JP2001211717A - Lift controller for reaping apparatus of reaper - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a lift controller for a reaping apparatus of a reaper enabling an excellent reaping work avoiding damage of a reaping part or surface of fields in a backward travel of a traveling body while effectively avoiding inconvenience such as an intermission of the work caused of a crash of a grass divider into the soil in a stem reaping work, damage of the reaping part or the like. SOLUTION: This controller, in the case of a backward travel detecting switch S3 detects that the traveling body is not in a backward traveling state and a contact detecting sensor S4 detects the grass divider 6 is in a state contacting to the earth, lifts the reaping part 2 to a preset value for avoidance of the reaping part to crash into the soil and in the case of detecting the backward travel state and detecting the divider in the state contacting to the earth, lifts the reaping part 2 to a preset value for the backward travel larger than the preset value for avoidance of the crash.

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 weeding of a planted stem and stem at a lower portion of a distal end thereof, which is provided so as to be vertically movable with respect to the traveling body by lifting and lowering means. The present invention also relates to a reaping and raising and lowering control device of a reaper having a raising and lowering control means for controlling the operation of the raising and lowering operation means based on a raising and lowering command by a manually operated lifting and lowering command means.

[0002]

2. Description of the Related Art In a reaper having the above construction, conventionally, for example, when a stalk culm harvesting operation is started at the beginning of a work process, a downward command is issued by the manually operated up / down instruction means. The mowing part is lowered with respect to the traveling machine to perform the mowing work, and when reaching the end of the work process, an ascending command is issued by the elevating command means to raise the mowing part largely with respect to the traveling machine. Thus, the traveling body is moved toward the starting end of the next work process while turning.

[0003]

[0006] By the way, in the case of performing a round-cutting operation in which the cutting operation is performed while circling along the outer periphery of the stem and culm group as the cutting operation in the field, etc. After the work in the work process is completed, the vehicle is turned while traveling backward to change the attitude toward the starting end of the next work process. There is a case where the raising operation of the reaper by the manual operation command is forgotten. When the traveling machine is traveling backward, the traveling machine may be inclined forward and downward due to scraping of mud by the traveling device, etc., but if the forgetting operation of raising the cutting unit is forgotten as described above, the cutting unit may be moved to the ground. The aircraft may move backward with strong contact, and the reaping unit may be damaged.

Accordingly, for example, Japanese Patent Application Laid-Open No. Sho 64-30507
As shown in the publication, as a configuration for avoiding a problem in which the weeding tool rushes into the ground due to unevenness of the ground and pitching of the aircraft during the mowing work, in a ground contact state where the weeding tool is in contact with the ground. When the contact state detecting means detects the contact of the weeding implement with the contact state detecting means for detecting that there is, the mowing unit is forcibly raised by operating the lifting / lowering operation means for a certain time in order to avoid rushing. It is proposed to provide a configuration for such control.

[0005] If the above-mentioned contact state detecting means detects contact of the weeding implement with the cutting device, the mowing part is forcibly raised for a certain period of time in order to avoid plunging. Also, by raising the cutting unit for a certain period of time for avoiding rushing, it is possible to prevent the cutting unit from strongly contacting the ground and being damaged as much as possible. There are disadvantages and there is room for improvement.

In other words, the time for raising the mowing part by detecting the contact of the weeding implement with the mowing portion is too large if the amount of rise at that time is too large. Therefore, the time is set such that the mowing part is raised by a small amount that can prevent the weeding implement from plunging into the ground. As a result, the raising amount of the mowing part is not sufficient, and even after such a raising operation is performed, the ground contact state of the weeding implement is repeatedly executed again, and the field scene is rather roughened. Such a problem may occur.

[0007] The present invention has been made in view of such a point, and its purpose is to interrupt the work by cutting a culm into the ground during the cutting operation of the stem, or to damage the cutting portion. For example, when the traveling body is moved backward during the movement to the next work process, etc., the mowing part is damaged or the field scene is roughened, while effectively avoiding inconveniences such as receiving Therefore, it is an object of the present invention to provide a reaping and raising / lowering control device of a reaper and harvester that can perform reaping work favorably while avoiding the above problem.

