JPS62269616A - Combine - Google Patents
CombineInfo
- Publication number
- JPS62269616A JPS62269616A JP11443286A JP11443286A JPS62269616A JP S62269616 A JPS62269616 A JP S62269616A JP 11443286 A JP11443286 A JP 11443286A JP 11443286 A JP11443286 A JP 11443286A JP S62269616 A JPS62269616 A JP S62269616A
- Authority
- JP
- Japan
- Prior art keywords
- reaping
- ground
- mode
- machine body
- respect
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000007781 pre-processing Methods 0.000 description 20
- 238000005096 rolling process Methods 0.000 description 14
- 238000001514 detection method Methods 0.000 description 5
- 238000005520 cutting process Methods 0.000 description 3
- 238000002203 pretreatment Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 239000011440 grout Substances 0.000 description 1
- 239000010903 husk Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
Landscapes
- Harvester Elements (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
8 発明の詳細な説明
〔産業上の利用分野〕
本発明は刈収般稈の全長を扱室内に投入して脱穀する全
稈投入型及び穂先側だけを扱室内に投入して脱穀する自
説型コンバインであって、方向傾斜にもかかわらす刈取
姿勢を一定に維持でき、かつ、走行機体に対して刈取前
処理装置を機体左右方向にローリング作動可能に構成す
ることによって、機体の左右方向の傾斜にもかかわらず
刈取姿勢を一定に維持できるコンバインに関する。[Detailed Description of the Invention] 8 Detailed Description of the Invention [Field of Industrial Application] The present invention is a full-culm input type in which the entire length of the harvested culm is thrown into the handling chamber for threshing, and a type in which only the tip side is placed in the handling chamber. This is a self-contained combine harvester that inputs and threshes grain, and is capable of maintaining a constant reaping posture despite directional inclination, and is configured so that the reaping pretreatment device can be rolled in the left-right direction of the machine with respect to the traveling machine. , relates to a combine harvester that can maintain a constant reaping posture despite the horizontal inclination of the machine body.
この種のコンバインにおいて、従来は、刈取前処理装置
のローリング作動を行う場合には刈fXlirrJAt
理装置を自由ローリング状態にして地面に常に沿うよう
に構成するのが一般的であった。In this type of combine harvester, conventionally, when performing the rolling operation of the reaping pretreatment device, the reaping fXlirrJAt
It was common to configure the mechanical equipment to be in a free rolling state so that it always follows the ground.
上記のような構成を採る場合に、刈取前処理装置を地面
番こ沿う状態にしか設定できないので、刈取姿勢が限定
されたものになるとともに、圃面が軟い場合には接地反
力が小さく刈取装置が画面内に突入するといった問題も
ある。When adopting the above configuration, the reaping pre-treatment device can only be set to follow the ground, which limits the reaping posture, and when the field surface is soft, the ground reaction force is small. There is also the problem that the reaping device rushes into the screen.
本発明の目的はローリング制御の多様化(自動・手助切
換可能)を図り乍ら、それに対応した刈取前処理装置の
刈取姿勢を任意の姿勢に変更設定でき、刈取装置の圃面
内への突入を防止できるものを提供する点にある。The purpose of the present invention is to diversify the rolling control (automatic/assisted switching is possible), and also to enable the corresponding reaping pretreatment device to change the reaping posture to any desired position, and to allow the reaping device to move into the field. The point is to provide something that can prevent intrusion.
本発明による特徴構成は前記刈取前処理装置を、絶対水
平面を基準にして左右傾斜設定角度に維持する制御、も
しくは対地面を基準にして左右傾斜設定角度に維持する
制御を行う自助モードと、任意に刈取前処理装置の対地
姿勢を切替設定可能な手動モードと、刈取前処理装置を
機体に対して一定の姿勢に維持する保持モードとに切換
可能なモード切換手段を備えである点にあり、その作用
効果は次の通りである。The characteristic configuration according to the present invention includes a self-help mode in which the pre-reaping treatment device is controlled to be maintained at a set horizontal tilt angle with respect to an absolute horizontal plane, or controlled to be maintained at a set horizontal tilt angle with respect to the ground, and an optional self-help mode. The present invention is characterized by comprising a mode switching means capable of switching between a manual mode in which the ground attitude of the reaping pretreatment device can be switched and set, and a holding mode in which the reaping pretreatment device is maintained in a constant attitude with respect to the machine body, Its effects are as follows.
