JP2001190115A - Controller for reaping, lifting and lowering of reaping harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a controller for reaping, lifting and lowering of a reaping harvester capable of carrying out an excellently reaping operation in a slight fear state causing an inconvenience such as frequent repetitions of lifting and lowering operation of a reaping part by positioning a separation tool at a height suitable for reaping operation regardless of difference in degree of hardness and softness in a field. SOLUTION: A traveling machine body V is equipped with the reaping part 2 provided with a separation tool 6 for separating and guiding stem culms at the tip lower part in a freely lifting and lowering manner by a hydraulic cylinder CY. The traveling body is provided with a ground detection sensor S4 for detecting the separation tool 6 in a contact state with the ground. When a lifting and lowering control means for controlling the operation of the hydraulic cylinder CY is ordered to have a drop command to drop the reaping part 2 from a nonoperation position to a reaping operation position, the reaping part 2 is dropped until a ground state is detected by the ground detection sensor S4 and successively a reaping height set treatment for raising and stopping a set amount for setting the reaping height is carried out.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a mowing part provided with a weeding tool for guiding a planted stem to weeding at a lower part at a lower end thereof, and is provided so as to be vertically movable with respect to a traveling machine body by a vertically moving means. The present invention 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 mowing lift control device of a mowing harvester having the above-described structure, conventionally, as a first prior art, for example, as disclosed in JP-A-64-30507, an ultrasonic sensor is used. There is a configuration in which the operation of the hydraulic cylinder as the lifting / lowering operation means is controlled so that the ground height of the mowing part is maintained at the ground height set by the trimming height setting device. In the configuration that detects the height above the ground using an acoustic wave sensor, in order to avoid erroneous detection due to the ultrasonic wave transmitted from the transmitter being directly received by the receiver instead of reflection on the ground, the detection target distance In the case of being extremely short, since the detection signal is configured to be ignored, the set ground height is set to a low value, for example, so as to be inserted between the lodged stem and the ground. While keeping the weeder in a low position If such performing preparative work, ground height of the detected there may not properly performed.

As another second prior art, for example, as disclosed in Japanese Patent Application Laid-Open No. Sho 54-111434, the internal pressure of a hydraulic cylinder using fluid pressure as an elevating operation means and an accumulator connected to the hydraulic cylinder is used. According to this configuration, there is a configuration in which the height of the mowing portion is held so that the ground contact portion provided on the mowing portion is maintained at a height in a state of contact with the ground by the balance of the mowing portion. Although the mowing work can be performed while the weeding tool is positioned as low as possible and follows the ground, the ground pressure is fluctuated by the fine unevenness in the field because the unevenness is present in the field, so that the mowing unit is not used. May be frequently repeated, which results in disadvantages such as vibration of the traveling machine body and deterioration of ride comfort.

Therefore, as a third prior art which is capable of avoiding the above-mentioned inconvenience, there has been a configuration disclosed in, for example, JP-A-1-181720. That is, an elevation position detection sensor for detecting the elevation position of the reaping section with respect to the traveling body is provided separately from the elevation height detection sensor for detecting the elevation level of the reaper, and the detection value of the elevation height detection sensor is provided. A state in which the automatic elevation control for controlling the elevation operation means is controlled so that the set ground height is maintained, and the detection value of the elevation position detection sensor, that is,
The mowing unit is configured to be able to switch the vertical position of the mowing unit with respect to the traveling machine body to a state in which a constant mowing height control for maintaining a set value set by an operator is performed by a potentiometer, and to detect a contact state of the weeding implement. When a grounding state detecting means detects the grounding state,
Prior to each control as described above, the mowing unit is raised until the contact state is no longer detected, and a forced ascending operation for avoiding the insertion of the weeding implement into the soil is performed.

[0005] According to this configuration, if the set value is set to an appropriate value by the potentiometer, the constant cutting height control is executed, for example, so that the falling stem and the ground can be removed. Even when the mowing operation is performed while maintaining the weeding implement at a low position so that the mowing part is penetrated, the raising and lowering operation of the mowing unit is frequently performed without being affected by the fine irregularities of the field. The mowing operation can be performed without any disadvantage such as being performed.