[0008]

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 part of the leading end thereof is moved by the lifting operation means. A harvesting and raising and lowering control device of a reaper, which is provided with lifting and lowering control means for controlling the operation of the lifting and lowering operation means based on a lifting and lowering instruction by a manually operated lifting and lowering instruction means, which is provided for lifting and lowering operation with respect to the body. Ground contact state detecting means for detecting that the weeding implement is in contact with the ground, and reverse state detecting means for detecting whether the traveling body is in a reverse traveling state; When the contact state is detected by the contact state detecting means while the reverse state detecting means detects that the vehicle is not in the reverse traveling state, the reaping unit sets a set amount for avoiding rush. The grounding state detection is configured to execute a climbing-up avoiding process of raising the reaper until the climbing section is lifted, and when the reverse traveling state is detected by the reverse traveling state detecting means. When the grounding state is detected by the means, the reaping unit executes a reverse process of raising the reaping unit to raise the reaping unit until the reaping unit raises a set amount for reverse ascending that is larger than the set amount for rush avoidance. It is configured to be.

When the reverse traveling state detecting means detects that the vehicle is not in the reverse traveling state, that is, when the vehicle is in the forward traveling state or the traveling neutral state, the ground contact state detecting means detects the ground contact state. And the cutting process is performed to avoid the plunge, and the mowing unit is raised by the set amount for the plunge avoidance. For example, during the mowing work, the weeding implement comes into contact with the ground and plunges into the soil. The mowing work can be continued in a favorable state while effectively avoiding such inconveniences.

If the contact state is detected by the contact state detecting means while the contact state detecting means detects that the vehicle is in the reverse traveling state, the ascending process for the backward movement is executed. Thus, the mowing unit is raised by the set amount for ascending backward which is larger than the set amount for avoiding the plunge. As described above, the set amount for reverse ascending is set to a value larger than the set amount for sneaking avoidance set to avoid the weeding implement sneaking into the ground during mowing traveling. Even when the traveling machine is moving backwards and the traveling machine is in a downwardly inclined state due to the scraping of mud by the traveling device, etc., the mowing portion is largely raised, and the mowing portion comes into contact with the ground. The reverse traveling of the traveling body can be executed while effectively avoiding the state.

Incidentally, in order to avoid the above-mentioned inconveniences during reverse traveling, when the traveling body is switched to the reverse traveling state, without detecting the ground contact state,
Immediately, it is also conceivable to adopt a configuration in which the reaping unit is raised by the set amount for ascending backward, but in such a configuration, for example, in order to start the reaping work from the starting end of the work stroke, the starting end In some cases, the traveling body is moved while repeating forward and backward movements a little at a time, and the lateral position of the mowing part is aligned with the row of stems and stems. Often move in,
It is considered unlikely that the traveling machine body will be greatly lowered forward and inclined even when the vehicle moves backward. However, as described above, if the reaping unit is immediately raised when the vehicle is switched to the reverse traveling state, the reaper is significantly raised when the vehicle is switched to the reverse traveling state, and it is rather difficult to perform the positioning operation. There is a disadvantage. On the other hand, according to the above configuration of the present invention, the mowing unit does not rise significantly unless the mowing unit is in contact with the ground, and there is no disadvantage as described above.

[0012] Therefore, while effectively avoiding inconveniences such as interruption of work and damage to the cutting part due to the insertion of the weeding tool into the ground during the cutting of the stem and stalks, the following measures are taken. In the case of moving the traveling body backward when moving to the work process, etc., the mowing part may be damaged in a state where the working efficiency does not decrease such as raising the mowing part when it is not necessary to raise it. In addition, it is possible to provide a mowing elevation control device of a mowing and harvesting machine that can perform a mowing operation satisfactorily while avoiding roughening of a field scene.

