JP2001178237A - Ascending and descending control device for reaping in reap harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a reap harvester, capable of continuing the good reaping work while avoiding the thrusting into the ground and moreover in a state of not changing reaping height widely by surely ascending the height relative to the ground of its reaping part in a suitable ascending amount. SOLUTION: This ascending and descending control device is constituted by installing the reaping part 2 equipped with the weed-separating tool for separating and guiding the planted stems and leaves at the lower part of its tip end, as freely ascending and descending against a traveling machine frame with a hydraulic cylinder CY, an ascending and descending control means 14 for controlling the action of the hydraulic cylinder CY, a contact with the ground-detecting sensor S4 for detecting whether the weed-separating tool makes a contact with the ground, and a height relative to the machine frame sensor S3 for detecting the ascended position of the reaping part relative to the traveling machine frame, and performing the forced ascending treatment for actuating the hydraulic cylinder CY based on the detected information from the height relative to the machine frame sensor S3 for ascending the reaping part by a set amount from the ascended position in accordance with the detection of the state of making a contact with the ground.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mowing unit provided with a weeding tool for guiding weeding of a planted stem and stem at a lower part of a tip thereof. The present invention also relates to a reaping and raising / lowering control device of a reaper having a raising / lowering control means for controlling the operation of the raising / lowering operation means.

[0002]

2. Description of the Related Art In a reaper, it is necessary to avoid a problem in which a weeder sticks into the ground during the reaping operation due to unevenness of the ground and pitching of the body. For this reason, conventionally, for example, as shown in JP-A-64-30507, a pressure-sensitive detecting means for detecting that the weeding implement is grounded is provided, and this detecting means is provided for the weeding implement. There has been a configuration in which when a touchdown is detected, the mowing part is controlled to operate by operating the elevating operation means for a certain period of time.

[0003]

The prior art as described above may not be able to reliably prevent the weeding implement from plunging into the ground, and there is room for improvement.

[0004] In addition, in the reaper,
Even when raising the cutting part to prevent the weeding implement from sticking into the ground, at that time, the cutting height is desired if the rising amount is too large because the cutting of the stem is being cut. The height of the mowing part in the above-described lifting operation needs to be raised by an amount that can avoid the penetration of the weeding implement into the ground as described above since the disadvantage that the height of the mowing part greatly deviates from the height of the cutting part is generated. It is considered better not to be too large. In other words, by reliably raising the ground height of the mowing portion by an appropriate amount, it is possible to continue good mowing work while avoiding rushing and in a state where the mowing height does not largely change.

When the detecting means detects that the weeding implement touches the ground, the raising and lowering means is raised for a certain period of time, as in the prior art described above. Due to the difference in the operation amount per unit time, there is a possibility that the raising operation amount of the reaping unit may have a different value. For example, if a hydraulic cylinder is used as the lifting / lowering operation means, the unit may be different depending on a difference in operating conditions such as a change in the rotational speed of an engine driving the hydraulic pump or a difference in viscosity of hydraulic oil due to a change in outside air temperature. The amount of operation per hour may be different. as a result,
If the raising operation amount of the mowing unit is too small as compared with the appropriate raising amount as described above, even if such a raising operation is performed, due to a shortage of the raising amount, it is repeatedly present in the subsequent harvesting work. The ground contact state of the weeding implement will be frequently detected due to the unevenness of the ground that will be, and each time the above-described climbing operation is repeated, there is a possibility that it will not be possible to effectively avoid plunging into the ground,
In addition, if the amount of raising operation of the mowing part is too large as compared with the above-described appropriate amount of raising, there is a possibility that disadvantages such as the cutting height greatly deviating from a desired height may be caused.

The present invention has been made in view of such a point, and an object of the present invention is to surely raise the ground height of a reaping portion by an appropriate amount, thereby avoiding rushing to the ground. Moreover, it is an object of the present invention to provide a harvester and a harvester capable of continuing a good harvesting operation in a state where the cutting height does not largely change.

[0007]

According to the first aspect of the present invention, the cutting section provided with a weeding tool for guiding the planted stalk culm at the lower end of the stalk is driven by the lifting operation means. In a cutting and raising and lowering control device of a reaper, which is provided so as to be capable of ascending and descending operation with respect to the machine body and which is provided with ascending and descending control means for controlling the operation of the ascending and descending operating means, the weeding implement is in a ground contact state in contact with the ground. Ground state detecting means for detecting
And lifting / lowering position detection means for detecting a lifting / lowering position of the reaping unit with respect to the traveling machine body, wherein the lifting / lowering control means detects the grounding state by the grounding state detection means. Is configured to execute a forced ascending process of operating the elevating operation means based on the detection information of the elevating position detecting means so as to raise the traveling body from the elevating position by a set amount.