つまり、刈取前処理装置に対してローリング駆動可能な
アクチュエータを設けることによって、センサからの信
号を基に刈取前処理装置の姿勢を任意に変更できる。
したがって、ローリング駆動制御を行う場合には重力式
の傾斜センサを用いてその検出結果を基に刈取前処理装
置の左右傾斜を絶対水平基準面に対して設定角度をこな
るように制御でき、又は、刈取前処理装置の左右端に対
地距離センサを設け、このセンサの検出結果を基に前記
刈取前処理装置の左右傾斜を地面に対して設定角度にな
るように制御でき、何づれの場合にしてもアクチュエー
タを用いて刈取前処理装置を自動的に姿勢制御可能な自
動モード形悪を構築できる。That is, by providing an actuator capable of rolling drive to the pre-reaping treatment device, the attitude of the pre-reaping treatment device can be arbitrarily changed based on the signal from the sensor.
Therefore, when performing rolling drive control, it is possible to use a gravity-type inclination sensor and control the left-right inclination of the reaping pre-processing device based on the detection result so that it is at a set angle with respect to the absolute horizontal reference plane, or Ground distance sensors are provided at the left and right ends of the reaping pre-processing device, and based on the detection results of these sensors, the left and right inclination of the reaping pre-processing device can be controlled to be at a set angle with respect to the ground. It is also possible to construct an automatic mode in which the posture of the reaping pretreatment device can be automatically controlled using an actuator.
又、上記のような自動モード形態に対して、運転者の目
視判断を基に刈取前処理装置の対地姿勢を変更できる手
動モード形態を設けて両者の切換使用が可能であり、手
動モードは自動機器の故障時に有効活用される。In addition, in addition to the automatic mode described above, a manual mode is provided in which the ground posture of the reaping pretreatment device can be changed based on the driver's visual judgment, and it is possible to switch between the two. Effectively used when equipment breaks down.
又、前記保持モードでは刈取前処理装置の機体に対する
姿勢検出センナの検出結果を基に機体に対する姿勢を一
定に維持できるので、例えば、畦際でのに回持や路上走
行時等刈取前処理装置を非作業姿勢に上昇退避させる場
合に、油圧アクチュエータ制御系の油圧リークによる刈
取前処理装置の自然落下及び傾斜姿勢変化現象を防止で
きる。In addition, in the holding mode, the attitude of the pre-reaping treatment device relative to the machine body can be maintained constant based on the detection result of the attitude detection sensor, so that the pre-reaping treatment device can maintain a constant attitude with respect to the machine body, for example, when carrying the machine at the edge of a ridge or when driving on the road. When raising and retracting the machine to a non-working position, it is possible to prevent the reaping pre-treatment device from falling naturally and changing its tilted position due to hydraulic leakage in the hydraulic actuator control system.
その結果、刈取前処理装置の作業姿勢を自動−手動にか
かわりなく任意の姿勢に設定でき、従来のように圃面か
らの接地反力を頼りに姿勢を設定することもないので刈
取装置の圃面への突入といったことを防止し乍ら、刈取
地面の状況に適した姿勢をとることができ、穀稈の刈取
高さを所望の高さに揃えることができるとともに、保持
モードによって、刈取前処理装置の姿勢変更が抑えられ
ているので、畦越え時の転倒防止等安定した走行状態が
得られる。As a result, the working position of the reaping pre-processing device can be set to any position regardless of whether it is automatic or manual, and unlike conventional methods, the working position of the reaping device can be set to any position depending on the ground reaction force from the field surface. It is possible to take a posture suitable for the conditions of the cutting ground while preventing the grain from falling into the surface, and the cutting height of the grain culm can be adjusted to the desired height. Since changes in the attitude of the processing device are suppressed, stable running conditions such as prevention of overturning when going over ridges can be achieved.
