JP2002165514A - Combine harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a combine harvester designed to quickly run restarting a reaping operation for the next row on ending its turning. SOLUTION: This combine harvester equipped with a reaping unit 6 for reaping planted grain culms with a means 7a for detecting the distance to the surface of a farming field in front of the chassis 2 having a traveling unit 1, and a threshing unit 9 for threshing and separating grain culms reaped by the reaping unit 6, a grain tank 10 for temporarily reserving the grains separated by the threshing unit 9 and an operation unit 11 each above the chassis 2, also has a front and rear levelling means functioning to make the chassis 2 horizontal in front and rear direction relative to the traveling unit 1, a lateral levelling means functioning to make the chassis 2 laterally horizontal relative to the traveling unit 1, and a means 4 for detecting the combine harvester's turning motion; and this combine harvester is characterized by working as follows: when the combine harvester's turning is detected by the means 4, the lateral levelling means is run preferentially to the front and rear levelling means, and a height regulation for the reaping unit 6 is run in association with the result given by the distance detective means 6a.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a combine.

[0002]

2. Description of the Related Art In a conventional combine, when a combine turns, horizontal control of the front, rear, left, and right of a chassis is performed by giving priority to the front-rear direction. this is,
If the front-back direction of the combine is inclined, the bottom of the mowing device may come into contact with the field scene and be damaged in some cases.

[0003]

In the above-mentioned combine, since the horizontal control of the chassis is delayed in the left-right direction, when the turning is completed and the cutting operation of the next line is restarted, the cutting device for the grain culm line is restarted. Left and right alignment was delayed. That is, the mowing operation cannot be actually performed, and
Until the horizontal control in the left-right direction is completed, the combine must be temporarily stopped, which causes a problem that work efficiency is deteriorated.

It is an object of the present invention to provide a combine for preventing the above-mentioned problems.

[0005]

The above object of the present invention is achieved by the following constitution. That is, in the invention according to claim 1, in front of the undercarriage 2 having the traveling device 1, a cutting device 6 having a distance detecting means 6a for detecting a distance from a field scene and cutting a planted grain culm, Above the undercarriage 2, a threshing device 9 for threshing and sorting the stalks cut by the reaping device 6
A Glen tank 10 for temporarily storing the kernels selected by the threshing device 9, and a combine front provided with an operation unit 11, a front-rear horizontal means for horizontalizing the chassis 2 with respect to the traveling device 1 in the front-rear direction. Right and left horizontal means for horizontally moving the chassis 2 with respect to the traveling device 1, and turning detecting means 4 for detecting turning of the combine. When the turning detecting means 4 detects turning of the combine, the front and rear horizontal The combine is characterized in that the right and left horizontal means are given priority over the means and the height adjustment of the reaper 6 is executed in relation to the detection result of the distance detecting means 6a. Things.

According to the second aspect of the present invention, in front of the undercarriage 2 having the traveling device 1, there is provided a distance detecting means 6a for detecting a distance from a field scene, and a cutting device 6 for cutting the planted grain culm. Above the undercarriage 2, a threshing device 9 for threshing and sorting the stalks cut by the mowing device 6, a grain tank 10 for temporarily storing the grains selected by the threshing device 9, and an operation unit 11 , A front-rear horizontal means for horizontaling the chassis 2 in the front-rear direction with respect to the traveling device 1, a left-right horizontal means for horizontaling the chassis 2 in the left-right direction with respect to the traveling device 1, and detecting a turn of the combine. And turning operation of the reaper 6 from the ascending position to the lowering direction while the turning detecting device 4 is detecting the turning state of the combine. Preferentially With rows, in relation to the detection result of the distance detection unit 6a, is obtained by the combined, characterized by being configured to perform the height adjustment of the cutting device 6.

[0007]

According to the first aspect of the present invention, while the combine is turning, the leveling control of the chassis 2 is performed with priority given to the left-right direction with respect to the front-rear direction.
The position in the vertical direction is automatically adjusted by the distance detecting means 6a provided in the mowing device 6.