[0006]

However, the third prior art has the following disadvantages, and there is still room for improvement.

[0007] The field where the reaping operation is performed by the reaper is a hard ground where the traveling body does not sink much, or a soft ground where the traveling body sinks greatly. The degree of hardness may be different for each case. However, according to the third conventional technique, since the operator operates the potentiometer by an artificial operation to set the set value, when performing a mowing operation in a certain field, the setting is performed. It is also possible that the values are not always set as appropriate. For example, if the setting value is too low even though the field is on soft ground and the sinking of the traveling machine is large, the reaping unit frequently sets the ground contact state as the reaping operation is performed. There is a risk that the forced ascending operation will be repeatedly performed. On the other hand, if the setting value is too high in consideration of the sinking even though the field is hard ground and the sinking of the traveling body is small, the cutting height is smaller than a desired value. May be too high.

The present invention has been made in view of such a point, and the object thereof is that there is a possibility that inconveniences such as frequent repetition of the raising and lowering operation of the reaping section may be caused irrespective of the difference in the degree of hardness and softness of the field. A point of providing a cutting and raising / lowering control device of a cutting and harvesting machine capable of executing a good cutting operation at a desired cutting height by positioning the weeding implement at a height suitable for the cutting operation in a small state. It is in.

[0009]

According to the first aspect of the present invention, a mowing unit provided with a weeding tool for guiding weeding of a planted stem is provided at a lower portion of a tip thereof, and a traveling body is provided by a lifting operation means. The harvesting and raising and lowering control device of the reaper and harvester provided with the raising and lowering control means for controlling the operation of the raising and lowering operation means is provided so as to be capable of raising and lowering freely. Grounding state detecting means for detecting, the lifting control means, when a lowering command for setting the cutting height for lowering the cutting unit from the non-working position to the cutting work position is instructed, the cutting unit Is lowered until the contact state is detected by the contact state detection means, and subsequently, a cutting height setting process is performed in which the cutting unit is stopped by increasing the set amount for setting the cutting height. Have been.

When a lowering command for setting the cutting height is issued, the elevation control means executes the cutting height setting process. In other words, the elevation control means lowers the reaping unit until the contact state detecting means detects a contact state in which the weeding tool contacts the ground, and then moves the cutting unit to a position where the contact state is detected. Then, the set amount for setting the cutting height is raised and stopped. By executing such a cutting height setting process, for example, a cutting operation for performing a cutting operation from a non-working position in which the cutting unit is raised to a high position for traveling on a road or turning on a headland. It can be lowered to the position. After that, the mowing operation is performed in a state where the mowing unit is stopped at the mowing operation position, so that the mowing operation can be performed at a fixed mowing height.

Therefore, in order to start the reaping operation, a lowering command for lowering the reaping unit from the non-working position to the reaping operation position is issued, so that the reaping unit always sets the cutting height from the ground. Is set as the mowing work position, for example, in a state where the height of the weeding implement with respect to the ground is always the set height regardless of the difference in the degree of hardness of the field. A mowing operation can be performed.

[0012] As a result, regardless of the difference in the degree of hardness of the field, the cutting height is kept constant at a height suitable for cutting even at a low position close to the ground. It is possible to perform a good harvesting operation at a desired cutting height in a state where there is little possibility of inconvenience such as frequent repetition of raising and lowering operations of the mowing part. It is possible to provide a reaping elevating control device of a reaper.

According to a second aspect of the present invention, in the first aspect, a manually operable adjusting means for changing and adjusting a set amount for setting the cutting height is provided. By adjusting the setting amount for setting the cutting height by operating the adjusting means, the height of the weeding implement can be set to a height suitable for the working situation at that time, and the working conditions It is possible to adapt even if is different, and it is possible to always perform a good mowing operation.

