JP2003118628A - Pivoting device of combined harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a pivoting device of a combined harvester capable of pivoting a body with an easy operation. SOLUTION: The pivoting device of the combined harvester comprises a operation signal output means 43a for outputting operational signals of pivoting operation tools including a power steering lever 43, a continuous outputting means of pivoting command 80 for continuously outputting pivoting commands in a predetermined range based on the operation signals and a crawler rotation change means 30. By operating pivoting operation tools once, a body is automatically pivoted for a predetermined time or a predetermined travel distance.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a combine swivel device, and more particularly to a combine swivel device capable of rotating a machine body by a simple operation.

[0002]

2. Description of the Related Art In a self-removing combine for mowing and threshing, which has a reaping device mounted on a machine suspended by left and right crawlers for traveling, the machine rotates by changing the rotational speed of the left and right crawlers. Here, "turning" is also referred to as steering, turning, or changing the strike by changing the traveling direction of the aircraft.

In general, a turning device uses a power steering lever which can be tilted to the left and right as a turning operation tool, and the body is turned by tilting the power steering lever to the side in the turning direction. Therefore, while the aircraft is turning to turn to a certain direction angle,
It is necessary to continue tilting the turning operation tool.

[0004]

[Problems to be Solved by the Invention] However, in the field where the ground is soft and in a limited narrow place such as a headland, it is necessary to pay close attention to turn the aircraft so as not to contact uncut ridges or ridges. While paying, subtle operations such as speed adjustment and attitude control are required for the stability of the machine body. Furthermore, preparatory work is required to efficiently restart the mowing work that follows the turning of the machine body. Therefore, simplification of the turning operation of the combine has been desired.

An object of the present invention is to simplify the machine body turning operation of the combine so that the operator can deal with other operations such as speed control with a margin.

[0006]

In order to solve the above-mentioned problems, in the invention of claim 1, a turning operation is performed in a combine in which the rotation of either the left or right crawler is changed by the operation of the turning operation tool to turn the machine body. Operation signal output means for outputting an operation signal by operating a tool, turning command continuation output means for receiving the operation signal and continuously outputting a turning command corresponding to the operation signal for a predetermined time or a predetermined traveling distance, and the turning It is equipped with a crawler rotation changing means for changing the rotation of the left or right crawler based on a command, and by operating the turning operation tool once, the turning device of the combine is automatically turned for a predetermined time or a predetermined traveling distance. Configured.

When the turning operation tool is operated, a turning command corresponding to the operation signal is generated, and the turning command is continuously output. Therefore, the turning command causes the aircraft to continue turning operation, and Since the turning command is limited to the range of the predetermined time or the predetermined traveling distance, the turning operation of the airframe ends in that range. Therefore, by the initial turning operation, the speed of the left and right crawlers is adjusted by one-touch operation to perform the turning operation without the need to operate the turning operation tool thereafter, and thus the machine body performs the turning operation, that is, the automatic turning becomes possible. .

According to the second aspect of the invention, the ground height of the mowing section is predetermined based on the mowing section height detecting means for detecting the ground level of the mowing section and the detection signal of the mowing section height detecting means. When the height of the mowing section is higher than the safe value, the turning command continuous output means determines whether the height of the mowing section is higher than the safe value based on the determination signal of the mowing section height determining section. By configuring the combine turning device so as to continuously output the turning command, the machine body performs the predetermined turning motion only when the height of the harvesting device is equal to or higher than the predetermined height.

According to the third aspect of the present invention, the cutting section is provided with grain culm detecting means for detecting whether or not there is grain culm, and the turning command continuous output means detects the absence of grain culm by the grain culm detecting means. In this case, by configuring the combine turning device to continuously output the turning command, when the grain culm detecting means detects and handles no grain culm, that is, only when the grain culm to be mowed is exhausted. The aircraft makes a predetermined turning motion.

According to a fourth aspect of the present invention, there is provided automatic canceling means for outputting a canceling signal when the turning operation tool is operated during the output of the turning command, and the turning command continuous output means turns during the automatic turning. When the operation tool is operated, the combine slewing device is configured to stop the output of the turning command based on the cancellation signal of the automatic cancellation means. Is stopped, the turning motion of the machine is completed.