According to the second aspect of the present invention, when the lowering movement of the reaper 6 is performed while the combine is turning, the leveling control of the chassis 2 is executed with priority given to the left-right direction with respect to the front-back direction. At the same time, in the reaper 6, the vertical position is automatically adjusted by the distance detecting means 6a provided in the reaper 6.

[0009]

Since the present invention is constructed as described above, according to the first aspect of the present invention, it is possible to suppress swinging in the front-rear direction and swinging in the left-right direction substantially simultaneously in the reaper 6 alone. After completion, the harvesting work can be restarted promptly.

In the invention according to claim 2, during turning,
After the lowering movement of the reaper 6, the sway in the front-rear direction and the sway in the left-right direction can be suppressed substantially simultaneously in the reaper 6 alone, so that the reaping operation can be promptly restarted after the turning.

[0011]

Embodiments of the present invention will be described with reference to the drawings. 1 to 3 show a traveling device of a combine embodying the present invention. In front of the undercarriage 2 having the traveling device 1, a cutting device 6 that cuts the planted grain culm and transports it rearward, and further inherits the grain culm transported from the mowing device 6 and further feeds the feed chain 7 toward the rear. A supply transport device 8 for transport is provided. Reaper 6
Is configured to move in the vertical direction by driving of the mowing lifting cylinder 6b.

On the undercarriage 2, a threshing device 9 for threshing and sorting while transferring and conveying the cereal culm conveyed from the supply / conveying device 8 by the feed chain 7, A Glen tank 10 for storing and an operation unit 11 for performing various operations of the combine are mounted. Further, a vertical auger 5 and a horizontal auger 5a for discharging the grains in the Glen tank 10 to the outside of the machine are configured.

The undercarriage 2 includes a rolling device 12 for inclining the undercarriage 2 with respect to the traveling device 1 and a pitching device 1 for inclining the undercarriage 2 with respect to the traveling device 1.
2a is provided. The traveling device 1 will be described.

The traveling device 1 includes an endless belt-like crawler 13.
And a driving sprocket 14 for rotating the crawler 13
A plurality of ground wheels 15 provided at predetermined intervals to ground the crawler 13 on the ground, a movable wheel 16 corresponding to unevenness of the ground, the ground wheel 15 and the movable wheel 1
6, a track sprocket 18 for applying tension to the crawler 13, an adjusting device 19 for adjusting the movement of the sprocket 18, a supporting wheel 20 for preventing the crawler 13 from hanging down, and the like. I have. The same configuration is provided in a pair on the left and right.

The rolling devices 12 are provided in the left and right traveling devices 1, respectively. This rolling device 1
2 will be described. A front arm 21 is loosely connected to a pin 22 at the front of the track roller frame 17, and a rear arm 23 is loosely connected to a pin 24 at the rear. The other end of the front arm 21 is loosely connected to a front rolling shaft 26 of a support 25 fixed to the chassis 2, and an arm 27 is loosely connected to the front rolling shaft 26. I have. The front arm 21 and the arm 27 are connected and fixed. The other end of the rear arm 23 is loosely connected to a rear rolling shaft 29 of a connecting arm 28 fixed to the chassis 2, and an arm 30 is loosely connected to the rear rolling shaft 29. . The rear arm 23 and the arm 30 are connected and fixed. The arm 2
The arm 7 and the arm 30 are loosely connected by a connecting rod 31, and the end of the arm 30 is loosely connected to the end of a piston rod 33 of a hydraulic cylinder 32.
The hydraulic cylinder 32 is loosely fitted on a plate 32 a loosely fitted to the chassis 2. A plate 32 b is provided from the loosely fitted axis, and the end thereof is connected to the pitching arm 34.

The plate 32b includes a hydraulic cylinder 32
The piston rod 33 is made movable. The reason why the hydraulic cylinder 32 is suspended from the plate 32a is that the piston rod 33 of the hydraulic cylinder 32 does not move when the pitching hydraulic cylinder 35 is operated.

