester 1 according to this item 9, when the harvesting device 200 is attached to the traveling body 100 and used, the protrusion 403 can be made to protrude from the upper surface of the traveling body 100, and when the traveling body 100 is used without the harvesting device 200 attached, the protrusion 403 can be made not to protrude from the upper surface of the traveling body 100. Furthermore, when attaching the harvesting device 200 to the traveling body 100, after the harvesting device 200 is placed on the traveling body 100, the protrusion 403 can be made to protrude from the upper surface of the traveling body 100 and inserted into the insertion hole 503.

[0298] (Item 10) The attachment / detachment mechanism 400 has a locking mechanism 420 that secures the traveling body 100 and the harvesting device 200 when the protrusion 403 is inserted into the insertion hole 503. The harvester 1 described in item 8 or 9.

[0299] According to the harvester 1 relating to this item 10, by fixing the running body 100 and the harvesting device 200 with the locking mechanism 420 while the protrusion 403 is inserted into the insertion hole 503, it is possible to reliably prevent the harvesting device 200 from coming off the running body 100 during operation.

[0300] (Item 11) A harvester 1 described in any of items 1 to 7, in which the attachment / detachment mechanism 400 has a convex portion 401 that protrudes upward from the upper surface of the running body 100, and the underside of the harvesting device 200 has a concave portion 501 into which the convex portion 401 is fitted.

[0301] According to the harvester 1 of this item 11, the harvesting device 200 can be easily and reliably mounted on the traveling body 100 by fitting the convex portion 401 into the concave portion 501. In addition, the harvesting device 200 can be easily removed from the traveling body 100 by removing the convex portion 401 from the concave portion 501.

[0302] (Item 12) The harvester 1 described in Item 11, wherein the attachment / detachment mechanism 400 has a locking mechanism 420 that secures the traveling body 100 and the harvesting device 200 when the convex portion 401 is fitted into the concave portion.

[0303] According to the harvester 1 relating to this item 12, the running body 100 and the harvesting device 200 are fixed together by the locking mechanism 420 while the convex portion 401 is fitted into the concave portion 501, thereby reliably preventing the harvesting device 200 from coming off the running body 100 during operation.

[0304] (Item 13) The convex portion 401 is configured to be able to rise and fall, and the convex portion 401 rises toward the recessed portion 501, thereby fitting into the recessed portion 501, as described in item 11 or 12.

[0305] According to the harvester 1 of this item 13, by raising the convex portion 401 toward the recessed portion 501, the convex portion 401 can be fitted into the recessed portion 501 to attach the harvesting device 200 to the traveling body 100. In addition, by lowering the convex portion 401 from the recessed portion 501, the convex portion 401 can be removed from the recessed portion 501 to release the attachment of the harvesting device 200 to the traveling body 100.

[0306] (Item 14) A harvester 1 described in any of items 1 to 7, wherein the attachment / detachment mechanism 400 has a protrusion 411 or a groove 408 extending in the fore-and-aft direction of the running body 100, and the harvesting device 200 has a groove 505 into which the protrusion 411 of the running body 100 is slidably inserted, or a protrusion 504 that is slidably inserted into the groove 408 of the running body 100.

[0307] According to the harvester 1 of this item 14, the harvester 200 can be easily and reliably attached to the traveling body 100 by sliding the ribs 411 of the traveling body 100 into the grooves 505 of the harvester 200, or by sliding the ribs 504 of the harvester 200 into the grooves 408 of the traveling body 100. In addition, the harvester 200 can be easily removed from the traveling body 100 by disengaging the ribs 411 of the traveling body 100 from the grooves 505 of the harvester 200, or by disengaging the ribs 504 of the harvester 200 from the grooves 408 of the traveling body 100.

[0308] (Item 15) The harvester 1 described in Item 14, wherein the attachment / detachment mechanism 400 has a locking mechanism 420 that secures the traveling body 100 and the harvesting device 200 when the protrusions 411, 504 are inserted into the grooves 505, 408.