第6図に示すように、植立殻稈を掻込むリール式の掻込
み装置(1)、掻込み殻稈を刈取る刈取装置(2)、刈
取穀稈を後方に搬送するベルト式の搬送装置(3)、搬
送された穀稈を刈幅中間部に横送り合流するオーガ式の
合流装置(4)を備えた前処理ヘッド部(6)と、前記
合流装置(4)から受継いだ刈IX穀稈を機体側脱膜装
置(6)に向けて搬送する回転無端帯式の後方搬送装置
t +7+を内装したフィードケース(8)とからなる
刈取前処理装置(9)が、前記フィードケース(8)の
基端を介して走行機体H+o)に対して第2駆動装置と
しての第2油圧シリング(1りで上下揺動部動可能に取
付けられ、全稈投入型コンバインを構成する。As shown in Figure 6, there is a reel-type raking device (1) for raking the planted culm, a reaping device (2) for reaping the raked culm, and a belt-type conveyor for transporting the cut culm backwards. A device (3), a pre-processing head section (6) equipped with an auger-type merging device (4) that traverses and merges the transported grain culms to the middle part of the cutting width, and a pre-processing head section (6) that is inherited from the merging device (4). A reaping pre-processing device (9) consisting of a feed case (8) equipped with a rotary endless belt-type rear conveying device t+7+ for conveying the harvested IX grain culms toward the machine-side membrane removal device (6) is configured to A second hydraulic sill (1) serving as a second drive device is attached to the traveling machine body H+o through the base end of the case (8) so as to be able to swing vertically, thereby configuring a full-culm input type combine harvester.
第5図に示すように、前記合流装置(4)の対応した出
口(5A)は平面視で前処理ヘッド部(I5)の横幅中
心より偏心した位置にあり、それに対応して前記合流装
!!!+41はその出口(5A)tこ対応した位置に刈
取殻稈を集めるべく、左右逆方向に傾斜した螺廚状の送
り歯(4A〕を有する。As shown in FIG. 5, the corresponding outlet (5A) of the merging device (4) is located at a position eccentric from the width center of the preprocessing head portion (I5) in plan view, and the merging device 4 corresponds to the merging device! ! ! +41 has a spiral feed dog (4A) inclined in opposite directions to the left and right in order to collect the cut husk at a position corresponding to the outlet (5A).
前記合流装!(4)からの搬送穀稈を受ける後方搬送装
置(7)は前後一対の伝動軸U″2+ 、 ua間に左
右一対のチェーン(14A) 、 (14B)を架張し
、このチェーン(14A) 、 (14B)に横幅方向
に沿った搬送爪(両を複数個設けて、脱穀装@(6)に
搬送穀稈を送り込むべく構成されている。Said merge outfit! The rear conveyance device (7) that receives the grain culms transferred from (4) has a pair of left and right chains (14A) and (14B) stretched between a pair of front and rear transmission shafts U''2+ and ua, and this chain (14A) , (14B) is provided with a plurality of conveyance claws (both sides) along the width direction, and is configured to send the conveyance grain culm to the threshing device @ (6).
次に、irJ処理処理ピッ1部)のローリング駆動制御
について説明する。Next, rolling drive control of the irJ processing pin 1) will be explained.