According to a fifth aspect of the present invention, there is provided automatic canceling means for outputting a canceling signal when the cutting section lowering operation is performed while the turning command is being output, and the turning command continuous output means is provided for the cutting section during automatic turning. When the descending operation is performed, the combine turning device is configured to stop the output of the turning command based on the cancel signal of the automatic canceling device, so that the automatic canceling device stops the output of the turning command by the descending operation of the cutting section. Therefore, the turning motion of the aircraft is completed.

[0012]

The combine swivel device of the present invention has the following effects. Since the turning command corresponding to the operation signal is continuously output by operating the turning operation tool,
The speed of the left and right crawlers is adjusted by the initial input operation of the turning operation, and the turning operation of the machine body is continued without the need to operate the turning operation tool thereafter.

Therefore, it is possible to automatically turn by a simple one-touch operation, and it is possible to concentrate on operations such as speed adjustment and attitude control without being bothered by the operation for turning the machine body. As a result, the machine body can be stably turned within a limited section such as a headland in an unstable field under the foot, and further, the cutting operation following the turn of the machine body can be efficiently advanced.

By setting the height of the mowing device to the ground for automatic turning, it is possible to avoid damage to the mowing device and the like due to interference contact with the ground side when the mowing device is automatically turned while in the low position.

By making the grain culm non-detection signal from the grain culm detecting means a condition for automatic turning, it is possible to avoid a situation in which the grain culm is automatically turned during the mowing work of the grain stalks and the grain stalks before cutting are stomped.

When the automatic turning motion of the machine body is stopped in response to the operation signal of the turning manipulator during the automatic turning motion, the turning manipulator does not need a dedicated operating means for ending the turning motion. It is possible to perform an input operation for ending the turning motion by a simple operation.

When the automatic turning operation of the machine body is stopped in response to the lowering operation signal of the reaping device, the turning operation of the machine body is terminated by the lowering operation of the reaping device. Therefore, it is possible to prevent the mowing device from interfering with the ground side during the turning of the machine body, and to efficiently carry out the mowing work by the mowing device that follows.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments specifically configured based on the above technical idea will be described below with reference to the drawings. First, an example of the overall configuration of the combine according to the present invention will be described. FIG. 1 shows a side view of the overall configuration of an example of the configuration of the combine.

In FIG. 1, the combine is a crawler a.
A drive shaft (also referred to as an axle or wheel shaft) b of the crawler, a mowing section c, a feed chain d that feeds the cut grain culms to the threshing machine while conveying, and a threshing machine e,
A grain tank f for storing threshed grains and an auger g for discharging the stored grains out of the machine are provided. Further, a driver's seat h having various operation switches arranged at the front end of the machine body, an engine (not shown) in the machine body, a transmission device and a hydraulic device for transmitting the power of the engine to various equipment devices including the crawler a, and the predetermined device according to the invention. As an automatic turning function, a turning control device for driving and adjusting the left and right crawlers and a control device for controlling the operation of various equipment devices are provided for turning the machine body by one-touch operation of the turning operation tool.

Next, the arrangement of the operation switches in the driver's seat of the combine will be described. FIG. 2 shows a switch layout of the driver's seat of the combine. In FIG. 2, the HST lever 41 tilts forward and backward to increase or decrease the vehicle speed. When the HST lever 41 is tilted forward from the neutral position in the figure, the speed is increased in the forward direction, and when tilted backward, the speed is increased in the reverse direction. . And
Returning from the forward or reverse position toward the neutral position will decelerate and the aircraft will stop at the neutral position.

The accelerator lever 42 tilts back and forth to open and close the throttle to raise and lower the engine speed. When tilted backward, the throttle opens to increase the engine speed, and when tilted forward, the throttle closes. Reduce the engine speed.

The power steering lever 43 is constructed so that it can be tilted back and forth and left and right in order to raise and lower the reaping section and turn the machine body. When it is tilted forward from the neutral position, it will generate a down signal for the mowing unit, and when it is tilted backward it will generate an up signal for the mowing unit. Also,
When it is tilted to the left, it will generate a left turn signal for the aircraft depending on the tilt angle, and when it is tilted to the right, it will generate a right turn signal. The power steering lever 43 also serves as an operation unit for automatically turning the machine body by one-touch operation.