When the contact state detecting means detects that the weeding implement is in a contact state with the ground, the cutting unit is raised accordingly. At this time, the traveling body of the cutting unit is moved. The lifting / lowering operation means is operated to raise the mowing unit with respect to the traveling body by a set amount from the lifting / lowering position based on detection information of the lifting / lowering position detecting means for detecting the vertical position with respect to the moving body. In other words, while detecting not the distance between the mowing unit and the ground, but the vertical position with respect to the traveling machine, the mowing tool provided at the lower end of the mowing unit is mowing so that the weeding implement provided at the lower end of the mowing unit rises from the position where it actually touches the ground. Since the section is raised, it is possible to reliably raise the reaping section by the set amount based on the detection information of the position at which the section is moved up and down with the traveling machine.

Therefore, for example, the actual amount of rise of the reaping unit does not change due to a difference in the operating conditions of the actuator, etc. The mowing makes it possible to reliably raise the height by an appropriate amount, and to avoid rushing into the ground, and to continue good mowing work without significantly changing the mowing height. A harvester could be provided.

According to a second aspect of the present invention, in the first aspect, after the elevation control unit starts the forced ascent process, the forced elevation process is performed regardless of the detection result of the ground state detection unit. The forced ascending process is executed until the ascending process is completed. In other words, after the forced ascent process is started and before the forced ascent process is completed, even if the ground state is not detected by the ground state detecting means, the process is continued without stopping until the process is terminated. Will continue. As a result, regardless of the detection state of the grounding state detecting means, the mowing unit can be reliably raised by the set amount. For example, the rising amount is insufficient and the grounding state is repeatedly and frequently detected. There is no disadvantage that the ascending operation is repeatedly performed or the cutting height becomes unstable, so that a stable cutting operation can be performed.

According to a third aspect of the present invention, in the first or second aspect, in the forcible raising process, the lift amount actually raised by the raising of the reaping unit is increased by the set amount. The lifting operation speed of the lifting operation means is controlled so that the lifting speed of the reaping unit decreases as the amount approaches. Therefore, when the forced ascent process is performed, the ascending speed is slowed down as the actual ascent amount of the mowing part approaches the set ascent amount, so that the actual ascent amount reaches the set ascent amount and the ascent operation is stopped. And the vibration of the traveling machine body associated with the shock is reduced to a small value, so that it is possible to easily avoid the disadvantage that the riding comfort in the driving unit is reduced.

According to a fourth aspect of the present invention, in any one of the first to third aspects, a ground height detecting means for detecting a ground height of the reaper is provided, and the elevation control means comprises: Configured to execute a lifting process for operating the lifting operation means based on the detection information of the ground height detecting means, so as to maintain the ground height of the reaper at a set ground height, The forced ascending process is configured to be executed prior to the ascent / descent process.

[0013] That is, by executing the lifting process,
The ground height of the reaper is detected by the ground height detecting means, and the elevation operation means is operated so that the ground height is maintained at the set ground height. Therefore,
In a state where there is little unevenness and a flat ground continues, by performing this elevating process, the mowing operation can be performed in a state where the ground height of the mowing portion, that is, the mowing height is stable. Then, in the case where there is unevenness on the ground and the weeding tool touches the ground, by executing the forced ascent processing in preference to such ascent and descent processing, it is ensured that no excess or deficiency occurs. In this state, by raising the mowing part by the set amount, while avoiding plunging into the ground,
Good cutting work can be continued in a state where the cutting height does not change significantly.

According to a fifth aspect of the present invention, in any one of the first to fourth aspects, the weeding implement is elastically supported at an appropriate weeding position and is capable of being independently displaced upward. The contact state detecting means is configured to detect, as the contact state, that the weeding implement has been displaced upward from the appropriate weeding position.

That is, when the weeding implement touches the ground, the weeding implement is independently displaced upward from the state where it is elastically supported at the appropriate weeding position. Then, the contact state detecting means detects, as the contact state, that the weeding implement has been displaced upward from the proper weeding position. Therefore, by using the weeding tools provided for guiding the planted stems as weeds as detecting means, it is possible to accurately detect the contact state of the weeding tools and to detect the contact state. Therefore, the configuration can be simplified as compared with a case where a dedicated grounding member is provided.

According to a sixth aspect of the present invention, in the fifth aspect, the supporting means for elastically supporting the weeding tool at the appropriate weeding position is provided such that its elastic supporting force can be changed and adjusted. I have.