Therefore, when the piston rod 33 of the hydraulic cylinder 32 is extended, the arm 3 in the left side view of FIG.
0 rotates clockwise and pulls the connecting rod 31, which rotates the arm 27 clockwise.
Then, both the rear arm 23 and the front arm 21 rotate clockwise, and thereby the track roller frame 1 is rotated.
Reference numeral 7 denotes a structure that is lowered with respect to the chassis 2. That is,
The undercarriage 2 is configured to move up and away from the ground contact surface of the crawler 13.

When the piston rod 33 of the hydraulic cylinder 32 is contracted, the movement becomes opposite to the above-mentioned movement.
The track roller frame 17 is configured to rise upward with respect to the chassis 2. That is, the chassis 2 descends and approaches the ground contact surface of the crawler 13. Such a left and right rolling motion can be set by operating the manual left tilt switch and the right tilt switch provided on the operation unit 11 to arbitrarily move the chassis 2 left and right by the operator. I have. Further, by turning on the left and right automatic horizontal control switches provided on the operation unit 11, the inclination sensor 36 detects the inclination of the chassis 2,
This is a configuration in which left and right horizontal means for automatically controlling the horizontal in the horizontal direction of the chassis 2 are provided.

When the rolling device 12 is used, for example, when the traveling device 1 of the combine tilts to the left due to the influence of the field, the chassis 2 also tilts to the left, and the operation mounted on the chassis 2 Since the section 11 is also inclined to the left, the comfort of the operator riding on the operation section 11 is deteriorated, and the threshing device 9 is also inclined to the left, and the sorting of the threshed grains is also impaired. Then, in such a case, the piston rod 33 of the left hydraulic cylinder 32 is extended (the piston rod 33 of the right hydraulic cylinder 32 may be reduced at the same time), and the left side of the chassis 2 is raised to raise the chassis 2
Are substantially parallel (rolling control). The inclination state of the combine is detected by an inclination sensor 36 installed on the chassis 2. When the combine tilts to the right, the piston rod 33 of the right hydraulic cylinder 33 is extended (the piston rod 33 of the left hydraulic cylinder 32 may be reduced at the same time), and the right side of the chassis 2 is raised. Has become.

When the piston rods 33 of the left and right hydraulic cylinders 32 are simultaneously extended, the chassis 2
Is a configuration that will rise. Further, when the piston rods 33 of the left and right hydraulic cylinders 32 are contracted, the movement becomes opposite to the above-described movement.
Reference numeral 7 denotes a configuration that rises upward with respect to the chassis 2. Therefore, when the piston rods 33 of the left and right hydraulic cylinders 32 are simultaneously shortened, the chassis 2 is lowered with respect to the ground.

As described above, the chassis 2 can be moved up and down with respect to the contact surface of the crawler 13. As a basic usage, when a field scene such as a wetland is in a soft state, the crawler 13 sinks.
So that it travels.

Next, the inclination of the chassis 2 in the front-rear direction will be described. One end of the connecting arm 28 is a pitching arm 34
And the pin 37, the pitching arm 34
Is loosely connected to the chassis 2 by a shaft 38. Specifically, the shaft 38 is rotatably supported on a traveling frame 39 by a bearing 40. Only the pitching arm 34 on the right side with respect to the forward direction of the combine projects upward (projection 34 a), and the end of the piston rod 42 of the pitching hydraulic cylinder 35 that is loosely fitted to the chassis 2 is provided at the end. The part is loosely fitted.

When the piston rod 42 is extended, the pitching arm 34 rotates clockwise about the shaft 38 as a fulcrum. Since the pin 37 also rotates clockwise with the pitching arm 34, the connecting arm 28, the rear rolling shaft 2
9, the rear arm 23 and the pin 24 are configured to rise.
Since the pin 24 raises the rear part of the track roller frame 17, the distance between the rear part of the chassis 2 and the crawler 13 is shortened, and the chassis 2 (the entire combine) is inclined forward and downward. Configuration.