Next, the combine transmission according to the present invention will be described. FIG. 3 shows a transmission system development view of the transmission device. In FIG. 3, the transmission includes, from the power input side, an auxiliary transmission shaft 1, a counter shaft 2, a side clutch shaft 3, a differential shaft 4, an output support shaft 5, left and right counter shafts 6L and 6R,
A gear transmission mechanism and the like interposed between these shafts are provided. The input end thereof is provided with an HST 9 that receives power from the output shaft of the engine to change the speed without permission, and the output ends include left and right crawler shafts b, b.
By connecting with, the power of the required rotation speed is transmitted and output.

The sub-transmission shaft 1 is provided with a pulley 13 for branching and outputting reaping power. Between the sub-transmission shaft 1 and the counter shaft 2, high-speed gear trains 14a, 15a and medium-speed gear train 14 are provided.
b, 15b and a low speed gear train 14c, 15c constitute a third speed transmission mechanism selectable. The side clutch shaft 3 has clutches 17R, 1 in order to branch the power to the left and right.
Gears 18R and 18L with 7L are provided. The differential shaft 4 is provided with a planetary reduction mechanism on the left and right, and both planetary reduction mechanisms are the left and right sun gears Z1 and Z1 rotated by the gear 19 from the side clutch shaft 3, and the left and right branch powers from the side clutch shaft 3, respectively. Alternatively, two inputs by the control gears 20L and 20R with a brake for inputting the braking force are deceleratingly output to the left and right output gears 24L and 24R by the planetary gear train so that the speed can be adjusted individually. The left and right output gears 24L, 24
The power is further decelerated from R via the output support shaft 5 and the left and right counter shafts 6L and 6R, and the power rotationally adjusted individually is transmitted to the left and right crawler shafts b and b.

The clutches 17R, 17L and the brake are hydraulically operated. One of the clutches 17R and 17L is opened by the control hydraulic pressure to cut off the power transmission, and the braking force of the brake on the same side is adjusted by the control hydraulic pressure, so that the left and right rotational speeds can be adjusted. Allows turning motion.

Next, the hydraulic system of the combine traveling apparatus according to the present invention will be described. A hydraulic system diagram of the traveling device is shown in FIG. In FIG. 4, HST9 for continuously variable transmission
Receives operating oil from the oil tank 52 and returns the operating oil cooled via the oil cooler 54 to the oil tank 52. Further, the hydraulic oil is pressurized by the gear pump 50 driven by the engine 33 and is controlled by a control device including a turning control device (not shown).
It is sent to various hydraulic operating devices via 3, 55.

The control valve 53 controls the operation of the left and right side clutches and brakes of the transmission, and individually controls the power transmission from the transmission to the left and right crawler shafts b, b to control the turning and turn the machine body. At the same time, the hydraulic pressure is supplied to the other control valve 55.

The control valve 55 adjusts the body posture by controlling the operation of the left and right rolling cylinders 56 and the pitching cylinder 57, and also uses the mowing vertical cylinder 58 and the auger vertical cylinder 59 to control the respective device postures. Change and adjust.

Next, a combine turning control device according to the present invention will be described. FIG. 5 shows a configuration example of input / output signals of the turning control device. In FIG. 5, the turning control device includes a logical operation processing unit 80 including a CPU that performs an operation process on an output signal for a predetermined automatic turning operation based on an input signal. This logical operation processing unit 80 is provided with the automatic turning switch 6
1, the signals of the left and right grain culm sensors 62, 63, the left and right power steering switches 64, 65, the mowing upper lever switch 66, the mowing lower lever switch 67, etc. are binary inputs, and the signals of the mowing height position sensor 68, etc. are analog. Value input, vehicle speed sensor 69, left and right mission gear sensors 70, 71
Is an external interrupt input. Also, the left and right brake outputs 8
1, 82, control commands such as left and right clutch outputs 83, 84 are output.

The automatic turning switch 61 is a mode selection switch for switching to a predetermined automatic turning process in place of a turning process such as a manual turning process. Left and right grain culm sensors 6
Numerals 2, 63 detect the presence of grain culms on the left and right sides of the reaping unit. The left and right power steering switches 64 and 65 detect left and right tilting operations of a turning operation tool called a power steering lever that can tilt in the left and right directions. The mowing upper lever switch 66 and the mowing lower lever switch 67 detect a lever operation for raising or lowering the mowing unit. These detection signals are on / off binary signals.