According to a third aspect of the present invention, in the first or second aspect, after the lifting / lowering control means executes the cutting height setting processing, the grounding state is detected by the grounding state detecting means. When it is detected, the mowing unit is configured to execute a forced ascending control for increasing a set amount for avoiding rushing which is smaller than the set amount for setting the cutting height.

[0015] Since fine irregularities are present in the field scene, when the mowing section is stopped at the mowing position and the mowing operation is being performed after the mowing height setting process is performed, For example, when a weeding tool comes into contact with a convex portion of a field scene and the contact state is detected by the contact state detecting means, when such a contact state is detected, the cutting unit is moved to the cutting height. By increasing the set amount for avoiding plunging that is smaller than the setting amount for setting the cutting, we continue good mowing work while preventing the weeding implement from plunging into the soil without significantly changing the cutting height. And execute it.

According to a fourth aspect of the present invention, in any one of the first to third aspects, the elevation control means may move the cutting unit from the cutting operation position to the non-operation position. When a non-work switching command is issued, the reaping unit is raised to the non-work position.

Therefore, for example, if a non-work switching upward command is issued after the cutting operation in one work stroke is completed, the cutting unit is raised from the cutting work position to the non-work position. As compared with a configuration in which the mowing unit is raised only while the raising operation is commanded by the manual operation, the operation of the traveling body is quickly turned to the next process without troublesome operation. It can shift to running or the like.

According to a fifth aspect of the present invention, in any one of the first to fourth aspects, an up-down position detecting unit for detecting an up-down position of the reaping unit with respect to the traveling body is provided, and the up-down control unit is provided. However, in the cutting height setting process, the cutting unit is configured to increase a setting amount for setting the cutting height based on the detection information of the elevation position detecting means.

In the above-mentioned cutting height setting processing, based on the detection information of the elevation position detecting means, the cutting unit is moved from the elevation position to the position where the set amount for setting the cutting height is raised from the elevation position. The elevating operation means is actuated in order to ascend. 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. Because the part is raised, based on the detection information of the vertical position with the traveling aircraft,
It is possible to surely raise the mowing part by the set amount.
Further, for example, as the cutting height setting processing, a configuration in which the cutting unit is raised only while the set time elapses can be considered, but in this case, the actual cutting due to a difference in operation conditions of the lifting operation means and the like is considered. Although there is a possibility that the rising amount of the section may change, according to the above configuration, such a situation does not occur, and in a state where excess and shortage do not occur, the ground height of the reaping section is increased by an appropriate amount of rising. It becomes possible to raise it reliably.

[0020]

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. This combine is a pair of left and right crawler traveling devices 1L, 1R
At the front of the traveling machine V configured to be able to travel, a cutting unit 2 that cuts the planted grain culm and conveys the harvested grain culm rearward is provided so as to be able to move up and down freely, and at the rear side of the traveling machine V And a threshing device 3 for threshing the harvested culm, a Glen tank for storing threshed grains, a boarding operation unit 5, and the like.

The cutting unit 2 is provided with four weeding tools 6 for sorting and cultivating the planted grain culms of the number of cutting streaks out of the plurality of planted stem culms, and setting the planted grain culm in an upright posture. A raising device 7 for raising, a clipper-type cutting device 8 for cutting the root side of the raised grain stem, a vertical transport device 9 for transporting the harvested grain stem rearward while gradually changing its posture to a sideways-down posture, and the like. , And is pivotably supported on the body so as to be able to vertically move and swing around the horizontal axis X1. 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 determining whether or not the cutting unit 2 is in a cutting operation state by detecting whether or not a cutting grain culm is present at a transfer entrance portion of the vertical transfer device 9. S
0, for example, whether or not the weeding tool 6 is in a ground contact state where the weeding tool 6 is in contact with the ground, Is provided with a grounding detection sensor S4 as described later as grounding state detecting means for detecting the state. That is, the weeding tool 6 is elastically supported at the proper weeding position and is configured to be independently displaceable to the rising side, and that the weeding tool 6 is displaced upward from the proper weeding position. The detection sensor S4 is configured to detect the ground state.
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.