When the piston rod 42 is shortened, the above-described movement is reversed, the distance between the rear portion of the chassis 2 and the crawler 13 is increased, and the rear chassis is inclined upward, that is, the chassis 2 (entire combine) is inclined forward and downward. It is. Such a pitching movement is basically for making the inclination of the combine in the front-back direction substantially horizontal. When the field scene is a wetland, the combine also inclines in the front-rear direction as described above, and is intended to prevent this. Specifically, when the tilt sensor 36 detects the movement of the chassis 2 (entire combine) in the front-rear direction, the inclination is set to be horizontal.
For example, when the chassis 2 is inclined forward with the traveling device 1,
The piston rod 42 of the pitching hydraulic cylinder 35 is extended so that the undercarriage 2 (entire combine) is horizontal as the front is inclined upward.

When the undercarriage 2 is tilted rearward together with the traveling device 1, the piston rod 42 of the pitching hydraulic cylinder 35 is shortened, and the rear portion of the undercarriage 2 is moved upward with respect to the traveling device 1 so that the undercarriage is moved. 2 (the whole combine) is horizontal. In this way, the front-rear horizontal means automatically sets the front-rear direction to the horizontal state.

The operation unit 11 is provided with a forward-downward tilt switch and a rearward-downward tilt switch, by which the chassis 2 can be manually moved in the front-rear direction with respect to the traveling device 1. There is also a configuration in which the front-back inclination of 2 can be set. When the work is started by running such a combine, the planted grain culm is cut off by the cutting device 6 and transported rearward, and then is taken over by the starting end of the feed chain 7 and is conveyed to the threshing device 9 while being pinched and transported. And threshing. The grains selected by threshing by the threshing device 9 are transported into a Glen tank 10 and temporarily stored therein. When the Glen tank 10 is full of grains, the combine is moved to a place such as a truck. And vertical auger 5, horizontal auger 5a
Is discharged from the grain discharge port 5b to the outside of the machine. When the discharge is completed, the cutting operation is performed again.

As described above, while working in the field,
The combine turns and changes its direction of travel. At the time of turning, the mowing device 6 is raised to a predetermined position, and its driving is stopped (feed chain 7).
Is also stopped, but the threshing device 9 maintains the driving state). At the same time as the turning is completed or shortly before the turning is completed, the mowing device 6 is lowered to prepare for the next mowing operation.

When the field scene is flat during the turning of the combine, the combine does not cause a horizontal swing (rolling) or a forward and backward swing (pitching). However, if there is unevenness in the field scene, the combine causes rolling and pitching. Therefore, it is necessary to make the chassis 2 horizontal in the left-right and front-rear directions by the above-described left-right horizontal means and front-rear horizontal means. When rolling and pitching occur at the same time, it is important to decide which of the left and right horizontal means and the front and rear horizontal means should be given priority.However, when the reaping operation is resumed, both the left and right directions and the front and rear directions are substantially horizontal. Since the reaping work cannot be resumed unless it is in the state, the priority order of the left and right horizontal means and the front and rear horizontal means may be either.

However, according to the present invention, the mowing device 6 is provided with the distance detecting means 6a (in this embodiment, an ultrasonic sensor) for detecting the distance from the field scene, so that the ultrasonic sensor 6a is used. The pitching of the reaper 6 in the front-rear direction is stopped. That is, even if the chassis 2 swings in the front-rear direction, the ultrasonic sensor 6a is operated, and the cutting and lifting cylinder 6 is moved.
By driving b, the distance between the lower part of the reaper 6 and the field scene is maintained at a predetermined distance. Thereby, chassis 2
Even if swings in the front-rear direction, the mowing device 6 is controlled independently, so that the pitching of the mowing device 6 itself is substantially stopped.