The mowing height position sensor 68 is an analog value signal corresponding to the height position of the mowing section. Other,
The vehicle speed sensor 69 represents traveling speed information of the machine body, and the left and right mission gear sensors 70 and 71 represent respective speed information.

Next, an example of the structure relating to the basic functions of the combine turning device according to the present invention will be described. FIG. 6 is a block diagram showing the basic functions of the combine swivel device according to the invention. In FIG. 6, the turning device includes a turning operation tool 43, operation signal output means 43a, turning command continuous output means 80, and left and right crawler rotation changing means 30 as basic parts.

The turning operation tool 43 is a power steering lever or the like which can be tilted left and right. The operation signal output means 43a is
The switch is configured to detect a tilting operation of the turning operation tool 43, and outputs a leftward operation signal 64 or a rightward operation signal 65 according to the tilting operation.

Further, the turning command continuous output means 80 receives the left operation signal 64 or the right operation signal 65, and performs a logic operation for data processing so as to continuously output a predetermined turning command within a predetermined time or distance range. It is a turning control device having a processing unit as a center. The crawler rotation changing means 30 has a turning command from the turning command continuous output means 80, that is, left and right brake operation outputs 81 and 82, and left and right clutch operation outputs 8.
It is a transmission device or the like that receives 3, 84 and changes the left and right crawler rotations.

In the combine turning device thus constructed, when the turning operation tool 43 is tilted, the operation signal output means 43a outputs the left operation signal 64 or the right operation signal 65. In response to the left operation signal 64 or the right operation signal 65, the turning command continuous output means 80 continuously outputs a turning command including left and right brake operation outputs 81 and 82 and left and right clutch operation outputs 83 and 84 within a predetermined range. To do.

Therefore, once the turning operation tool 43 is tilted, the crawler rotation changing means 30 adjusts the left and right crawler rotations within a predetermined range in accordance with the turning command, thereby enabling automatic turning by one-touch operation. .

Next, the details of the turning control device for the combine according to the present invention will be described. FIG. 7 shows a processing procedure diagram in the logical operation processing unit of the turning control device. In FIG. 7, the first half of the process monitors the start condition for turning the aircraft by one-touch operation of the turning operation tool as a predetermined automatic turn, and the second half of the process, the turning operation command and the turning motion for the predetermined automatic turning. It is a processing step group for monitoring a stop condition for stopping the.

Step 1 (denoted as S1. The same applies hereinafter)
Check the automatic turning switch for selecting a predetermined automatic turning. If the selection operation of the automatic turning switch is not performed in S1, the selection operation is monitored by repeating from the start without performing the following processing.

By making the selection operation of the automatic turning switch a condition, the predetermined automatic turning processing is validated by the selection operation of the switch. Therefore, the predetermined automatic turning process can be selected in the presence of the turning process such as the manual turning process, so that the degree of freedom of the processing mode can be improved.

When the ON signal is detected by the selection operation of the automatic turning switch, the automatic lift of S2 or S
As the processing of the reaper section, S is processed on condition that the reaper upper lever of 3
The reaping restraint release flag of No. 4 is set, and subsequently, the grain culm sensor (grain culm detecting means) is checked in S5. If the grain culm sensor is turned on in S5, the process is repeated from the start without performing the following processing, and in S5 the turn off of the grain culm sensor due to the end of the cutting is monitored. By setting the grain culm non-detection signal from the grain culm sensor as the processing condition, it is possible to avoid the stepping of the grain culm by the automatic turning during the cutting of the grain culm.

When the turning off of the grain culm sensor is detected, S6
On condition that the grain culm sensor changed from on to off
In step 7, the grain-culm sensor-off distance counter is set to a predetermined distance, for example, 2 m, and in step S8, the grain-culm sensor-off distance, which represents the traveling distance after detecting the grain-culm sensor-off, is checked.
If the grain culm sensor off distance is less than the predetermined distance, S9
By counting the grain culm sensor off distance with, and repeating from the start again without going through the following processing, S
8. Monitor grain culm sensor off distance.

If the grain culm sensor off distance has reached the predetermined distance, it is checked in S10 whether the reaping section satisfies the predetermined height condition via the reaping height position sensor (cutting section height detecting means) (cutting). Part height determination means). If the cutting height position has not reached the predetermined rising position,
By repeating the processing from the check of the automatic turning switch of S1 again without performing the following processing,
Monitor the cutting height position at 10. By setting the height of the mowing device as a condition for the predetermined turning process, it is possible to avoid damage to the mowing device and the like due to contact with the ground side when the mowing device is automatically turned while in the low position.