More specifically, as shown in FIGS. 3 and 4, the weeding implement 6 is held in such a manner that the weeding implement 6 is at the proper weeding position, and the weeding implement 6 is moved from the proper weeding position. An elastic support mechanism DK is provided as the support means for elastically supporting the weeding tool 6 so as to be rotatable with respect to the cutting frame 12 in a state in which the weeds can be displaced upward. The elastic support mechanism DK has an engagement support portion 21a having a substantially U-shaped cross section and an opening portion directed downward, and extends from the engagement support portion 21a toward the front side of the vehicle body. A supporting body 21 having a vertical plate portion 21b provided therein, and a spot welding in a state in which a pivot boss 22 is formed on the rear side and abuts on the inner surface of the upper side of the engaging support 21a of the supporting body 21. And a supporting member 23 to be used. The pivot boss 2 in the pivot member 23
2 is connected to a support bracket 24 welded and fixed to the mowing frame 12 by a lateral pivot pin 25. or,
A connecting plate 26 integrally connected to the rear side of the weeding tool 6 is bolted to the front end of the support portion body 21, and
Are integrally connected to the support portion main body 21. Therefore, the weeding device 6 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 a receiving portion 12a fixed to the mowing frame 12.
Therefore, the position is regulated in the receiving state, and at this time, the position of the weeding tool 6 is maintained in a state where the weeding tool 6 is at the appropriate weeding position. By rotating the adjusting bolt 29 by manual operation, the elastic biasing force of the coil spring 27 toward the lower side of the weeding implement 6 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 tool 6 is located at the appropriate weeding position, the contact portion 33 comes into contact with the detection operation piece 32 and pushes it. The ground detection sensor S4 is maintained in the off state. Further, when the weeding implement 6 is displaced upward from the proper weeding position by turning on the ground and rotated around the axis X2, as shown in FIG.
Numeral 3 is to rotate downward and release the pushing operation of the detection operation piece 32 to switch the ground detection sensor S4 to the ON state. In this way, the ground contact state of the weeding implement 6 can be detected.

Next, a control configuration for raising and lowering the mowing unit 2 will be described. As shown in FIG. 2, the hydraulic cylinder CY is a single-acting type cylinder, and is provided with a hydraulic pump C driven by an engine mounted on the hydraulic cylinder C.
In the middle of the hydraulic oil supply passage 18 for Y, the hydraulic cylinder CY
A three-position switchable and electromagnetically operated lift 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. . And the pressure oil supply path 1
In the drain oil passage 19 branched in a parallel state from the middle of 8,
An orifice 20 through which the pressure oil passes is provided, and a two-position switching type lowering control valve V2 that switches between a discharge position for discharging the pressure oil and a stop position for stopping the discharge of the pressure oil. 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 on V2 to change and adjust the duty ratio, it is possible to appropriately change and adjust 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 section 5 executes a cutting height setting process as described later, and thereafter maintains the cutting height set in the cutting height setting process until an ascending command is issued. A cutting height control ON / OFF switch SW3 that can be switched between an ON state in which height control is performed and an OFF state in which cutting height control is not performed, and changes and adjusts a set amount for setting the cutting height in the above-described cutting height setting processing. A potentiometer-type cutting height setting device 15 as a manually-operated adjusting means to perform a forced ascending and retracting operation which can be switched between an ON state in which forcible raising processing of the reaper 2 as described later is performed and an OFF state in which the processing is not performed. An off switch SW5, an elevating lever 16 for raising and lowering the reaping unit 2 based on manual operation, and an elevating switch SW which is turned on when the elevating lever 16 is operated from a neutral position to an elevated position.
1. Lower switch SW2, which is turned on when the raising / lowering lever 16 is operated to the lowering position, grip portion 16 of the raising / lowering lever 16
Each of the lifting / lowering command switches SW4, which is pressed at the upper part of a and operated by the thumb and is turned on only during the pushing operation, is provided. The information of the detection information of the switches SW1 to SW5 is input to the control device 14. It is configured to be. The stock sensor S0 and the ground detection sensor S4
Is 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 control device 14 is configured to execute the cutting height control when the cutting height control ON / OFF switch SW3 is turned on. For example, when the cutting operation is started, At the end of the operation, the elevating lever 16 is operated to operate the ascending switch SW1 or the descending switch SW2.
If there is a manual raising / lowering command by turning on the switch, or a manual lifting / lowering command by pressing the lifting / lowering command switch SW4, the lifting / lowering operation based on these manual lifting / lowering commands is performed to the above-described cutting height control. It is configured to execute with priority. That is, when the raising switch SW1 is turned on based on the operation of the raising / lowering lever 16, while the raising switch SW1 is on, the hydraulic cylinder CY is raised to raise the mowing section, and the lowering switch SW2 is turned on. While the lowering switch SW2 is ON, the hydraulic cylinder is lowered to lower the reaper 2. The lifting command switch S
Each time the W4 is pressed, the mowing unit 2 can be alternately moved up and down between a low position for mowing work and a non-working position that rises greatly. That is,
When the lifting / lowering command switch SW4 is pressed (a lifting command is issued) while the reaping unit 2 is detected to be at a low position for reaping work by the detection value of the anti-machine height sensor S3, the control unit 14 is controlled. Moves the cutting unit 2 automatically to the non-working position, and the cutting unit 2 is mounted on the anti-machine height sensor S3.
When the raising / lowering command switch SW4 is pressed (a lowering command is issued) while it is detected from the detected value that the vehicle is in the non-working position, the mowing unit 2 is lowered to a lower position for mowing work. ing. Therefore, the ascending command by the ascending / descending command switch SW4 corresponds to a non-work switching ascending command for raising the reaping unit 2 from the reaping work position to the non-work position.