Then, while executing such control,
At the same time, the rolling device 12 is operated to execute the left and right horizontal means. Thereby, in the reaper 6, since the sway in the front-rear direction and the sway in the left-right direction can be suppressed substantially simultaneously, the reaping operation can be restarted promptly. Of course, since the pitching device 12a is not driven, the chassis 2 swings in the front-rear direction, but not so much as to be a problem when compared with the working efficiency. As described above, after the left and right horizontal means by the operation of the rolling device 12 is completed, the pitching device 12a is operated to stop the back and forth swing of the chassis 2.

During such turning, the inclination sensor 3
6. Compare the value of the front and rear inclination of the chassis with the value of the left and right inclination by the value from 6 and, if one of the values is more than a predetermined value from the horizontal, Is performed first. Thereby, an extreme inclination (front and rear or left and right) of the chassis 2 can be prevented, so that a stable operation can be performed.

FIG. 4 shows a flowchart of this control. In S1, it is determined whether or not a mowing operation is being performed. During the reaping operation (straight forward), the right and left horizontal control is executed with priority (in this case, it does not matter to the gist of the present invention, so whichever may be given priority). If not, the process proceeds to S2. In S2, it is determined whether the power steering lever 3 has been operated.
When there is no operation of the power steering lever 3, since the vehicle is traveling straight, the front-back horizontal control is given priority, but the left-right horizontal control may be given priority. When the power steering lever 3 is operated in S2, the combiner determines that the turning is started, advances to S3, and executes the right and left horizontal control with priority.

Further, when the harvester 6 starts descending while the combine is turning, even if the above-described control is executed, there is no delay in control and there is no hindrance to the harvesting operation. Therefore, even while the combine is turning, the right and left horizontal means and the front and rear horizontal means are alternately executed (whichever may be first) until the mowing device 6 starts descending, so that the front, rear, left and right horizontal state of the chassis 2 is maintained. Try to maintain.

As a result, the front, rear, left and right sides of the undercarriage 2 are maintained in a substantially horizontal state until the mowing device 6 starts lowering, so that a stable riding comfort can be obtained. Further, when the mowing device 6 starts lowering, Since the reaper 6 itself is simultaneously maintained in a substantially horizontal state in the front-rear direction and the left-right direction, the next reaping operation can be restarted promptly.

FIG. 5 shows a flowchart of this control. In S4, it is determined whether or not the mowing operation is being performed. During the reaping operation (straight forward), the right and left horizontal control is executed with priority (in this case, it does not matter to the gist of the present invention, whichever may be given priority). If not, the process proceeds to S5. In S5, it is determined whether or not the power steering lever 3 has been operated.
When there is no operation of the power steering lever 3, since the vehicle is traveling straight, the front / rear horizontal control is given priority, but the left / right horizontal control may be given priority. If the power steering lever 3 is operated in S5, it is determined that the combine has started turning, and the process proceeds to S6. If there is no lowering operation of the reaper 6 during turning, priority is given to front and rear horizontal control, but priority may be given to left and right horizontal control. If the lowering operation of the reaper 6 is performed during the turning, the process proceeds to S7, and the left and right horizontal control is executed with priority.

The turning state of the combine right and left is detected by operating the power steering lever 3, but as another embodiment, the rotation state of an arbitrary shaft in the transmission case 43 may be detected. , Drive sprocket 14,
The presence or absence of turning may be determined by detecting the rotation state of the ground wheel 15, the movable wheel 16, the support wheel 20, and the like. in short,
Any means can be used as long as it can detect whether or not the combine is in a turning state.

As described above, the front / rear / left / right horizontal control of the chassis 2 is executed even when the combine is turning, and the front / rear and left / right horizontal control of the chassis 2 is executed even when the vehicle changes from the turning to the straight traveling state. In the conventional configuration, the execution speed of the front-rear and left-right horizontal control was the same in each case, so that even if the state was changed from turning to straight traveling, the front-rear left-right horizontal control was delayed, and the reaper 6 Work was delayed. This is due to the improvement of the turning performance of the combine by performing spin turns and the like.

