JP2004154149A - Combine harvester - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a combine harvester settled in complex operations in reaping work along levee side regions and in farm corners to make the reaping work efficiently and smoothly performable in accordance with farm conditions and the like. <P>SOLUTION: The combine harvester comprises a culm sensor for detecting delivery culm on a reaping pretreatment device, a ultrasonic sensor 20 for detecting level of the reaping pretreatment device and a control device 70 disengaging and operating a reaping clutch 49 when the culm sensor detects the absence of the delivery culm and the level of the reaping device is higher than a first set point. In reaping work at the levee side, even when lifting the reaper pretreatment device upper than the first set point, the reaping clutch 49 is kept to be engaged during the clum sensor detecting the delivery culm. <P>COPYRIGHT: (C)2004,JPO

Description

  The present invention relates to a structure of a combine type such as a self-propelled self-extraction type capable of cutting and threshing rice and wheat, and a general-purpose type capable of cutting and threshing soybeans.

Conventionally, in this type of combine, in a harvesting operation in a field, a cutting clutch is automatically turned on and operated during a cutting and threshing operation in which the cutting pretreatment device is lowered to a predetermined height position, and the cutting pretreatment device is moved to the height. It is known to execute automatic clutch control in which a reaping clutch is automatically disengaged during non-agricultural work in which the ascent is raised above a position (for example, see Patent Document 1).
JP-A-7-274650

  By the way, when mowing work in the part along the edge of the ridge or in the corner of the field, the pre-cutting device is attached to the traveling machine so that the lower end of the pre-cutting device does not hit the ridge side surface or the field scene. Need to be raised relatively.

  However, during the execution of the automatic clutch control mode (automatic mode), if the height position of the pre-cutting device is higher than a preset height position, the cutting clutch is automatically turned off. For this reason, in the combine described in Patent Literature 1, the automatic clutch control mode is temporarily released to set it to the manual mode, and then the height position of the mowing pre-processing device is manually operated while driving the traveling machine body along the ridge. It has to be adjusted and there is a problem that an extremely complicated operation is required.

  Therefore, it is a technical object of the present invention to provide a combine that can efficiently perform a mowing operation according to a field condition or the like without complicated operations.

  In order to achieve this technical problem, the present invention provides a cutting pre-processing device mounted on a front part of a traveling machine body equipped with an engine so as to be capable of being driven up and down by a lifting drive means, and a reaping clutch for powering the engine. A combine configured to be transmitted to the pre-cutting device through a cereal stem detecting means for detecting the presence or absence of a transported grain culm in the pre-cutting device, and detecting a height position of the pre-cutting device. Height detecting means, and the cereal culm conveying means detects the absence of conveying cereal culm, and the height position of the pre-cutting device detected by the height detecting means is higher than a preset set height position And control means for executing control for disengaging the reaping clutch.

  According to the configuration of the present invention, when the cereal culm transport unit detects the absence of the transport cereal culm, and when the height position of the pre-cutting device detected by the height detection unit is higher than a preset set height position Then, the reaping clutch is turned off.

  Thereby, in the auto clutch control mode (automatic mode), when cutting is performed at a portion along a ridge or a corner of a field, the lower end of the pre-cutting device does not hit the side of the ridge or a field scene. Even if the mowing pretreatment device is raised higher than the set height position, the mowing clutch can be held in the engaged state while the cereal stalk detecting means detects the presence of the transported cereal culm. Therefore, it is possible to continue the mowing work at the edge of the ridge in the auto clutch control mode as it is, and even during the execution of the auto clutch control mode, it is possible to appropriately perform the mowing work according to the field conditions and the like. It works.

  In addition, when mowing at a part along a ridge or in a corner of a field, it is not necessary to switch between the automatic clutch control mode and the manual mode one by one, and the automatic clutch control mode and the manual mode are inadequate. Therefore, the operation of the combine is extremely simple, which contributes to the improvement of the working efficiency at the time of the mowing operation.

  Furthermore, when the automatic mode is executed, the cutting clutch is automatically disengaged by raising the pre-cutting device higher than the set height in a state where there is no transported culm in the cereal conveying route of the pre-cutting device. Therefore, when the cutting pretreatment device is held at a higher position than the set height, such as during non-agricultural work such as running on a road, useless power consumption can be suppressed. Therefore, according to the configuration of the combine according to the present invention, the advantage that the power transmission to the mowing pre-processing device can be efficiently executed by utilizing the advantage of the conventional automatic clutch control as it is is also exerted.