Next, the cutting height control will be described.
When the cutting height control ON / OFF switch SW3 is set to ON, the control device 14 controls the lifting / lowering command switch S
When the lowering command is issued by W4, the mowing unit is lowered until the ground contact state is detected by the ground contact detection sensor S4, and then the mowing unit 2 is stopped by increasing the set amount for setting the cutting height. While performing the cutting height setting process to
Thereafter, the raising / lowering position of the mowing unit 2 was set in the cutting height setting process until a raising command by turning on the raising switch SW2 or the raising command by the raising / lowering command switch SW4 was commanded. Keep in position. For example, after the turning work on the headland, when lowering the reaping part raised to the non-working position in order to start the reaping work on the planting stem culm row to be reaped, the cutting height setting processing is performed. And the cutting operation is performed on the stem row in a state where the raising and lowering position of the cutting unit 2 is maintained at the position set in the cutting height setting process. The setting amount for setting the cutting height is determined by the operator using the cutting height setting device 15.
Is operated to change and adjust as appropriate. Then, the lowering command by the raising / lowering command switch SW4 corresponds to a lowering command for setting the cutting height for lowering the cutting unit 2 from the non-working position to the cutting work position.

After the cutting height setting process is performed, if the forcible on / off switch SW5 is operated to the ON state, the controller 14 detects the grounding state by the grounding detection sensor S4. Then, the mowing unit 2 is moved from the vertical position where the ground contact state is detected with respect to the traveling body to raise the set amount for avoiding the plunge.
Is configured to execute the forced ascending control for operating the hydraulic cylinder CY based on the detection information, and if the forcible ascending ON / OFF switch SW5 is operated to be in the OFF state, the forcible ascending control is not executed. 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 flowcharts of FIGS. When the raising / lowering lever 16 is operated and the raising switch SW1 is turned on to manually raise the command, a cutting height setting flag F as described later is reset to “0”, and the raising switch SW1 is turned on. While on,
The hydraulic cylinder CY is raised to raise the cutting unit 2 (steps 1, 2, 3). The lifting lever 16
Is operated, and the lowering switch SW2 is turned on. When the lowering is manually instructed, the hydraulic cylinder CY is lowered to lower the mowing unit 2 while the lowering switch SW2 is on. When the contact is detected by the contact detection sensor S4, the descending operation is stopped (steps 4 to 7).