In order to solve such a problem, horizontal control of the front, rear, left and right when the vehicle shifts from turning to straight traveling is performed at a higher speed than during turning. As a result, even if the harvesting operation is restarted after turning, the delay of the vehicle body horizontal control is eliminated, so that the restarting of the harvesting operation is promptly performed, and the work efficiency is improved.

As shown in FIG. 1, the horizontal auger 5a is configured to be stored in the auger receiver 44. If the horizontal auger 5a is not stored in the auger receiver 44 and the pitching, rolling, and vertical adjustment of the vehicle height are performed as described above, the horizontal auger 5a is shaken and vibrated. Grains spilled near the spill. In addition, since a large load acts on the base side of the vertical auger 5, it may be damaged.

Therefore, when the lateral auger 5a is not stored in the auger receiver 44, control to move the chassis 2, such as pitching, rolling, and adjustment of the vehicle height, is not executed, or an alarm is issued to the operator. Let them know.
Thereby, it is possible to prevent spilling of the grains accumulated near the grain discharge port 5b and also to prevent damage to the base of the vertical auger 5.

Next, FIGS. 6 and 7 will be described. When the culm in the field does not fall as shown in FIG. 6, the work is performed with a predetermined distance H provided between the bottom of the weeding rod 45 of the reaper 6 and the field scene. However, as shown in FIG. 7, in the case of the lodging cereal stem, the bottom of the weeding rod 45 and the field scene are brought as close as possible. This is to improve the performance by scooping up the lodging grain culm.

Therefore, when the combine sways due to unevenness in the field scene, the weeding rod 45 also sways, so that the weeding performance of the lodging grain culm is reduced. Therefore, in the harvesting work of the lodging grain culm as shown in FIG.
The sensitivity of the tilt sensor 36 for horizontal control such as vertical adjustment of the vehicle height is improved. Specifically, the width is made wider than the width of the dead zone of the inclination sensor 36 of the vehicle body horizontal control at the time of the cutting operation at the time of the planted grain culm as shown in FIG. As a result, the horizontal control of the vehicle body can be more finely controlled and the weeding rod 45 can be prevented from shaking.
Can be prevented from penetrating into the culm or into the field scene.

Next, a vehicle speed sensor 46 for detecting the vehicle speed of the combine is provided on an arbitrary axis of the transmission case 43 of the combine shown in FIG.
When the detected value is equal to or greater than a predetermined value, the width of the dead zone of the tilt sensor 36 is increased.

If the vehicle body horizontal control such as pitching and rolling is finely executed while the combine is running at a high speed, the gantry 2 will rather hunt, and as a result, the riding comfort will deteriorate, and the hunting device 6 The grass rod 45 also vibrated, and the weeding action was reduced.

Therefore, as described above, at the time of high-speed running, such a problem can be prevented by widening the dead zone width of the inclination sensor 36. As described with reference to FIGS. 4 and 5, while the combine is turning, the left and right horizontal control of the chassis 2 has been given priority. However, in order to obtain substantially the same effect as this configuration, the following configuration has been adopted. Is also good. That is, during turning, the left and right horizontal control and the front and rear horizontal control of the chassis 2 are configured to be executed alternately at predetermined time intervals or at predetermined distances of turning travel. In particular, when the predetermined time or the predetermined distance is shortened as much as possible, very fine control becomes possible. Therefore, when the harvesting operation is restarted after the end of the turn, the front and rear and left and right postures of the combine chassis 2, that is, the reaper 6. Since it is in a substantially horizontal state, it is possible to smoothly restart the mowing work.

Next, FIG. 8 will be described. FIG. 2 shows a plan view of an operating unit 11 of the combine. As previously mentioned,
The combine of this embodiment is equipped with a body level control for automatically setting the chassis 2 in the front, rear, left and right horizontal state. The switches for executing this control are a front and rear body level control switch 50 and a left and right body level control switch 51. And the operation unit 1
1 is provided on the left rear side. In addition, an automatic cutting height switch 4 for automatically setting the cutting height of the cutting device 6.
8, an automatic direction control switch 47 for automatically executing the traveling direction of the combine, an automatic handling depth switch 49 for automatically executing the handling depth of the cut culm, and the like are provided.