If the mowing height position has reached the predetermined rising position, the mowing restraint release flag is reset in S11. Succeedingly, in S12, the automatic turning flag is checked, and when the automatic turning flag is reset, S1
Check the left and right switches of the power steering at 3. If all of them are off, by repeating the process from the start without performing the following process, S13
Monitor the operation of the left or right power switch.

When the left switch or the right switch of the power steering is operated, the automatic turning flag is set in S14, and subsequently, in S15, the clutch releasing operation and the brake braking operation on the side corresponding to the power steering operation are performed. A turning command consisting of the control command is output and the process is repeated from the start.

In the following process, the turning end condition is monitored by checking the flag in S12 based on the automatic turning flag set in S14. That is,
Until the condition of any one of the ON signal of the left switch or the right switch (turning operation detection means) by the operation of the power steering in S21, the ON signal of the cutting down switch by the cutting down operation of S22, and the expiration of the turning distance counter in S23 is satisfied.
While counting the turning distance outside the turning in S24, S15
It outputs the turning command of and repeats from the start.

By stopping the output of the turning command by the new operation of the turning operation tool, a predetermined operation can be performed by a simple operation of the turning operation tool without requiring a dedicated operating means for ending the predetermined turning operation. The end of the operation can be input and operated.

By stopping the output of the turning command in accordance with the turning progress information of the automatic turning process, the turning operation of the machine body is limited to a certain range corresponding to the turning progress. Therefore, it is possible to perform a fixed body turning in a certain range without requiring an input operation for ending the turning.

By stopping the output of the turning command in response to the lowering operation of the reaping device, the turning of the machine body is completed by the lowering operation of the reaping device. Therefore, it is possible to prevent the mowing device from interfering with the ground side during the turning of the machine body, and to efficiently carry out the mowing work by the mowing device that follows.

When any of the conditions is satisfied by the turning end condition monitoring processing in S21, S22 and S23,
In S31, the automatic turning flag is reset and S
At 32, a turning command including a control command for the clutch disengagement operation and the brake braking operation is reset (automatic canceling means). After the turning operation is completed by resetting the turning command, the operation is repeated from the start again, and the next power steering operation is monitored in S13.

By the above series of processing, the automatic turning processing is performed on condition that the selection signal by the automatic turning selection switch, the height signal by the height sensor for detecting the height of the reaper, and the non-culm detection signal by the grain-culm sensor are conditions. It will be possible.

Under this condition, a predetermined turning operation is started by the operation of the turning operation tool, and this turning operation is continued without the subsequent operation of the turning operation tool. Further, when a new operation signal is received from the operation of the turning operation tool during the turning operation, based on turning progress information such as a counter indicating the progress while the turning command is output, or a lowering operation of the reaping device. The turning operation ends on the condition that the lowering operation signal is received by the lowering operation sensor for detecting.

Therefore, it is possible to concentrate on operations such as speed adjustment and attitude control by one-touch operation without being bothered by the turning operation of the turning operation tool. As a result, it is possible to stably turn the machine within a limited section of a field such as a headland where the feet are unstable, and further, it is possible to efficiently carry out the cutting operation following the turn of the machine.

Next, the adjustment of the turning motion will be described. FIG. 8 shows a processing procedure diagram for adjusting the turning motion in accordance with the vehicle speed. In FIG. 8, if it is detected in S40 that the vehicle is automatically turning based on the automatic turning determination information, S
In 41, the vehicle speed is calculated from the vehicle speed sensor, the braking force determined according to this vehicle speed is calculated in S42, and the turning command including the clutch operation and the like is output in S43.

In this case, the machine body can be automatically turned according to the vehicle speed. Therefore, it is possible to appropriately turn automatically by one-touch operation without being bothered by the vehicle speed condition.

FIG. 9 shows a processing procedure diagram for adjusting the turning end operation. In FIG. 9, when the turning stop flag indicating the end of the automatic turning is detected in S51, the stop distance counter is set in S52.

If the distance to the stop is less than the counter set value in S53, the traveling distance is calculated by the mission rotation sensor in S54, the braking force determined according to the traveling distance is calculated in S55, and the clutch operation is performed in S56. It outputs a turning command consisting of braking force.