Up switch SW1 and down switch SW
When the lifting command switch SW4 is pressed when none of the two is operated, the lifting position of the reaping unit 2 at that time is at a low position for the reaping operation based on the detection value of the anti-machine height sensor S3. Is detected, the cutting height setting flag F is reset to "0", and the cutting unit 2 is moved up to the non-working position, which is a high position close to the maximum ascent position, and stopped. Hydraulic cylinder CY to raise
(Steps 8-13, 20, 2)
1).

Then, it is detected from the detection value of the anti-machine height sensor S3 that the up / down position of the reaping unit 2 when the up / down command switch SW4 is pressed is in the non-working position. If the ON / OFF switch SW3 has been operated to the ON state, a cutting height setting process as described later is executed (steps 14 to 16), and the cutting height control ON / OFF switch S is executed.
If W3 is not in the ON state, the hydraulic cylinder C does not execute the cutting height setting process until the cutting unit 2 is lowered to the cutting height set in the previous cutting height setting process and stopped.
Y is automatically lowered (steps 17 to 19, 20,
21).

Next, the cutting height setting process will be described with reference to the flowchart shown in FIG. The hydraulic cylinder CY is automatically lowered to lower the mowing unit 2 from the non-working position until the touchdown is detected by the touchdown detection sensor, and when the touchdown is detected by the touchdown detection sensor S4, the automatic lowering operation is performed. Stop (steps 151, 152, 15
3). Then, based on the detection information of the anti-aircraft height sensor S3, a ground-to-aircraft height H0 of the mowing unit 2 with respect to the traveling airframe V when the touchdown is detected is detected, and the ground-to-aircraft height H0 is detected. The height of the aircraft body, which is obtained by adding the ascending operation amount ΔH as a setting amount for setting the cutting height set by the cutting height setting device 15 to the cutting height setting device 15, is set as the ascending target position H1 (step 154). Next, the hydraulic cylinder CY is operated until the detected height Hx successively detected by the anti-body height sensor S3 reaches the ascending target position H1 set as described above.
Is operated to perform the ascending operation of raising the reaping unit 2,
When the detected height Hx reaches the target ascent position H1, the ascent operation is stopped (steps 155, 156, 15).
7). The height of the cutting unit 2 at this time corresponds to the set cutting height. After executing such a cutting height setting process, the cutting height setting flag is set to "1" (step 16).

After the cutting height setting process is executed and the cutting height setting flag is set to "1", if there is no manual lifting command as described above, the lifting and lowering of the cutting unit 2 is performed. The mowing operation is performed in a state where the position is maintained at the set cutting height (steps 22 and 2).
3). In addition, when the reaping operation is performed while the reaping unit 2 is maintained at the set reaping height in this manner, the forced ascending on / off switch SW5 is turned on and the grounding detection sensor S4 detects When the ground contact state is detected, the mowing unit 2 is moved from the vertical position where the ground contact state is detected with respect to the traveling body V, and the set amount for avoiding the rush is raised based on the detection information of the anti-aircraft height sensor S3. The forced ascending control for operating the hydraulic cylinder CY is executed (steps 24 and 2).
5, 26). After the execution of the forcible raising control, the cutting height of the reaping unit 2 is maintained at the position where the forcing has been raised. The set amount for avoiding the plunge is set to a value smaller than the rising operation amount ΔH which is the set amount for setting the cutting height.
In a state where the cutting height does not largely change, it is possible to effectively prevent the weeding implement 6 from penetrating into the soil. As described above, the state in which the cutting height setting flag is set to “1” corresponds to the cutting height control. For example, when the cutting operation in a certain stem / culm row is completed, the lifting lever 16 Command or lift command switch S
If there is an ascending command by W4, the cutting height setting flag is reset to "0".