According to a second aspect of the present invention, in the first aspect, there is provided a manually operated adjusting means for changing and adjusting the set amount for avoiding the plunge and the set amount for the reverse climb. Therefore, for example, depending on the work situation at that time, such as the degree of softness of the field, the operator operates the artificially operated adjusting means, the set amount for avoiding the plunge,
And, by changing and adjusting the set amount for the reverse climb to an appropriate value, the climb amount becomes too large and the cutting height greatly fluctuates, or the mowing work is performed immediately after the reverse running is completed. Occasionally, the working efficiency is reduced or the amount of rise is too small, so that it is not possible to effectively avoid contact with the ground of the reaping unit, and it is possible to reduce the risk of causing disadvantages.

According to a third aspect of the present invention, in accordance with the first or second aspect, an up / down position detecting means for detecting an up / down position of the reaping unit with respect to the traveling body is provided, and the up / down control means comprises In the ascending avoiding ascent process, the set amount for the rush avoidance is increased from the elevating position when the contact state is detected by the contact state detecting means based on the detection information of the ascending / descending position detecting means. When the contact state is detected by the contact state detecting means based on the detection information of the elevating position detecting means, wherein the cutting section is configured to be raised to a position, and based on the detection information of the elevating position detecting means, The mowing unit is configured to be raised from the vertical position to a position where the set amount for raising the reverse is raised.

In the climbing-up avoiding climbing process and the reverse climbing process, the set amount for avoiding the plunging and the reverse climbing from the elevation position when the contact state is detected by the contact state detecting means. Since the mowing part is raised to the position where the set amount is raised, the distance provided to the lower part of the tip of the mowing part is detected while detecting not the distance between the mowing part and the ground but the ascending / descending position with respect to the traveling machine. Since the mowing part is raised from the position where the grass actually touches the ground, it is ensured that the mowing part is set at the set amount for avoiding the plunge or the reverse movement based on the detection information of the ascending / descending position between the mowing part and the traveling machine. The set amount can be increased. In addition, instead of such a configuration, a configuration in which the reaping unit is raised only during the elapse of the set time may be considered, but in this case, the actual reaping unit may be moved due to a difference in operation conditions of the lifting operation means. There is a possibility that the amount of rise may change, but according to the above configuration, there is no such problem, and in a state where excess or deficiency does not occur, the ground height of the reaping part is surely increased by an appropriate amount of rise. It can be raised.

According to a fourth aspect of the present invention, 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.

When the weeding tool is grounded, the weeding tool is
From the state of being elastically supported at the appropriate weeding position, the ascending displacement is made alone. 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.

[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 conveys the cut grain culms rearward is moved up and down in front of a traveling body that includes a pair of left and right crawler traveling devices 1L and 1R and is configured to be able to travel. It is provided freely, and is provided with a threshing device 3 for threshing a harvested culm, a Glen tank 4 for storing threshed grains, a boarding operation unit 5, and the like on the rear side of the traveling machine body.

The cutting section 2 sorts and weeds out the grain culms of the number of cutting streaks (three) out of the plurality of planted stem culms.
Pieces of weeding tools 6, a raising device 7 for raising the planted grain stalk in an upright position, a clipper-type cutting device 8 for cutting the root side of the raised grain stalk, and a sloping cropped stalk gradually falling down. It is composed of a vertical transport device 9 and the like that transports backward while changing the attitude to the attitude,
It is pivotally supported on the body so as to be able to move up and down around a 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 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. Note that this ultrasonic sensor is configured to output a detection value of the ground height of the reaper 2 every 20 ms.

Next, the power transmission system of the combine will be described. As shown in FIG. 3, while the driving force of the engine E is transmitted to the threshing device 3, the driving force is transmitted to a hydrostatic continuously variable transmission HST via a belt transmission.
The output after the shift of ST is transmitted via the transmission case MC.
The information is transmitted to the left and right crawler traveling devices 1R and 1L. The output after the shift is also transmitted to the reaper 2. The transmission HST is provided with a shift lever 17 provided in the boarding operation section 5.
Is mechanically interlocked and linked so that the gears are steplessly shifted in the forward direction and the reverse direction by operating in the front-rear direction. In other words, when the shift lever 17 is operated forward from the neutral position, the vehicle is in a forward running state, and the running speed increases as the forward operation amount increases. When the shift lever 17 is operated rearward from the neutral position, the vehicle is in a reverse traveling state, and the traveling speed increases as the operation amount toward the rear side increases.