第2図ないし第4図に示すように、前処理ヘッド部(I
S’lの下面に断面アングル状の7ランジフレームQη
が固定され、このフランジ7レームOηに対して、前処
理ヘッド部(5)の関口部における横幅方向中央位置に
ローリング支点軸α樽が固着されている。 一方、この
前処理ヘッド部(6)の開口部に対向するフィードブー
ス(8)側の入口(8A)における下面に断面チャンネ
ル状の補強フレーム(IIが固着され、この補強フレー
ム(19)内に前記ローリング支点軸端に相対揺動可能
に外嵌される支点ボス−が取付けられている。As shown in FIGS. 2 to 4, the preprocessing head section (I
7 lunge frame Qη with an angled cross section on the lower surface of S'l
is fixed, and a rolling fulcrum shaft α barrel is fixed to the flange 7 frame Oη at the center position in the width direction at the entrance of the preprocessing head (5). On the other hand, a reinforcing frame (II) having a channel-shaped cross section is fixed to the lower surface of the inlet (8A) on the side of the feed booth (8) opposite to the opening of the pre-processing head (6). A fulcrum boss is attached to the end of the rolling fulcrum shaft and is externally fitted so as to be relatively swingable.
したがって、前記支点ボス(7)をローリング支点軸嗅
鴫に外嵌させて、前記前処理ヘッド部(5)出口(5A
)とフィードブース(8)入口(8A)とを密着対向配
置して、フィードブース(8)に対して前処理ヘッド部
(5)をローリング支点軸心周りにローリング作動可能
である。Therefore, the fulcrum boss (7) is fitted onto the rolling fulcrum shaft, and the outlet (5A) of the pretreatment head (5) is
) and the feed booth (8) inlet (8A) are disposed in close opposition to each other, and the pretreatment head (5) can be rolled around the rolling fulcrum axis relative to the feed booth (8).
一方、この前処理ヘッド部(5)をローリング駆動する
1gl駆動装置として第1油圧シリンダ(21)の取付
構造は、第1油圧シリンダ12υのピストンロンド(2
1A)を取付支持する取付金具(22A)を設けたグラ
グツト(2)が前処理ヘッド部(5)の上面から延出さ
れるとともに、シリンダケース(21B)基端を支持す
る基端ブラケット翰が前記第2油圧シリンダ(1す用取
付ブラケットとしての補強フシームーから立設され、か
つ、前記前処理ヘッド部(6)の横方向重心対応位ti
!!ζ設9L構成されている。On the other hand, the mounting structure of the first hydraulic cylinder (21) as a 1gl drive device for rollingly driving this pre-processing head part (5) is the piston rond (2
A grout (2) provided with a mounting bracket (22A) for mounting and supporting the cylinder case (21B) extends from the upper surface of the preprocessing head (5), and a base end bracket for supporting the base end of the cylinder case (21B) is attached to the A second hydraulic cylinder (installed upright from a reinforcing frame as a mounting bracket for one chair, and located at a position corresponding to the lateral center of gravity of the pretreatment head (6)
! ! It has a 9L configuration.
以上の構成からローリング制御を詳述する。Rolling control will be explained in detail based on the above configuration.
まず、第1図に示すように、フイーグクース(8)上面
に重錘の機体傾斜にかかる作動をボテンシ線ボリーム式
のストロークセンサーを第1油圧シリンダ(2ηに並設
しである。 前記4f!11油圧シリンダ@υへの油圧
回路内には油圧パルプ四が投けられるとともに、この油
圧パルプ四を前記センサw、tnからの信号に基づいて
制御する制御装置−が設けられている。 従って、ポリ
ーム式の傾斜設定器C(旧こよって設定された絶対基準
水平面からの左右傾斜角度になるように、第1油圧シリ
ンダ02m)を駆動制御する。 一方、対地面に対する
ローリング制御形態を説明すると、前記傾斜センf彌の
替りに上下揺動可能な接地センサ例、−を前処理ヘッド
部(6)の左右端に設けることによって、両接地センサ
ー、−の作動をポテンショメータで検出してその検出結
果を前記制御装置(10)に入力して、地面を基準にし
て設定器32での左右傾斜設定角度になるように制御を
行う。 以上のように自動モードとしては二様の形態が
ある。First, as shown in Fig. 1, on the top surface of the Figueg-Kuhs (8), a stroke sensor of the vertical line volume type is installed in parallel with the first hydraulic cylinder (2η) to detect the operation related to the tilting of the weight. Hydraulic pulp 4 is thrown into the hydraulic circuit to the hydraulic cylinder @υ, and a control device for controlling this hydraulic pulp 4 based on the signals from the sensors w and tn is provided. Drive control of the inclination setter C (first hydraulic cylinder 02m so that the left and right inclination angle from the absolute reference horizontal plane that has been set) is as follows.On the other hand, to explain the form of rolling control with respect to the ground, the above-mentioned By providing an example of a ground sensor capable of vertically swinging (-) at the left and right ends of the preprocessing head section (6) instead of the tilt sensor f, the operation of both ground sensors (-) can be detected with a potentiometer and the detection result can be read. The input is input to the control device (10), and the control is performed so that the horizontal inclination angle is set using the setting device 32 with reference to the ground.As described above, there are two types of automatic modes.