For example, when the ground is hard, the elastic support force can be changed to a large side so that the contact state can be accurately detected by adjusting the elastic support force to a large side, and the weeder is supported by the strong elastic support force. It does not fluctuate up and down due to the vibration of, and the position is reliably held at the appropriate weeding position. When the ground is soft, the elastic support force is changed and adjusted to a small side, so that the ground contact state can be detected as accurately as possible. When the ground is soft, the vibration of the body is less likely to occur than in the case where the ground is hard, and there is little possibility that the weeding implement will fluctuate due to the vibration of the body.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a reaper according to the present invention will be described with reference to the drawings. FIG. 1 shows a side view of the front side of a combine as a reaper, and FIG. 2 shows an overall plan view of the combine. In this combine, a cutting unit 2 that cuts planted grain culms and transports the cut grain culms rearward is provided at a front portion of a traveling machine body V that includes a pair of right and left crawler traveling devices 1L and 1R and is configured to be able to travel. It is provided so as to be able to move up and down, and is provided with a threshing device 3 for threshing the harvested culm, a Glen tank 4 for storing threshed grains, a boarding operation unit 5, and the like at the rear side of the traveling machine body V.

The cutting section 2 includes four weeding tools 6 for sorting and planting the planted grain culms of the target number of cuts (three) out of the plurality of planted stems and culms, a planted grain culm. , A clipper-type cutting device 8 that cuts the stem side of the raised cereal stem, and a vertical transporter that gradually rearranges the cut culm to a sideways-down posture. It is constituted by a transport device 9 and the like, and is pivotally supported so as to be able to vertically move and swing around the horizontal axis X1 with respect to the machine body. The reaping unit 2 is configured to be driven up and down by an expansion and contraction operation of a hydraulic cylinder CY as an up and down operation means.

A stock sensor for judging whether or not the cutting unit 2 is in a cutting operation state by detecting whether or not a cut grain culm is present at a transfer entrance portion of the vertical transfer device 9. S
0 is provided. Further, an ultrasonic sensor S1 as a non-contact type ground height detecting means for detecting a ground height is provided at a position behind the right end weeding tool 6R located on the rightmost side in the vehicle body width direction among the plurality of weeding tools. Is provided. The ultrasonic sensor S1 is mounted on a cutting frame 12 provided to support the right end weeding tool 6R, the raising device 7, and the like, and an ultrasonic transmitter 10 that transmits ultrasonic waves downward.
And an ultrasonic receiver 11 for receiving ultrasonic waves reflected on the ground. The ultrasonic transmitter 10 transmits ultrasonic waves, and then receives a reflected wave reflected on the ground. Vessel 1
It is configured in a non-contact manner so as to detect the height to the ground by measuring the elapsed time until 1 is received.

In addition, the reception of the ultrasonic wave is determined to be "reception" on condition that the reception intensity is greater than a set intensity (threshold). The set intensity is set to a large value close to the maximum value until a predetermined time immediately after transmission elapses, for the purpose of avoiding erroneous detection due to the fact that 11 receives a direct wave from the transmitter 10. And is configured to gradually decrease with the passage of time thereafter. Therefore, the ultrasonic sensor S1 is configured not to be determined to be "received" when the ultrasonic reflection target is very far or extremely close. The ultrasonic sensor is configured to output a detection value of the ground height of the reaper 2 every 20 ms (set sampling cycle).

As shown in FIG. 2, the weeding tools 6L, 6L at the left end and the weeding tools 6R at the right end located at both ends in the lateral direction of the vehicle body respectively have weeding tools 6L, 6L, Grounding detection sensors S4 and S4, which will be described later, are provided as grounding state detecting means for detecting whether or not the 6R is in a grounding state in contact with the ground. That is, each of the weeding tools 6L, 6R
Is elastically supported at the proper weeding position and is configured to be freely displaceable to the ascending side independently, and the grounding detection sensor S4 detects that the weeding tool has been displaced upward from the proper weeding position as the grounding state. It is configured to be. A supporting means for elastically supporting the weeding tool at the appropriate weeding position is provided so as to be able to change and adjust the elastic supporting force.

The left weeding tool 6L and the right weeding tool 6
Since the respective R elastic supporting structures are the same, only the supporting structure of the left-most weeding tool 6L will be described below,
The description of the support structure of the right weeding tool 6R is omitted. As shown in FIGS. 4 and 5, in a state where the weeding tool 6L is held at a proper weeding position, and the weeding tool 6L is displaced upward from the proper weeding position. An elastic support mechanism DK is provided as the support means for elastically supporting the weeding implement 6L so as to be rotatable with respect to the cutting frame 12 in a possible state. The elastic support mechanism DK
Is an engagement support portion 21a having a substantially U-shaped cross section and an opening portion facing downward, and a vertical plate portion extending from the engagement support portion 21a toward the front side of the vehicle body. 2
1b, and a supporting boss 22 formed on the rear side of the supporting body 21 and the engaging support 2 of the supporting body 21.
And a pivot support member 23 connected to be in contact with the inner surface on the upper side of 1a. The pivot boss 22 of the pivot member 23 is connected to the reaping frame 12.
Is connected to a support bracket 24 which is welded and fixed by a horizontal pivot pin 25. Further, a connecting plate 26 integrally connected to the rear side of the weeding tool 6L is bolted to the front end of the supporter body 21 so that the weeder 6L is connected to the supporter body 21.
Are integrally connected. Accordingly, the weeding tool 6L is pivotally connected to the cutting frame 12 so as to be vertically rotatable around the axis X2 of the pivot pin 25.