In the transmission case MC, a left and right steering clutch C, which is capable of intermittently and independently braking the power transmission to the left and right crawler traveling devices 1R and 1L, respectively.
L1 and CL2 are provided, and each steering clutch CL
1 and CL2 are steering hydraulic cylinders SC1 and SC2, respectively.
Is operated. Then, based on the operation of the operation lever 16 provided in the boarding operation unit 5 in the lateral direction of the fuselage, the control device 14 described later controls the electromagnetically operated hydraulic control valve Vs for the steering hydraulic cylinders SC1 and SC2. It is configured such that any one of the steering clutches can be disengaged to turn the aircraft.
That is, when the right turning switch SW1 is turned on by swinging the operation lever 16 rightward from the neutral position, the right steering clutch SC1 is disengaged, and the aircraft turns to the left. When the operation lever 16 is swung leftward from the neutral position to turn on the left turning switch SW2, the left steering clutch SC2 is disengaged, and the aircraft turns left. The operation lever 16 is configured to also be used as a lever for raising and lowering the cutting unit 2 as described later.

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 weeding tool 6L at the left end and the weeding tool 6 at the right end
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. 5 and 6, 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 with 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.

A vertical frame 30 fixedly extended from the mowing frame 12 to support the raising device 7 at a position on the rear side of the fuselage with respect to the elastic support mechanism DK,
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. 5, when the weeding tool 6L is located at the appropriate weeding position, as shown in FIG.
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 structure for raising and lowering the cutting unit 2 will be described. As shown in FIG. 4, the hydraulic cylinder CY for raising and lowering the mowing unit is constituted by a single-acting cylinder, and is disposed in the middle of a hydraulic oil supply path 18 from the hydraulic pump P driven by the mounted engine to the hydraulic cylinder CY. An electromagnetically operated lift control valve V1 of a three-position switching type is provided for switching the state of supply of hydraulic oil to the hydraulic cylinder CY to an ascending position by pressurized oil supply, a neutral stop position, and a supply position to other hydraulic devices. ing. Then, a drain oil passage 19 branched in a parallel state from the middle of the pressure oil supply passage 18
An orifice 20 through which 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 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 includes the operation lever 16,
In addition to the shift lever 17, the right turning switch SW1, and the left turning switch SW2, an ascending switch SW3 which is turned on when the operating lever 16 is operated from the neutral position to the ascending position,
The lowering switch SW4 which is turned on when the operating lever 16 is operated to the lowering position, the raising / lowering command switch SW5 which is located above the grip portion 16a of the operating lever 16 and is operated by pushing with the thumb, and the raising / lowering control of the reaper 2 as described later. The ground height control ON / OFF switch SW6, which can be switched between an ON state in which the control is executed and an OFF state in which the control is not executed, and an ON state in which an ascending avoiding ascent process as described later is executed and an OFF state in which the process is not executed. A switchable avoidance ascending on / off switch SW7, a reverse ascendable on / off switch SW8 which can be switched between an on state in which the ascending process for the reverse movement described later is executed and an off state in which the process is not executed, and the reaper 2 during the reaping operation Potentiometer-type cutting height setting device 15 for setting the setting height of the potentiometer, and a potentiometer for artificially setting the set amount for avoiding plunge There are provided an avoidance rise amount setting device 50 of a formula, and a potentiometer-type reverse rise amount setting device 51 for artificially setting a set amount for the reverse movement. The detection information of each of the switches SW1 to SW8 and the cutting are provided. Height setting device 1
5. The configuration is such that the information of each of the avoidance rise amount setting device 50 and the reverse rise amount setting device 51 is input to the control device 14. The detection results of the stock switch S0 and the ground detection sensors S4 and S4 are also input to the control device 14.