When the elapsed distance until the turning stop reaches a predetermined value, a turning command for ending the turning operation is output from S53 in order to end the turning by stopping the clutch releasing operation and releasing the brake in S57.

Through this series of processing, the turning command is continuously changed so as to alleviate the turning motion at the end of turning. Therefore, even after a sharp turn, the shock at the end of the turn can be suppressed by alleviating the change in turning.

In the above description, the operation signal by the operation of the turning operation tool in the logical operation processing section is not limited to the left and right tilting operation signal, but the tilting angle signal of the turning operation tool by the tilt holding operation or the like can be used. . In this case, it is clear that the mode of the turning operation can be changed according to the tilt angle of the turning operation tool, and thus the description thereof will be omitted.

[Brief description of drawings]

FIG. 1 is an overall side view showing a configuration example of a combine according to the present invention.

FIG. 2 is a switch layout view of the combine driver's seat in FIG.

3 is a development view of the transmission system of the combine transmission device shown in FIG.

FIG. 4 is a hydraulic system diagram of the combine traveling device in FIG. 1.

5 is a configuration example of input / output signals of the turning control device for the combine in FIG.

FIG. 6 is a block diagram showing the basic functions of the combine swivel device shown in FIG. 1;

FIG. 7 is a logical operation processing procedure diagram in the combine turning control device in FIG. 1;

FIG. 8 is a processing procedure diagram for adjusting the turning motion in accordance with the vehicle speed.

FIG. 9 is a process procedure diagram for adjusting the turning end operation.

[Explanation of symbols]

a crawler b crawler drive shaft c reaper 17R, 17L clutch 30 transmission device (crawler rotation changing means) 43 power steering lever (turning operation tool) 43a operation signal output means 61 automatic turning switch 62, 63 left and right grain sensor 64, 65 Left and right power steering switches 66 Mowing upper lever switch 67 Mowing lower lever switch 68 Mowing height position sensor (mowing unit height detecting means) 69 Vehicle speed sensors 70, 71 Left and right mission gear sensors 80 Logical operation processing unit (turning command continuous output Means) 81, 82 Left and right brake output (turn command) 83, 84 Left and right clutch output (turn command) S1 Automatic turning switch check S5 Grain sensor check S10 Cutting height position sensor check S13 Power steering left switch or Check right switch S15 Turning command output S21 Checking the left and right switches of power steering S22 Checking the mowing lowering switch S23 Checking the turning distance counter

Claims (5)

[Claims] 1. In a combine in which the rotation of one of the left and right crawlers is changed by operating the turning operation tool to turn the machine body, operation signal output means for outputting an operation signal by operating the turning operation tool, and the operation signal Receiving a turning command corresponding to this operation signal and continuously outputting a turning command for a predetermined time or a predetermined traveling distance, and a crawler rotation changing device for changing the rotation of the left or right crawler based on the turning command. And a swivel device of a combine, wherein the swivel device is automatically swung for a predetermined time or a predetermined traveling distance by once operating a turning operation tool. 2. The height of the mowing section for detecting the height of the mowing section relative to the ground, and the detection signal of the height of the mowing section is used to determine whether or not the height of the mowing section above the ground is a predetermined safety value. Mowing section height determining means, the turning command continuous output means continuously outputs a turning command when the ground level of the cutting section is higher than a safe value based on the determination signal of the cutting section height determining means. The turning device for a combine according to claim 1, wherein the turning device outputs. 3. A grain culm detecting means for detecting whether or not there is a grain culm in the reaping section, wherein the turning command continuous output means gives a turning command when the grain culm detecting means detects no grain culm. The turning device for a combine as claimed in claim 1, wherein the turning device outputs continuously. 4. An automatic canceling unit that outputs a canceling signal when the turning operation tool is operated during the output of the turning command, wherein the turning command continuous output unit operates the turning operation tool during the automatic turning. 2. The turning device for a combine according to claim 1, wherein the output of the turning command is stopped based on a cancellation signal of the automatic cancellation means. 5. An automatic canceling unit that outputs a canceling signal when a cutting unit lowering operation is performed during the output of the turning command, wherein the turning command continuous output unit includes a lowering operation of the cutting unit during the automatic turning, 2. The combine turning apparatus according to claim 1, wherein the turning command output is stopped based on a cancel signal of the automatic canceling means.