  Next, an embodiment embodying the present invention will be described. FIG. 1 is a side view of a traveling body 1 of a combine having a pair of left and right traveling devices 2 provided with a traveling crawler 2a, FIG. 2 is a plan view of the traveling body 1, and FIG. 4 is a side view of the elevating position sensor 22 for detecting the vertical position of the aircraft, FIG. 4 is a plan view of the elevating position sensor 22, FIG. 5 is a skeleton diagram showing a power transmission system of the combine, and FIG. 3 is a functional block diagram of the device 70. FIG.

  A threshing device 3 is mounted on the left side in the traveling direction of the traveling machine 1, and a mowing pre-processing device 4 that can be moved up and down by a single-acting hydraulic cylinder 9 as a lifting drive means is provided at the front of the traveling machine 1. Deploy. A clipper-type cutting blade device 5 is disposed on the lower side of the lower frame of the pre-cutting device 4, and a grain stem raising device 6 for six rows is disposed in front of the cutting blade device 5. The grain stem raising device 6 and the feed chain 7 in the threshing device are arranged. A culm conveying device 8 is arranged between the culm raising device 6 and the front end of the culm raising device 6. A grain stalk sensor as grain stalk detection means for detecting whether or not the grain stalk is passing is provided in the grain stalk transport path to the feed chain 7 of the pre-cutting device 4. A driver's cab 11 is disposed at a front right portion of the traveling machine body 1, and a grain tank 12 is disposed at a rear side thereof.

  As shown in FIG. 3 and FIG. 4, the base end of a front downwardly inclined elevating and lowering cylinder frame 14 having a front end attached to the mowing pretreatment device 4 is fixed to a horizontal cylinder 15, and the horizontal cylinder 15 is positioned in front of the traveling machine body 1. A plurality of bearing brackets 16 (one of which is not shown) are rotatably supported by a plurality of bearing brackets, and power from an engine 35 on the traveling body 1 is applied to the inner diameters of the horizontal cylinder 15 and the lifting cylinder frame 14 respectively. Power is transmitted to each part of the pre-cutting device 4 via the arranged transmission shafts 17 and 19, the bevel gear pair 18, and the like. The lifting pre-processing device 4 is driven up and down by a lifting hydraulic cylinder 9 mounted between the middle part of the lifting cylinder frame 14 and the traveling machine body 1.

  As shown in a skeleton diagram (FIG. 5) showing the power transmission system of the combine, one of the outputs from the engine 35 is transmitted to the bottom conveyor 37 and the vertical conveyor 38 in the grain tank 12 via the clutch 36, Then, it is transmitted to a screw conveyor (not shown) in the discharge auger 28.

  Other outputs from the engine 35 are transmitted via a power branching mission 39 to a handling cylinder drive shaft 40, a sorting drive shaft 41, a drive shaft 43 to a traveling hydraulic pump hydraulic motor type (HST type) traveling drive unit 42, and Power is transmitted to a constant-speed rotation drive shaft 44 to the pre-cutting device 4. The other output from the engine 35 turns ON / OFF the power transmission via the threshing clutch 48a in the power branching mission 39, and the handling cylinder 13 via the handling cylinder drive shaft 40 or the sorting drive shaft 41. Then, it is transmitted to the processing cylinder 29, the screw conveyor 26a of the first receiving gutter, the fan conveyor of Karino Min, the screw conveyor 26b of the second receiving gutter and the second reduction conveyor 25, the drainage chain 31, the suction fan 30, and the drainage cutter 33.

  On the other hand, power is transmitted from a cutting and tuning drive shaft 45 output from the (HST type) traveling drive unit 42 to a cutting shaft 47 via a one-way clutch 45a (which can be transmitted only when the traveling drive unit is rotating forward) and a tuning clutch 46. Then, it is transmitted directly to the feed chain 7. The power transmission to the pre-cutting device 4 is turned ON / OFF via a cutting clutch 49 provided on the cutting shaft 47.

  In this embodiment, each clutch 48a, 46, 48, 49 is operated by turning on / off a clutch actuator such as an electromagnetic solenoid corresponding to each of the threshing clutch 48a, the tuning clutch 46, the pouring clutch 48, and the mowing clutch 49. Are turned on and off, respectively. The tuning clutch 46 may be a tension clutch that cuts off the power by tensioning or relaxing the belt tension.

  Therefore, as described later, when the vehicle speed tuning control is prohibited (stopped) or the like, power is transmitted to the reaping shaft 47 via the constant-speed rotation drive shaft 44 of the power branching mission 39, and the HST traveling drive unit 42 The one-way clutch 45a idles when the output rotation speed of the cutting tuning drive shaft 45 is lower than the rotation speed from the constant speed rotation driving shaft 44 or when the cutting tuning drive shaft 45 rotates in the retreating direction of the combine. .