A potentiometer type body height sensor S2 is provided at a rotation fulcrum of the mowing unit 2 with respect to the body of the mowing unit 2 as a vertical position detecting means for detecting a vertical position of the mowing unit 2 with respect to the traveling machine body. In the vicinity of the lever 16, when the operation lever 16 is operated in the reverse traveling state, it turns on, and when the operation lever 16 is not operated in the reverse traveling state, that is,
A reverse detection switch S3 as reverse state detection means that is turned off when the vehicle is operated in a neutral traveling state or a forward traveling state.
Are provided, and such detection information is also input to the control device 14.

The adjustment range of the set amount for avoiding the rush which is set by the avoidance rise amount setting device 50 is as follows.
Is an ascending amount for raising the cutting unit 2 in order to avoid rushing into the ground, and an adjustment amount such that rushing can be avoided without largely changing the cutting height, for example, several cm.
It is set to about 10 cm. In addition, the adjustment range of the set amount for reverse ascending set by the reverse ascending amount setting device 51 is such that the mowing portion comes into contact with the ground when the traveling aircraft is in a forward-downward inclined state when the aircraft is traveling backward. In order to be able to avoid this, it is set to a value larger than the set amount for avoiding plunge, for example, a range of several tens of cm to the upper limit of the range in which it can be raised and lowered.

When the ground height control on / off switch SW6 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 for controlling the hydraulic cylinder CY is executed so that the target ground height set by the setting unit 15 is achieved.
If W6 is turned off, the ground height control is stopped. At the start or end of the mowing operation, if there is a command of the operating lever 16 to raise and lower the mowing unit 2 preferentially based on the command of the operating lever 16, a manual lifting operation based on the command of the operating lever 16 is performed. Is configured to be executed in preference to the ground height control, and furthermore, by pressing the elevation command switch SW5, the reaper 2 is moved to a low position for the reaping operation and a high position close to the maximum ascending position. It can be raised and lowered alternately over the position. That is, the reaper 2
When the lifting / lowering command switch SW5 is pressed (an ascending command is issued) while it is detected by the detection value of the anti-aircraft height sensor S2 that the vehicle is at a low position for mowing work, the mowing unit 2 is raised to the maximum. The ascending / descending command switch SW5 is automatically pushed to a height close to the position, and when the mowing unit 2 is detected to be at a higher position by the detection value of the anti-machine height sensor S2, the lifting / lowering command switch SW5 is pressed (descent). When a command is issued), the mowing unit 2 is lowered to a low position for mowing work. Further, when the descending command is issued in a state where the ground height control on / off switch SW6 is set to ON, the control is shifted to the ground height control based on the detection information of the ultrasonic sensor S1. Therefore, the operation lever 16 and the lifting / lowering command switch SW5 correspond to a manually operated lifting / lowering command means.

The control device 14 detects that the reverse detection switch S3 is in the off state, that is, not in the reverse traveling state (in other words, that the traveling body is in the traveling neutral state or the forward traveling state), and When the ground contact state is detected by each of the ground contact detection sensors S4 and S4 when the avoidance rise on / off switch SW7 is in the on state, the avoidance rise amount of the reaper 2 from the ascending / descending position with respect to the traveling body is increased. In order to increase the set amount for avoiding rush set by the setting device 50, a rising process for activating the hydraulic cylinder CY based on the detection information of the anti-aircraft height sensor S2 is performed for the above-described ground height control. If the avoidance rise on / off switch SW7 is operated in the off state, such a rise process for avoiding rushing may be stopped. It is. After the start of the ascending avoidance ascent process, each of the ground detection sensors S
4, regardless of the detection result of S4, it is configured to execute the process until the ascending avoiding ascent process is completed. Further, in the ascending avoiding ascent process,
The lifting operation speed of the hydraulic cylinder CY is controlled so that the rising speed of the reaping unit 2 is reduced as the actual rising amount of the reaping unit 2 that is actually raised approaches the set rising amount.