上記のような自動モードに封して、前記制御装置?ηか
ら油圧パルプ(ハ)への電気回路内に第1切換スイツチ
Cηを設け、運転者が任意に第1油圧シリンダ(21)
を駆動させて、前処理ヘッド部(5)を所望の姿勢にな
るように手動モード制御可能である。Said control device sealed in automatic mode as above? A first changeover switch Cη is provided in the electric circuit from η to the hydraulic pulp (c), and the driver can arbitrarily switch the first hydraulic cylinder (21).
Manual mode control is possible by driving the preprocessing head (5) to take a desired posture.
保持モード制御について詳述する。 機体側に対する前
処理ヘッド部(6)の左右への傾斜角度を一定にする保
持モードを現出する保持モード設定器側を設け、この保
持モード設定器間からの基準電圧を前記制御装置(10
)に出力して、第1油圧シリンダ圓の作動長を基準設定
長さで固定するようにしである。 この保持モードは例
えば畦際で刈取前処理部(9)を上昇させて立回する場
合に、刈取前処理部(9)の姿勢変化がないので特に有
効である。 そして、保持モードと自動モードとの切換
えは第2切換スイッチ国で行うようにしている。Hold mode control will be explained in detail. A holding mode setter side is provided for displaying a holding mode in which the left and right tilt angle of the preprocessing head section (6) with respect to the machine body is constant, and a reference voltage from between the holding mode setting devices is applied to the control device (10).
) to fix the operating length of the first hydraulic cylinder circle at a reference setting length. This holding mode is particularly effective, for example, when the pre-reaping treatment section (9) is raised and turned at the edge of a ridge, since there is no change in the posture of the pre-reaping treatment section (9). The switching between the holding mode and the automatic mode is performed using the second changeover switch.
以上のように両切換スイッチ3η1国をモード切換手段
Cすと称する。As described above, the two changeover switches 3η1 are referred to as mode changeover means C.
次に、前処理ヘッド部(6)昇降用第2油圧シリンダ(
11)に対しては手助操作式制御パルプ四を設け、運転
者の目視判断で前処理ヘッド部(5)を昇降作動させて
任意の姿勢に設定可能である。Next, the second hydraulic cylinder for elevating the pretreatment head (6) (
For 11), an auxiliary operating type control pulp 4 is provided, and the pretreatment head (5) can be raised and lowered to set an arbitrary posture based on the driver's visual judgment.
■ 傾斜セン″y″弼としては重力を利用するものであ
ればその形態は問わない。■ The form of the tilt sensor "y" does not matter as long as it utilizes gravity.
@ 自動モードで対地センサN、Hの替りに起音波セン
サ等の非接触式センナを用いてもよい。@ In automatic mode, a non-contact sensor such as a sonic wave sensor may be used instead of the ground sensors N and H.
O機体+10)に対するローリング作動は前処理装置1
t(91全体が作動するようにしてもよい。Rolling operation for O aircraft +10) is performed by preprocessing device 1.
t (the entire 91 may be activated.