[0309] According to the harvester 1 relating to item 15, by fixing the running body 100 and the harvesting device 200 by the locking mechanism 420 while the protrusions 411, 504 are inserted into the grooves 505, 408, it is possible to reliably prevent the harvesting device 200 from coming off the running body 100 during operation.

[0310] Although the embodiments of the present invention have been described above, the embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims.

[0311] REFERENCE SIGNS LIST 1 Harvester 2 Vehicle body 3 Traveling device 3L Left traveling device 3R Right traveling device 4 Power unit 15 Control device 100 Traveling machine body 200 Harvesting device 201 Another power unit 210 Harvesting section 220 Transporting section 230 Storage section 400 Attachment / detachment mechanism 401 Convex portion 403 Protruding portion 408 Groove portion 411 Ridge 420 Locking mechanism 501 Recess 503 Insertion hole 504 Ridge 505 Groove portion

Claims

1. A harvester comprising a traveling body and a harvesting device that performs at least one of harvesting operations such as cutting, digging, and pulling out crops as the traveling body travels, wherein the traveling body has a power device that generates power for traveling and a detaching mechanism that enables the harvesting device to be detachably attached to the upper part of the traveling body.

2. The harvester according to claim 1, wherein the harvesting device includes a harvesting unit provided in front of or behind the traveling body to perform at least one of the above-mentioned harvesting operations, and a conveying unit that conveys the crops harvested by the harvesting unit onto the traveling body.

3. The harvester according to claim 2, wherein the harvesting device includes a storage unit that stores the crops conveyed by the conveying unit.

4. The traveling body has a vehicle body having the power device, a left traveling device provided on the left side of the vehicle body, and a right traveling device provided on the right side of the vehicle body, and the detaching mechanism is provided on the vehicle body. The harvester according to claim 1.

5. The harvester according to any one of claims 1 to 4, wherein the harvesting device performs the harvesting operation based on the power supplied from the power device.

6. The harvester according to any one of claims 1 to 4, wherein the harvesting device has another power device that generates power for performing the harvesting operation separately from the power device of the traveling body.

7. The harvester according to any one of claims 1 to 4, wherein the traveling body is provided with a control device for performing automatic driving.

8. The detaching mechanism has a protruding portion that protrudes upward from the upper part of the traveling body, and an insertion hole into which the protruding portion is inserted is provided in the lower part of the harvesting device. The harvester according to any one of claims 1 to 4.

9. The harvester according to claim 8, wherein the protruding portion is provided so as to be able to protrude and retract with respect to the upper surface of the traveling body.

10. The harvester according to claim 8, wherein the detaching mechanism has a locking mechanism that fixes the traveling body and the harvesting device in a state where the protruding portion is inserted into the insertion hole.

11. The detaching mechanism has a convex portion that bulges upward from the upper surface of the traveling body, and a concave portion into which the convex portion is fitted is provided on the lower surface of the harvesting device. The harvester according to any one of claims 1 to 4.

12. The harvesting machine according to claim 11, wherein the attaching / detaching mechanism has a locking mechanism for fixing the traveling machine body and the harvesting device in a state where the convex portion is fitted into the concave portion.

13. The harvesting machine according to claim 11, wherein the convex portion is configured to be movable up and down, and the convex portion is fitted into the concave portion by the convex portion rising toward the concave portion.

14. The harvesting machine according to any one of claims 1 to 4, wherein the attaching / detaching mechanism has a ridge or a groove extending in the front-rear direction of the traveling machine body, and the harvesting device has a groove into which the ridge of the traveling machine body is slidably inserted, or a ridge that is slidably inserted into the groove of the traveling machine body.

15. The harvesting machine according to claim 14, wherein the attaching / detaching mechanism has a locking mechanism for fixing the traveling machine body and the harvesting device in a state where the ridge is inserted into the groove.

Images