Then, it is detected that the reverse detection switch S3 is in the on state, that is, the reverse traveling state, and
When the reverse ascending ON / OFF switch SW8 is ON,
When the ground contact state is detected by each of the ground contact detection sensors S4 and S4, the reaping unit 2 is moved relative to the traveling body by a set amount for reverse ascending set by the reverse ascending amount setting unit 51 from its vertical position. If the reverse ascending / deactivating switch SW8 is turned off, the reverse ascending process for operating the hydraulic cylinder CY is performed based on the detection information of the anti-aircraft body height sensor S2 in order to raise the vehicle. It is configured to stop such ascending processing for reverse travel. The avoidance rise amount setting device 50 and the reverse climb amount setting device 51
Corresponds to the manually operated adjusting means.

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. First, it is determined whether the reverse detection switch S3 is on or off. If the switch is off, the process proceeds to the forward process from step 2 onward.
Then, the process proceeds to the reverse process (step 1). In the forward movement processing, when the avoidance ascending on / off switch SW7 is operated to the off state, each of the ground detection sensors S4, S
When the ground contact state is detected at step 4, the alarm buzzer 34 is operated to warn the operator that the avoidance rise on / off switch SW7 is not turned on (steps 2, 4, and 5), thereby avoiding the rise. If the user forgets to turn on the on / off switch SW7, a warning can be issued. It is to be noted that such a warning operation is performed at the time of starting work.
The configuration may be such that the process is executed only at the time of the detection of the second contact, and is not executed thereafter. Then, the avoidance rising on / off switch SW
7 is in the on state, the ground detection sensors S4, S
4, if the grounding state is detected, and if the raising / lowering operation of the reaper 2 is executed by manual lifting / lowering control or ground height control at that time, the lifting / lowering operation is stopped. Then, the ascending avoidance process as described later is executed (steps 3, 6, 7).

When the grounding state is not detected by the grounding detection sensors S4 and S4, the operation of the operation lever 16 causes the up switch SW3 or the down switch SW4 to be turned on. When the lifting / lowering is manually instructed by the operation, the hydraulic cylinder CY is operated based on the command to execute the lifting / lowering operation of the reaping unit 2 (steps 8 and 9). If manual lifting has not been instructed, the lifting operation is stopped (step 10). Then, in a state where the ground height control ON / OFF switch SW6 is set to ON, if a lowering command is issued by the lifting / lowering command switch SW5, or if the mowing unit 2 is at a low position for mowing work, A ground height control based on the detection information of the ultrasonic sensor S1 is executed (Steps 11, 12, 13, 1)
4).

This ground height control is performed as shown in FIG.
The ultrasonic sensor S1 detects the ground height of the reaper 2 and
The deviation between the detected ground height and the target ground height set by the cutting height setting device 15 is obtained (steps 140 and 14).
1). If 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 2 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 cutting unit 2 is raised, and if the cutting height deviation is within the control dead zone, the cutting unit 2 is stopped so that the lifting operation is stopped.
The operation of the hydraulic cylinder CY is controlled so as to raise and lower (steps 142 to 146). During the mowing operation, the ground height control is executed, so that the mowing unit 2 is controlled.
The cutting height of the planted stem and stem is maintained at the set value, and good cutting work can be continued.

Regardless of whether or not the above-described lifting operation by the manual lifting control or the ground height control is performed, when the avoidance lifting ON / OFF switch SW7 is operated to the ON state, each of the grounding is performed. When at least one of the detection sensors S4 and S4 detects the ground contact state of the weeding implement 6, the cutting unit 2 is moved from the vertical position of the traveling body to the rush avoidance set by the avoidance rise amount setting unit 50. (Step 7).