The engaging support portion 21a is provided on the cutting frame 1
2 is received and supported in a state of being covered from above, and is urged downward by a coil spring 27. That is, the coil spring 27 is externally fitted to the adjustment bolt 29 that is screwed to the mowing frame 12 while passing through the insertion hole 28 formed in the engagement support portion 21a. It is configured to be elastically biased downward. Engagement support 2
1a is received and regulated by the receiving portion 12a fixed to the mowing frame 12, so that the position is regulated in the received state, and at this time, the weeding tool 6L is held in a state where it is in an appropriate weeding position. Become. By rotating the adjustment bolt 29 by manual operation, the elastic biasing force of the coil spring 27 downwardly of the weeding implement 6L can be changed and adjusted. For example, the elastic biasing force can be changed and adjusted according to the degree of hardness and softness of the field.

At a position on the rear side of the fuselage with respect to the elastic support mechanism DK, a vertical frame 30 fixedly extended from the mowing frame 12 to support the raising device 7 is provided.
A ground detection sensor S4 as the ground detection means is mounted and supported via a bracket 31 in a fixed position. The ground detection sensor S4 is provided with the detection operation piece 3
2 is installed so as to be urged downward and displaceable in the vertical direction, and is turned on when the detection operation piece 32 is protruding downward, and the detection operation piece 32 is turned on. The switch is configured to be turned off when pushed upward. The pivot member 2
3 has a contact portion 33 acting on the detection operation piece 32,
It is integrally provided in a state extending toward the rear side from the rotation axis X2.

As shown in FIG. 4, when the weeding implement 6L is at the proper weeding position,
The detection operation piece 32 is brought into contact with the detection operation piece 32 and pressed to maintain the ground detection sensor S4 in the off state. Weeding tools 6L
When the ground contact is made, the contact portion 33 is rotated downward to release the pushing operation of the detection operating piece 32 as shown in FIG. Then, the ground detection sensor S4 is switched to the ON state. In this manner, the ground contact state of the weeding implement 6L can be detected. Although not shown,
The right end weeding tool 6R is also supported by a similar elastic support mechanism, and a grounding detection switch S4 having the same configuration is provided.

Next, a control configuration for raising and lowering the mowing unit 2 will be described. As shown in FIG. 3, the hydraulic cylinder CY is a single-acting cylinder, and is provided with a hydraulic pump P driven by an engine mounted on the hydraulic cylinder CY.
In the middle of the hydraulic oil supply passage 18 for Y, the hydraulic cylinder CY
A three-position switching type electromagnetically operated ascending control valve V1 is provided for switching the supply state of the hydraulic oil to the hydraulic pump to a raised position, a neutral stop position, and a supply position to other hydraulic devices. Then, an orifice 20 for passing the pressure oil, a discharge position for discharging the pressure oil, and a stop position for stopping the discharge of the pressure oil are switched to a drain oil passage 19 branched in parallel from the middle of the pressure oil supply passage 18.
And a position switching type lowering control valve V2. Each of the ascending control valve V1 and the descending control valve V2 is configured to be switched by a control device 14 as an example of an ascending and descending control means including a microcomputer.

The hydraulic cylinder CY is configured so that the operation speed can be changed and adjusted. That is, in a state where the ascending control valve V1 is switched to the ascending position,
Switching the lowering control valve V2 to the stop position results in a high ascending speed, and switching the lowering control valve V2 to the discharging position results in a low speed ascending speed. The driving state of the lowering control valve V2 is switched between the discharging position and the stopping position. The state is repeated every short time, that is, so-called duty control is executed, and the duty ratio is changed and adjusted, so that the change can be appropriately changed and adjusted at an intermediate rising speed. When the descending control valve V2 is switched to the stop position while the ascending control valve V1 is switched to the neutral stop position, the ascending and descending stop state is achieved. By performing the above-described duty control and changing and adjusting the duty ratio, V2 can be appropriately changed and adjusted at an intermediate descending speed. Therefore, the operating speed of the hydraulic cylinder CY can be changed and adjusted in each of the raising operation and the lowering operation.