Therefore, when a mowing operation is performed by using the mowing height control by the mowing harvester having the above configuration, the mowing height control ON / OFF switch S is used when the mowing operation is started.
W3 is switched to the ON state, and at the beginning of the row of planted stems to be harvested, the above-described cutting is performed every time the lowering command is issued by the elevation command switch SW4 in order to start the harvesting operation. Since the height setting process is executed, the reaping operation at the desired cutting height can be executed by executing the reaping operation at the set cutting height set thereby. Then, a lift command or a lift command switch SW by the lift lever 16 is provided at the end of the planted stem / culm row.
When the ascent command is issued by the command No. 4, the cutting height setting flag is reset to "0", and the cutting height control is released.

[Other Embodiments] Other embodiments will be listed below.

(1) In the above-described embodiment, the cutting height setting process is executed when a lowering command by the raising / lowering command switch SW4 is issued as the lowering command for setting the cutting height. Not limited to such a configuration, for example, the cutting height setting process may be performed even in a case where the down switch SW2 is continuously turned on from the state where the mowing unit is in the non-working position and touches the ground.

(2) In the above embodiment, the cutting height setting process is executed each time the work on each planted stem and culm row is started. Instead of such a configuration, the following configuration is used. May be configured. For example, only during the push operation,
A push-operation-type operating tool that switches the control device to a mode in which the cutting height setting process can be executed. For example, when starting a mowing operation in a certain field, the lifting command switch is pressed while operating the operating tool. By instructing a descending command by SW4, the cutting height setting process is executed. After that, the elevation command switch SW is operated without operating the operation tool.
Each time the lowering command is issued by the control unit 4, the cutting unit may be automatically lowered to the set cutting height and maintained at that position. With this configuration, the work efficiency can be improved without the trouble of executing the cutting height setting process each time the work is performed on each planted stem row. For example, it is possible to cope with such a configuration when working in a stable field where the soil is hard, the sinking of the airframe is small, and the unevenness is small.

(3) In the above embodiment, if the forcible rise control is executed after the execution of the cutting height setting processing,
Although the mowing part is maintained at the elevating position where the forced ascent operation is performed, the mowing part is not limited to such a configuration. It is good also as a structure which returns to the set cutting height set before performing ascent control.

(4) In the above embodiment, in the cutting height setting process, the hydraulic cylinder (elevating operation) is adjusted so that the detection value Hx of the anti-machine body height sensor S3 (elevation position detecting means) becomes the elevation target position H1. Means), the mowing unit is configured to raise the set amount for setting the cutting height. However, the present invention is not limited to such a configuration, and the raising and lowering operation speed of the raising and lowering operation means is always kept constant. The mowing unit may be configured to raise the set amount for setting the mowing height by raising and lowering the raising and lowering operation means for a set time while controlling the speed so as to be as desired. Further, as the elevating operation means, not only the hydraulic cylinder but also other actuators such as an electric cylinder may be used.

(5) 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.

(6) In the above embodiment, the weeding tool 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. 9 to 15, the weeding device 6 is integrally connected to the mowing frame 12 in a fixed state, and the lower end position is higher than the lower end position of the weeding device 6. A dedicated grounding detector 40 that is elastically supported in a standby position protruding slightly downward and that can be independently displaced upward is provided, and the grounding detector 40 is grounded and displaced upward from the standby position. Thus, 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. 12, the ground detection body 40 is moved by the swing arm 41 to the horizontal axis X3 on the rear side of the body.
It is supported by the mowing frame 12 so as to be swingable up and down around the same, and is elastically urged downward by the coil spring 42 as shown in FIG. 13 as shown in FIG. In the standby position, further downward rotation is restricted by the contact restricting portion 44 formed by the head and the nut of the screw through which the swing arm 41 is inserted vertically, and the ground state , So that it can be independently displaced upward. As shown in FIG. 15, the grounding detector 40 is configured to slide up and down while sliding on the left and right sides of the mowing frame 12 while restricting the lateral movement. Then, as shown in FIG. 10, when the grounding detection body 40 is displaced upward by the grounding state, the grounding detection sensor S4 is switched to the ON state.