Next, a description will be given of the ascending process for avoiding the plunge with reference to the flowchart of FIG. First, based on the detection information of the anti-aircraft height sensor S2,
The ground height H0 of the mowing unit 2 with respect to the traveling body when the ground contact is detected is detected (step 71). The set amount a for avoiding the rush into the ground height H0
The anti-aircraft height obtained by adding 1 is set as the ascending target position H1 (step 72). Next, the anti-aircraft height sensor S
Until the detected body height Hx sequentially detected in Step 2 reaches the target lift position H1 set as described above, the hydraulic cylinder CY is operated to perform the ascending operation of ascending the cutting unit 2; The detected height Hx is the target elevation H
When it reaches 1, the ascent operation is stopped (steps 73, 74,
75), returning to step 1; As described above, when the contact state of the weeding implement 6 is detected, the process does not return to step 1 until the ascending avoiding ascent process is completed. Regardless of the detection results of the ground detection sensors S4 and S4, the processing is executed until the processing is completed. When performing the raising operation, as shown in FIG.
At the start of the climbing operation, the climbing operation speed is set to the maximum speed, and when the deviation between the detected height Hx and the target climbing position H1 is equal to or less than a set amount, the detected height H is detected.
By changing and adjusting the duty ratio in the duty control for the descending control valve V2 in a state in which the ascending control valve V1 is switched to the ascending position so that the ascending speed of the reaping unit becomes slower as x approaches the ascending target position H1, The lifting operation speed by the hydraulic cylinder CY is controlled.

As described above, when the weeding tool 6 is in contact with the ground, the cutting unit 2 can be reliably raised by a set amount without excess or deficiency based on the detection information of the height of the aircraft. The tool can be prevented from plunging into the soil beforehand, and good mowing work can be continued in a state where the mowing height does not change significantly.

Next, the reverse process will be described. As shown in FIG. 11, when the reverse ascending / disconnecting switch SW8 is in the ON state, at least one of the grounding detection sensors S4 and S4 detects the grounding state, and then the manual lifting and lowering is performed. If the raising / lowering operation of the reaping unit has been executed by the control or the ground height control, the raising / lowering operation is stopped and the ascending process for reverse is executed (step 1).
5, 16, 17, 18). Although not shown, the reverse climbing process uses the reverse climb set amount set by the reverse climb amount setting unit 51 in place of the rush avoidance set amount a1 in FIG. Others
This is the same processing as the ascending processing for avoiding plunging shown in FIG. In the state where the grounding state is not detected by the grounding detection sensors S4 and S4, when the raising switch SW3 or the lowering switch SW4 is turned on by the operation of the operation lever 16 to manually instruct the lifting and lowering, The hydraulic cylinder CY is actuated based on the command to execute the raising / lowering operation of the cutting unit 2 (steps 19 and 20). If no manual lifting is commanded, the lifting operation is stopped (Step 2)
1).

[Other Embodiments] Other embodiments will be listed below.

(1) In the above-described embodiment, in the climbing-up avoiding process and the reverse going-up process, the ground contact state is detected based on the detection information of the vertical position detecting means (anti-body height sensor S2). Although the structure which controls so that a mowing part is raised to the position which raised the set amount from the raising / lowering position at the time of being performed was illustrated, it is not limited to such a structure. Without using, for example, while adjusting the speed so that the elevating operation speed by the elevating operation means always becomes the set speed, executing the elevating operation by the elevating operation means for the set time from when the ground contact state is detected in the ascent process. By doing
The configuration may be such that the set amount is increased.

(2) In the above embodiment, the weeding implement is elastically supported at a proper 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. 13 to 19, 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. 16, the ground contact detection body 40 is supported by the mowing frame 12 so as to be vertically swingable around 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 embodiment. In addition, as shown in FIG. 17, while being elastically urged downward by the coil spring 42, 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. 19, the ground contact detector 40 is configured to slide up and down while sliding on the left and right sides of the mowing frame 12 while restricting lateral movement. Then, as shown in FIG. 15, when the grounding detection body 40 is displaced upward by the grounding state, the grounding detection sensor S4 is switched to the ON state.

(3) In the above-described embodiment, an example has been described in which the support means (elastic support mechanism) for elastically supporting the weeding tool at the appropriate weeding position is provided so that the elastic support force can be changed and adjusted. 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.

(4) In the above-described embodiment, the configuration in which the grounding detection sensors are provided corresponding to the weeding tools on both the left and right sides, respectively, has been 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-described embodiment, as the grounding state detecting means, a switch type grounding detection sensor S4 which 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 (2) 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.