The boarding operation unit 5 has a ground height control on / off switch SW that can be switched between an on state in which the raising and lowering control of the reaping unit 2 as described later is executed and an off state in which the control is not executed.
3. The switch SW5, which can be freely switched between an on state in which the forcing process of the reaping unit 2 to be described later is performed and an off state in which the process is not performed, and a set height of the reaping unit 2 during the reaping operation. Height setting device 15, a raising / lowering lever 16 for raising / lowering the reaping unit 2 based on manual operation, a raising switch SW1, which is turned on when the raising / lowering lever 16 is operated from a neutral position to a raising position, and a raising / lowering lever 1
DOWN switch SW that turns on when MAN is moved to DOWN position
2. Each of the lifting command switches SW4, which is located above the grip portion 16a of the lifting lever 16 and is pushed by the thumb, is provided, and the detection information of the switches SW1 to SW5 and the cutting height setting device 15 are provided. Is configured to be input to the control device 14. In addition, stock switch S
0 and the detection results of the ground detection sensors S4 and S4 are also input to the control device 14.

A potentiometer type body height sensor S3 is provided at a rotation fulcrum of the reaping unit 2 with respect to the machine body, as a lifting / lowering position detecting means for detecting a vertical position of the reaping unit 2 with respect to the traveling machine body. The detection information of the sensor S3 is also input to the control device 14.
The traveling drive system for the crawler traveling devices 1L and 1R is provided with a rotational speed sensor S2 for detecting the rotational speed of the traveling output shaft, and the control device 14 determines the current traveling vehicle speed and traveling based on the rotational speed information. The distance is calculated by calculation. Therefore, the rotation speed sensor S2 constitutes a vehicle speed detecting means of the vehicle body.

If the ground height control on / off switch SW3 is turned on, the control device 14 sets the ground height of the reaper 2 to the ground height based on the detection information of the ultrasonic sensor S1. The ground height control (an example of a lifting process) for controlling the hydraulic cylinder CY is performed so that the target ground height set by the height setting device 15 is achieved, and the ground height control on / off switch SW3 is configured. If the is operated in the off state, the ground height control is stopped. still,
At the start or end of the reaping operation, if there is a command of the lifting lever 16 to raise and lower the reaper 2 preferentially based on the command of the lifting lever 16, the manual lifting operation based on the command of the lifting lever 16 is performed on the ground. It is configured to be executed prior to the height control, and furthermore, by pressing the elevation command switch SW4, the cutting unit 2 is moved to a low position for the cutting operation and a high position close to the maximum ascent position. Can be alternately moved up and down. That is, when the lifting / lowering command switch SW4 is pressed (when a lifting command is issued) while the reaping unit 2 is detected to be at the low position for the reaping operation by the detection value of the anti-machine height sensor S3, the reaping is performed. When the cutting unit 2 is automatically moved up to a height close to the maximum ascending position and the reaping unit 2 is detected to be at a high position by the detection value of the anti-machine height sensor S3. Is pressed (a lowering command is issued), the mowing unit 2 is lowered to a lower position for mowing work. or,
When the lowering command is issued in a state where the elevation control ON / OFF switch SW3 is set to ON, the processing shifts to ground height control based on the detection information of the ultrasonic sensor S1.

If the forcible on / off switch SW5 is turned on, the control unit 14 controls the cutting section as the grounding detection sensors S4 and S4 detect the grounding state. The hydraulic cylinder CY is actuated based on the detection information of the anti-aircraft height sensor S3 so that the hydraulic cylinder CY is raised by a set amount from the vertical position with respect to the traveling airframe. When the forced rise on / off switch SW5 is operated to be in the off state, the forced rise control is stopped. After the start, each of the ground detection sensors S
4, the processing is executed until the forced ascending control ends, regardless of the detection result of S4.
In the forcible raising control, the raising operation speed of the hydraulic cylinder CY is controlled so that the raising speed of the cutting unit 2 is slowed down as the actual lifting amount that actually raises the cutting unit 2 approaches the set lifting amount. It is configured.

Next, the control operation of the control device 14 for raising and lowering the mowing section will be described with reference to the flowchart of FIG. When the grounding state is detected by each of the grounding detection sensors S4 and S4 while the forcible on / off switch SW5 is operated to the off state, the alarm buzzer 34 is operated to give the operator a forcible on / off switch. A warning is given that SW5 is not turned on (steps 1, 3,
4). In this way, even if the operator forgets to turn on the forcible on / off switch SW5, he can be warned of that. Note that such a warning operation may be performed only at the time of the first ground detection at the start of the work, and may not be performed thereafter. If the forcible on / off switch SW5 is operated to the on state, the grounding state is detected by the grounding detection sensors S4 and S4. At this time, manual lifting control or ground height control is performed. If the raising / lowering operation of the reaping unit has been executed, the raising / lowering operation is stopped, and a forced ascent control as described later is executed (steps 2, 5, and 6).