The above-described automatic switch group may be turned on and off to execute various controls.
It is convenient if all automatic switches can be turned on or off collectively or selectively. In view of this, a configuration is adopted in which the general shift switch 53 for turning on / off all the automatic switch groups or the selected automatic switch group at a time is provided on the traveling shift lever 52 for executing the forward / reverse of the combine.
This facilitates the operation. In particular, when the combine operation is completed and stored in a barn or the like, the automatic switch group can be turned off collectively, which facilitates the operation. Also, when restarting the work, the general switch 53
Is set to the ON state, the automatic switches are brought into the ON state collectively, which facilitates the operation. The general switch 5
3 may be provided at a place other than the traveling speed change lever 52.

Further, as described above, since the automatic switch group can be selected, only the automatic switch group desired by the operator can be turned on and off collectively by the general switch 53, so that the working efficiency is further improved. Become. The selection of the automatic switch group is performed by the selection switch 54. The selection method is such that the selection switch 54 can be turned on, and any selected automatic switch can be turned on simultaneously or within a predetermined period of time. Confirmation of the selection is displayed on the display 55, so there is no mistake.

When the general switch 53 is set to the power steering lever 3
May be provided. Since the power steering lever 3 changes the course of the combine in the left-right direction and moves up and down the reaping device 6, the general switch 53 can be turned on and off while performing these operations, so that the work performance is improved. become.

[Brief description of the drawings]

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

FIG. 2 is a left side view of the traveling device.

FIG. 3 is a plan view of the traveling device.

FIG. 4 is a flowchart.

FIG. 5 is a flowchart.

FIG. 6 is a front view of the combine.

FIG. 7 is a front view.

FIG. 8 is a plan view of an operation unit.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Traveling device, 2 ... chassis, 4 ... Turning detection means, 6 ... Harvesting device, 6a ... Distance detection means, 9 ... Threshing device, 10 ... Glen tank, 11 ... Operation part.

Continued on the front page F term (reference) 2B074 AA02 AB01 AC02 AD05 AF02 BA06 CA01 CE01 CG02 DA01 DA02 DA03 DB04 DC06 EA03 EA11 EB02 EC01 EE02 2B076 AA03 CA03 CC12 CC13 EA02 EA04 EA05 EC23 2B382 GA09 GC02 GC03 GC04 GD02 H03B MA30

Claims (2)

[Claims] 1. In front of a chassis 2 having a traveling device 1,
A cutting device 6 having a distance detecting means 6a for detecting a distance from a field scene to cut the planted grain culm, and a threshing device for threshing and sorting the culm cut by the cutting device 6 above the undercarriage 2. 9, a Glen tank 10 for temporarily storing the grains selected by the threshing device 9, and a combine front provided with an operation unit 11. Right and left horizontal means for horizontally moving the chassis 2 with respect to the traveling device 1; and turning detection means 4 for detecting turning of the combine.
When the turning of the combine is detected, the right and left horizontal means are given priority over the front and rear horizontal means, and the height of the reaper 6 is adjusted in accordance with the detection result of the distance detecting means 6a. A combine characterized in that: 2. In front of a chassis 2 having a traveling device 1,
A mowing device 6 having a distance detecting means 6a for detecting the distance from the field scene to mow the planted cereal culm, and a threshing device for threshing and sorting the culm cut by the mowing device 6 above the undercarriage 2. 9, a Glen tank 10 for temporarily storing the grains selected by the threshing device 9, and a combine front provided with an operation unit 11. Right and left horizontal means for horizontally moving the chassis 2 with respect to the traveling device 1; and turning detection means 4 for detecting turning of the combine.
Is detecting the turning state of the combine, the reaper 6
Is moved from the rising position to the lowering direction, the right and left horizontal means are given priority over the front and rear horizontal means, and the height of the reaper 6 is adjusted in accordance with the detection result of the distance detecting means 6a. Characterized in that the combine is executed.