(6) In the above embodiment, the potentiometer-type avoidance rise amount setting device 50 and the reverse movement amount setting device 51 are respectively provided as artificial operation type adjusting means, and the setting for avoiding the plunge is provided. Although the configuration in which each of the amount and the set amount for reverse ascending can be changed and adjusted in a stepless manner is exemplified, the invention is not limited to such a configuration, and a plurality of stepped (two or more) switching configurations may be used. Alternatively, a configuration may be employed in which only one of the set amounts is changed and adjusted. Alternatively, a configuration may be used in which any one of them is set as a constant value without changing and adjusting.

(7) In the above-described embodiment, the number of the cutting sections is three and the weeding section is provided with four weeding tools for distributing and weeding the planted grain culm of the object to be cut. 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 control for operating the lifting / lowering operation means (hydraulic cylinder) is performed based on the detection information of the ground height detection means. However, without performing such lifting control, for example, the operation 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 diagram showing a transmission configuration.

FIG. 4 is a control block diagram.

FIG. 5 is a side view showing an elastic support mechanism.

FIG. 6 is an exploded perspective view showing an elastic support mechanism.

FIG. 7 is a side view showing a contact detection state.

FIG. 8 is a flowchart of a control operation.

FIG. 9 is a flowchart of a control operation.

FIG. 10 is a flowchart of a control operation.

FIG. 11 is a flowchart of a control operation.

FIG. 12 is a timing chart.

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

FIG. 14 is a side view showing a main part of a ground detection configuration according to another embodiment;

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

FIG. 16 is a sectional view taken along line BB of FIG. 13;

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

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

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

[Explanation of symbols]

 2 Cutting part 6 Weeding implement 14 Elevation control means 50, 51 Adjustment means CY Elevation operation means S2 Elevation position detection means S3 Reverse state detection means S4 Grounding state detection means

Claims (4)

[Claims] 1. A cutting section provided with a weeding tool at the lower end of a tip for guiding weeding of a planted stem and culm is provided so as to be vertically movable with respect to the traveling body by a vertically moving operation means, and is manually operated. A harvesting and raising and lowering control device of a reaper having a raising and lowering control means for controlling operation of the raising and lowering operation means based on a raising and lowering instruction by a commanding means, wherein the weeding implement is in a ground contact state in contact with the ground. And a reverse state detecting means for detecting whether the traveling body is in a reverse traveling state is provided, and the elevation control means is not in the reverse traveling state by the reverse state detecting means. When the grounding state is detected by the grounding state detecting means when the grounding state is detected, the reaping unit raises the reaping unit until the reaping unit increases the set amount for rushing avoidance. When the contact state is detected by the contact state detection means when the contact state detection means detects that the vehicle is in the reverse traveling state, The reaper of the reaper and harvester, wherein the reaper is configured to execute a reverse ascent process for raising the reaper until the set amount for reverse ascending is larger than the set amount for avoiding the rush. Lift control device. 2. A harvesting elevation control device for a reaper according to claim 1, further comprising a manually operated adjusting means for changing and adjusting the set amount for avoiding the plunge and the set amount for raising the reverse. . 3. An elevation position detecting means for detecting an elevation position of the reaping unit with respect to the traveling machine body, wherein the elevation control means is configured to detect the elevation information for avoiding the plunge in accordance with information detected by the elevation position detection means. The reaping unit is configured to be raised from a lifting position when the ground contact state is detected by the ground contact state detecting means to a position where the set amount for avoiding the rush is raised, and In the ascending process for use, based on the detection information of the ascending and descending position detecting means, from the elevating position when the contact state is detected by the contact state detecting means to a position in which the set amount for ascending and descending is increased The reaping elevation control device for a reaper according to claim 1 or 2, wherein the reaping unit is configured to be raised. 4. The weeding device is elastically supported at a proper weeding position and is configured to be independently displaceable to the ascending side, and the ground contact state detecting means sets the weeding device from the proper weeding position. The reaping elevation control device for a reaping and harvesting machine according to any one of claims 1 to 3, wherein the ascending displacement is detected as the ground contact state.