In a state where the grounding state is not detected by the grounding detection sensors S4 and S4, the elevation switch SW1 or the down switch SW2 is turned on by operating the elevation lever 16 to manually instruct elevation. Then, the hydraulic cylinder CY is operated on the basis of the command to execute the raising / lowering operation of the reaping unit 2 (steps 7 and 8). If manual lifting has not been instructed, the lifting operation is stopped (step 9). If the down command by the up / down command switch SW4 is issued while the up / down control ON / OFF switch SW3 is set to ON, or if the reaping unit 2 is at a low position for reaping work, an ultrasonic wave is used. A ground height control based on the detection information of the sensor S1 is executed (Steps 10, 11,
12, 13).

This ground height control is performed as shown in FIG.
The ultrasonic sensor S1 detects the ground height of the reaper 2 and
A deviation between the detected ground height and the target ground height set by the cutting height setting device 15 is obtained (steps 130 and 13).
1). Then, the cutting height deviation is not within the control dead zone and the deviation is positive, that is, if the detected ground height is lower than the target ground height, the cutting unit is lowered, and the cutting height deviation is not within the control dead zone and the deviation is negative, That is, if the detected ground height is higher than the target ground height, the hydraulic cylinder is moved up so that the mowing unit 2 is raised and lowered so that the mowing unit 2 is stopped so that the mowing unit 2 is stopped if the cutting height deviation is within the control dead zone. The operation of the CY is controlled (steps 132 to 136). During the reaping work,
By executing the ground height control, the cutting height of the planted stem and culm by the cutting unit 2 is maintained at the set value, and a good cutting operation can be continued.

Regardless of whether or not the lifting operation by the manual lifting control or the ground height control as described above is performed, each of the grounding is performed when the forced lifting on / off switch SW5 is operated to the on state. When at least one of the detection sensors S4 and S4 detects the ground contact state of the weeding implement, a forced ascending control is performed to raise the cutting unit 2 from the ascending / descending position of the traveling machine body by a set amount (step 6).

Next, the forcible rise control will be described with reference to the flowchart of FIG. First, based on the detection information of the anti-aircraft height sensor S3, the ground height H0 of the reaper 2 when the touch is detected with respect to the traveling airframe V is detected (step 61). When the ground contact is detected, it is determined whether or not the lowering operation of the cutting unit 2 by the hydraulic cylinder CY is being performed, and the amount of the upward operation is changed according to the determination result. Specifically, for example, as shown in FIG. 10, if the descending operation is being performed, the ascending operation amount a1 is set to be larger than the ground contact height H0.
(E.g., 5 cm) is set as the ascending target position H1. If the ascending / descending operation is not being performed and the ascending / descending operation is not being performed during the descending operation, as shown in FIG. The height of the anti-aircraft unit obtained by adding the ascending operation amount a2 (for example, 3 cm) smaller than the ascending operation amount a1 to the height H0 is set as the ascending target position H1 (step 62,
63, 64). Next, the hydraulic cylinder CY is operated to move the reaping unit 2 until the detected body height Hx sequentially detected by the body height sensor S3 reaches the ascending target position H1 set as described above. The ascending operation for ascending is executed, and when the detected height Hx reaches the ascending target position H1, the ascent operation is stopped (steps 65, 66, 67).
Return to step 1.

As described above, when the ground contact state of the weeding implement is detected, the process does not return to step 1 until the forced ascent control is completed. Regardless of the detection results of the sensors S4 and S4, the process is executed until the forced ascent control ends. When performing the ascent operation, FIG.
0, as shown in FIG. 11, at the start of the ascent operation, the ascent operation speed is set to the maximum speed, and when the deviation between the detected height Hx and the ascent target position H1 is equal to or less than the set amount, The duty ratio in the duty control for the descending control valve V2 is changed in a state in which the ascending control valve V1 is switched to the ascending position so that the ascending speed of the reaper becomes slower as the detected height Hx approaches the ascending target position H1. It is configured to control the ascending operation speed by the hydraulic cylinder CY by adjusting. FIG. 10 illustrates a case where the descending operation based on the manual operation is performed until just before the touchdown, and the descending operation is executed at the maximum speed.

As described above, when the weeding implement is in contact with the ground, it is possible to surely raise the reaping unit in a proper amount without excess or deficiency based on the detection information of the height of the anti-aircraft body. It is possible to prevent the sneaking into the soil beforehand, and it is possible to continue a good mowing operation in a state where the mowing height does not largely change.

[Other Embodiments] Other embodiments will be listed below.

(1) In the above embodiment, the support means (elastic support mechanism) for elastically supporting the weeding tool at the appropriate weeding position is provided so as to be capable of changing and adjusting the elastic support force. However, the present invention is not limited to such a configuration, and a configuration in which elastic support is always performed with a constant elastic support force may be employed.