(7) In the above-described embodiment, the configuration in which the grounding detection sensor is provided corresponding to the left weeding tool is exemplified. However, the present invention is not limited to such a configuration, and the grounding state of the right weeding tool is detected. To detect the grounding state of the weeding tool located on the center side, or to the left and right weeding tools or 3
A configuration may be adopted in which all the grounding states of more than one herbalist are detected, and when the grounding state of any one of the herbalists is detected, it is determined as the grounding state.

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

(9) In the above embodiment, as the forcible rise control, the mowing unit is raised until the mowing unit rises by a set amount as the grounding state is detected by the grounding state detecting means. However, instead of such a configuration, the mowing unit may be raised until a set time elapses as the grounding state is detected by the grounding state detecting means.

[Brief description of the drawings]

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

FIG. 2 is a control block diagram.

FIG. 3 is a side view showing an elastic support mechanism.

FIG. 4 is an exploded perspective view showing an elastic support mechanism.

FIG. 5 is a side view showing a contact detection state.

FIG. 6 is a flowchart of a control operation.

FIG. 7 is a flowchart of a control operation.

FIG. 8 is a flowchart of a control operation.

FIG. 9 is a side view showing a ground detection configuration according to another embodiment.

FIG. 10 is a side view showing a ground detection configuration according to another embodiment.

11 is a sectional view taken along line AA of FIG.

FIG. 12 is a sectional view taken along line BB of FIG. 10;

FIG. 13 is a sectional view taken along line CC of FIG. 10;

14 is a sectional view taken along line DD of FIG.

FIG. 15 is a sectional view taken along line EE of FIG. 10;

[Explanation of symbols]

 2 Cutting part 6 Weeding implement 14 Elevation control means 15 Adjustment means CY Elevation operation means S3 Elevation position detection means S4 Grounding state detection means V Traveling machine

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2B304 KA08 LA02 LA13 LB02 LC05 MA04 MB02 MC12 MD03 PD06 PD32 QA11 QB02 QB12 QB14 QC02 QC04 QC17 RA07 RA27 2B382 GA03 GA09 GC03 GC26 GD02 HB02 HF02 HF18 HF19 LA0406 J06 LA12 LC04 LD06 MA04 MA29

Claims (5)

[Claims] 1. A cutting section provided with a weeding tool for guiding weeding of a planted stem and stem at a lower portion of a tip thereof is provided so as to be vertically movable with respect to a traveling machine body by a vertically operating means. A cutting-and-lifting control device of a reaper harvester provided with lifting and lowering control means for controlling the grounding state detecting means for detecting that the weeding implement is in a ground-contacting state in contact with the ground, However, when a lowering command for setting the cutting height for lowering the reaper from the non-working position to the reaping work position is instructed, the grounding state of the reaper is detected by the grounding state detecting means. The cutting and raising control device of the cutting and harvesting machine is configured to execute a cutting height setting process for lowering the cutting unit and stopping the cutting unit by increasing a set amount for setting the cutting height. 2. A reaping elevating control device for a reaper according to claim 1, further comprising a manually operable adjusting means for changing and adjusting a set amount for setting the turf height. 3. After the elevation control means executes the cutting height setting processing, when the contact state is detected by the contact state detection means, the cutting section is set for setting the cutting height. 3. The reaping and raising and lowering control device of a reaper according to claim 1, wherein the rake and harvester is configured to execute a forced ascending control for increasing a set amount for avoiding rushing which is smaller than the amount. 4. A non-work switching command for raising the reaper from the reaping work position to the non-working position is issued by the elevation control means. The reaping elevation control device for a reaper according to any one of claims 1 to 3, wherein the reaping elevation control device is configured to be raised to a use position. 5. A lifting / lowering position detecting means for detecting a lifting / lowering position of the reaping unit with respect to the traveling machine body, wherein the lifting / lowering control means performs the cutting height setting processing based on information detected by the lifting / lowering position detecting means. The cutting section is configured to raise a set amount for setting the cutting height.
The reaping elevating control device of the reaper and harvester according to any one of the above.