図面は本発明に係るコンバインの実施例を示し、@1図
は全体の制御構成図、第2図はローリング駆動シリンダ
の取付状態を示す側面図、第8図は前処理ヘッド部とフ
ィーダケースとの接続構造を示す側面図、34図は前処
理ヘッド部とフィーダケースとの接続構造を示す横断背
面図、第5図は前処理ヘッド部とフィーダケースとの接
続構造を示す横断平面図、第6図は刈取前処理装置を示
す側面図である。
(9)・・・・・・刈取前処理装置、+101・・・・
・・走行機体、3υ・・・・・・モード切換手段。
代理人 弁理士 北 村 修
第 1 図
j
第5図
4AThe drawings show an embodiment of the combine harvester according to the present invention, with Fig. 1 showing the overall control configuration, Fig. 2 a side view showing the mounting state of the rolling drive cylinder, and Fig. 8 showing the preprocessing head section and feeder case. 34 is a cross-sectional rear view showing the connection structure between the pre-processing head and the feeder case, FIG. 5 is a cross-sectional plan view showing the connection structure between the pre-processing head and the feeder case, and FIG. FIG. 6 is a side view showing the pre-reaping treatment device. (9)...Reaping pre-treatment device, +101...
...Traveling body, 3υ...Mode switching means. Agent Patent Attorney Shudai Kitamura 1 Figure j Figure 5 4A
Claims (1)
作動可能にかつ機体左右方向にローリング作動可能に取
付けてあるコンバインであつて、前記刈取前処理装置(
9)を、絶対水平面を基準にして左右傾斜設定角度に維
持する制御、もしくは対地面を基準にして左右傾斜設定
角度に維持する制御を行う自動モードと、任意に刈取前
処理装置(8)の対地姿勢を切替設定可能な手動モード
と、刈取前処理装置(9)を機体(10)に対して一定
の姿勢に維持する保持モードとに切換可能なモード切換
手段(31)を備えてあるコンバイン。This is a combine harvester in which a reaping pretreatment device (9) is attached to a traveling machine body (10) so that it can be moved up and down and can be rolled in the left and right direction of the machine body.
9), an automatic mode that maintains the left and right slope at the set angle with respect to the absolute horizontal plane, or a control that maintains the left and right slope at the set angle with the ground relative to the ground, and optionally the pre-reaping treatment device (8). A combine machine equipped with a mode switching means (31) capable of switching between a manual mode in which the ground attitude can be switched and a holding mode in which the pre-reaping treatment device (9) is maintained in a constant attitude with respect to the machine body (10). .
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP11443286A JPS62269616A (en) | 1986-05-19 | 1986-05-19 | Combine |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP11443286A JPS62269616A (en) | 1986-05-19 | 1986-05-19 | Combine |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS62269616A true JPS62269616A (en) | 1987-11-24 |
Family
ID=14637568
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP11443286A Pending JPS62269616A (en) | 1986-05-19 | 1986-05-19 | Combine |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS62269616A (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008212040A (en) * | 2007-03-02 | 2008-09-18 | Kubota Corp | Lift control device for reaping of reaping harvester |
JP2008237147A (en) * | 2007-03-28 | 2008-10-09 | Kubota Corp | Reaping portion elevating controller of reaping harvester |
JP2008237146A (en) * | 2007-03-28 | 2008-10-09 | Kubota Corp | Reaping portion elevating controller of reaping harvester |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6087711A (en) * | 1983-10-19 | 1985-05-17 | 井関農機株式会社 | Combine |
-
1986
- 1986-05-19 JP JP11443286A patent/JPS62269616A/en active Pending
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6087711A (en) * | 1983-10-19 | 1985-05-17 | 井関農機株式会社 | Combine |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008212040A (en) * | 2007-03-02 | 2008-09-18 | Kubota Corp | Lift control device for reaping of reaping harvester |
JP2008237147A (en) * | 2007-03-28 | 2008-10-09 | Kubota Corp | Reaping portion elevating controller of reaping harvester |
JP2008237146A (en) * | 2007-03-28 | 2008-10-09 | Kubota Corp | Reaping portion elevating controller of reaping harvester |
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