(2) In the above-described embodiment, in the forcible ascent process, the ascending speed of the reaper is decreased as the actual ascending amount of the actually raised reaping unit approaches the set ascending amount. As an example of a configuration for controlling the lifting operation speed of the hydraulic cylinder, at the start of the lifting operation, the lifting operation speed is set to the maximum speed, and the detected height Hx
When the deviation between the target position and the ascending target position H1 becomes equal to or less than a set amount, the ascending operation speed by the hydraulic cylinder CY is controlled so that the ascending speed of the reaping unit becomes slower as the detected height Hx approaches the ascending target position H1. Although the configuration has been illustrated, the present invention is not limited to such a configuration, and for example, control may be performed as follows.

At the start of the ascent operation, the ascending operation speed is set to the maximum speed, and immediately thereafter, the operation speed is gradually reduced so that the operation speed becomes smaller as the deviation becomes smaller. It may be configured to control. Alternatively, instead of such a configuration, a configuration may be employed in which the vehicle is always raised at a constant speed during the above-described lifting operation. At that time, in order to prevent the insertion of the weeding implement, the higher the speed, the better. However, the speed is not limited to the maximum speed but may be an intermediate speed.

(3) In the above embodiment, it is determined whether or not the descending operation is being performed according to the state of the ascending and descending operation when the ground contact state of the weeding implement is detected. The amount of rise of the reaping unit in the forced ascent process is changed, but is not limited to such a configuration.
It is also possible to adopt a configuration in which the same set amount is always forcibly raised.

(4) In the above embodiment, the configuration in which the grounding detection sensors are respectively provided corresponding to the weeding tools on both the left and right sides is exemplified. However, the present invention is not limited to such a configuration. Grounding any one of the weeding tools, such as detecting only the grounding state, detecting only the grounding state of the right weeding tool, or detecting only the grounding state of the weeding tool located at the center. As a configuration for detecting the state, a configuration may be adopted in which the forced ascent process is executed when the grounding state of the weeding implement is detected. Alternatively, a configuration may be adopted in which all the grounding states of three or more weeding tools are detected, and when the grounding state of any one of the weeding tools is detected, the forced ascent process is executed.

(5) In the above embodiment, the weeding device is elastically supported at an appropriate weeding position, and is configured to be independently displaceable to the ascending side. Although the configuration in which the upward displacement from the appropriate weeding position is detected as the ground contact state is exemplified, the present invention is not limited to such a configuration, and may be configured as follows.

For example, as shown in FIGS. 12 to 18, the weeding tool 6 is integrally connected to the mowing frame 12 in a fixed state, so that the lower end position is slightly smaller than the lower end position of the weeding tool 6. A dedicated grounding detector 40 is provided which is elastically supported in a standby posture protruding downward only and is independently displaceable to the ascending side. The grounding detector 40 is grounded and displaced upward from the standby posture. Then, a ground detection sensor S4 similar to the ground detection sensor in the embodiment may be provided and configured to detect the ground state. However, the determination of the condition of the grounding state for turning on or off the grounding detection sensor S4 is opposite to that in the above embodiment. As shown in FIG. 15, the grounding detection body 40 is supported by the mowing frame 12 so as to be vertically swingable about a horizontal axis X3 on the rear side of the machine body by a swing arm 41, and is similar to the elastic support mechanism of the above-described embodiment. In addition, as shown in FIG. 16, the coil spring 42 elastically urges the coil spring 42 downward, and as shown in FIG. The restricting portion 44 restricts further downward rotation in the standby posture, and is provided so as to be capable of being independently displaced upward by a ground contact state. As shown in FIG. 18, the grounding detector 40 is configured to slide up and down while sliding on the left and right sides of the mowing frame 12 to restrict the lateral movement. Then, as shown in FIG. 14, when the grounding detection body 40 is displaced upward by the grounding state, the grounding detection sensor S4 is switched to the ON state.

(6) In the above-described embodiment, as the grounding state detecting means, a switch type grounding detection sensor S4 that switches from the off state to the on state when the weeding implement is grounded has been exemplified. Instead of such a configuration, the weeding implement 6 or the grounding detector 4 in the above-described embodiment (5) may be used.
It is also possible to provide a potentiometer for detecting the upward displacement amount accompanying the upward displacement of the weeding implement, such as 0, and to determine that the ground contact state is established when the upward displacement amount exceeds a set value.

(7) In the above-described embodiment, a configuration in which the number of mowing sections is three and the number of weeding tools for distributing and weeding the planted cereal culm of the mowing target row is provided as the mowing part has been exemplified. However, the present invention is not limited to such a configuration, and the cutting section may have any number of cutting lines.

(8) In the above embodiment, the ground height detecting means (ultrasonic sensor) for detecting the ground height of the cutting unit is provided, and the ground height of the cutting unit is maintained at the set ground height. The lifting and lowering process (raising and lowering control) for operating the hydraulic cylinder CY is performed based on the detection information of the ground height detecting means. However, without performing such raising and lowering control, for example, the lifting lever is manually operated. The present invention can also be applied to a configuration in which the cutting height is changed and adjusted in the same manner.

[Brief description of the drawings]

FIG. 1 is a side view of the front of the combine.

FIG. 2 is a plan view of the combine.

FIG. 3 is a control block diagram.

FIG. 4 is a side view showing an elastic support mechanism.

FIG. 5 is an exploded perspective view showing an elastic support mechanism.

FIG. 6 is a side view showing a contact detection state.

FIG. 7 is a flowchart of a control operation.

FIG. 8 is a flowchart of a control operation.

FIG. 9 is a flowchart of a control operation.

FIG. 10 is a timing chart.

FIG. 11 is a timing chart.

FIG. 12 is a side view showing a ground detection configuration according to another embodiment;

FIG. 13 is a side view showing a main part of a ground detection configuration according to another embodiment.

FIG. 14 is a sectional view taken along line AA of FIG. 13;

FIG. 15 is a sectional view taken along line BB of FIG. 13;

16 is a sectional view taken along line CC of FIG.

FIG. 17 is a sectional view taken along line DD of FIG. 13;

18 is a sectional view taken along line EE of FIG.

[Explanation of symbols]

 2 Cutting part 6 Weeding tool 14 Elevation control means CY Elevation operation means DK Support means S1 Ground height detection means S3 Elevation position detection means S4 Grounding state detection means V Traveling machine

 ──────────────────────────────────────────────────の Continued on the front page (72) Inventor Shigeki Hayashi 64, Ishizukita-cho, Sakai City, Osaka Prefecture Inside the Kubota Sakai Plant (72) Inventor Tetsuya Nakashima 64, Ishizukitacho, Sakai City, Osaka Prefecture Kubota Sakai Manufacturing Co., Ltd. Office (72) Inventor Toshio Tominaga 64 Ishizukita-cho, Sakai City, Osaka Prefecture Inside Kubota Sakai Plant (72) Inventor Makoto Oshiya 64 Ishizukita-machi, Sakai City, Osaka Prefecture F-term in Kubota Sakai Plant (Reference) 2B081 AA01 BB05 CC21 DA02 DA06 DA13 DA18 DD03 2B085 AA02 AC02 AC03 BC10 BE03 BE35 2B382 GA09 GC03 GC04 GC11 GC17 HF02 HF38 JA21 JC04 JD06 LA09 LA12 LA23 LA33 LB02 LB06 MA24 MA27 MA37

Claims (6)

[Claims] 1. A cutting section having a weeding tool for guiding weeding of a planted stem and stem at a lower portion of a tip thereof is provided by a lifting operation means so as to be freely liftable and lowerable with respect to a traveling machine body. A cutting and raising and lowering control device of a mowing and harvesting machine provided with lifting and lowering control means for controlling operation, wherein a contact state detecting means for detecting that the weeding implement is in a contact state with the ground, and Elevating position detecting means for detecting an elevating position with respect to the traveling body is provided, and the elevating control means, with the detection of the contact state by the contact state detecting means, moves the mowing part to the traveling body. A raising and lowering control of the reaper, which is configured to execute a forced ascent process for operating the raising and lowering operation means based on the detection information of the raising and lowering position detecting means so as to raise the set amount from the raising and lowering position. Control device. 2. The method according to claim 1, wherein after the start of the forced ascent process, the ascending / descending control unit executes the forced ascent process until the forced ascent process is completed, irrespective of a detection result of the ground state detection unit. The reaping elevating control device of the reaper and harvester according to claim 1, which is configured. 3. The ascending / descending control means, in the forcible ascending process, reduces the ascending speed of the reaping unit as the actual ascending amount of the reaping unit that is actually elevated approaches the set ascending amount. 3. The cutting and raising and lowering control device for a reaper according to claim 1, wherein the raising and lowering operation means is configured to control a raising operation speed. 4. A ground height detecting means for detecting a ground height of the reaper, wherein the elevation control means maintains the ground height of the reaper at a set ground height. Claims: It is configured to execute a raising / lowering process for operating the lifting / lowering operation unit based on detection information of a height detecting unit, and to perform the forced lifting process prior to the lifting / lowering process. The harvesting raising and lowering control device for a harvester and harvester according to any one of Items 1 to 3. 5. The weeding tool is elastically supported at a proper weeding position and is configured to be independently displaceable to a rising side. The reaping elevation control device of the reaper according to any one of claims 1 to 4, wherein the ascending displacement is detected as the ground contact state. 6. A cutting and raising and lowering control device for a reaper according to claim 5, wherein said support means for elastically supporting said weeding tool at said proper weeding position is provided so as to change and adjust its elastic supporting force.