  The HST type (in which a mechanical speed change mechanism is incorporated in a stepless speed change mechanism using two hydraulic motors and two hydraulic pumps) adjusts a swash plate of each hydraulic pump or the like of the traveling drive unit 42 to continuously change the vehicle speed. 7 and 8, the main shift lever 85 is rotated back and forth by a side operation portion of the seat 11 a in the cab 11, and is moved to a neutral position (stop position) in a substantially vertical posture. When the vehicle is tilted forward, it is in the forward position, and the vehicle speed increases as the inclination angle with respect to the vertical increases. When the vehicle is tilted backward, the vehicle retreats, and the vehicle speed increases as the angle of inclination increases.

  A sub-transmission lever 86 also disposed on the side operation portion of the seat 11a is for controlling an actuator such as a transmission motor for operating a mechanical transmission mechanism (not shown) provided in the HST traveling drive unit 42. When the sub-shift lever 86 is switched to each of the road running mode, the standard operation mode, and the low-speed operation mode, the microcomputer-based control device (controller unit) 70 mounted on the combine unit issues a command in each of the operation modes. The output (horsepower) and the number of revolutions of the traveling drive unit 42 can be set and maintained in a predetermined range.

  When the normal cutting and threshing work is performed while the traveling body 1 is traveling forward (in the low-speed work mode and in the standard work mode), the inflow clutch 48 in the power branching mission 39 is turned off (power is cut off). The threshing clutch 48a, the tuning clutch 46, and the mowing clutch 49 are turned on (power connection), and while monitoring the detection values of the fuel injection amount sensor and the vehicle speed sensor, the rotation speed synchronized with the output of the traveling drive unit 42 is monitored. The cutting pre-processing device 4 and the feed chain 7 are driven synchronously by driving the cutting shaft 47 via the cutting synchronization drive shaft 45, while the handling cylinder drive shaft 40 and the sorting drive shaft 41 are driven to handle the handling cylinder 11. The body 29, the blower fan 20, the Karaoke fan 19, the swing sorting mechanism 15, and the like are driven.

  In addition, when the traveling body 1 is stopped or retreated when the traveling body is turned in the middle of the harvesting and threshing work in the field, and when the drive of the pre-cutting device 4 and the feed chain 7 is stopped, synchronization is performed. The clutch 46 and the inflow clutch 48 are turned off. To drive only the feed chain 7, the cutting clutch 49 is turned off. In this case, power is not transmitted to the cutting pre-processing device 4, but is transmitted only from the power branching mission 39 to the feed chain 7 via the cutting shaft 47.

  Detecting the height of the pre-cutting device 4 and the field scene relative to the ground (the height position of the pre-cutting device with respect to the field scene, the same applies hereinafter) and detecting the cutting height position (when cutting the planted culm in the field) The ultrasonic sensor 20 for detecting the height position of the pre-cutting device of the present invention (hereinafter the same) is disposed on a bracket (not shown) provided on the back side of the grain stalk raising device 6 and is shown in FIG. As described above, the transmitting section (horn section) of the transmitter 20a and the receiving section of the receiver 20b in the ultrasonic sensor 20 are arranged so as to face the field scene. When the installation height of the ultrasonic sensor 20 and the installation height of the cutting blade 5 are different, the detection value of the cutting height is obtained by a predetermined conversion from the detection value of the ultrasonic sensor 20. The ultrasonic sensor 20 is an example of the height detecting means described in the claims.

  The elevating position sensor 22 is for detecting a relative height of the mowing pre-processing device 4 with respect to the traveling body 1 (hereinafter, referred to as a body height). In the present embodiment, as shown in FIGS. 3 and 4. Then, a sensing and rotating arm 23 of a rotating potentiometer type elevation position sensor 22 fixed to the bearing bracket 16 is brought into contact with a sensor shaft 24 fixed to the outer surface of the horizontal cylinder 15, and the rotation angle θ of the horizontal cylinder 15 is adjusted. Is detected, the rotation angle of the elevating and lowering cylinder frame 14 and, consequently, the height position of the pre-cutting device 4 with respect to the traveling machine body 1 (the body height position) can be detected.

  FIG. 6 shows a functional block diagram of a control device 70 as control means for executing the cutting height control and the automatic clutch control. The control device 70 is an electronic control device such as a microcomputer, and is not shown. A central processing unit (CPU) for executing arithmetic processing and control, a read-only memory (ROM) storing a control program, and a read-write memory (RAM) for temporarily storing various detected values, data, and the like. A nonvolatile memory for holding stored data even when the power of the control device is turned off, a clock as a timer function, an interface, a bus, and the like.

  An ultrasonic wave is transmitted to the transmitter 20a of the ultrasonic sensor 20 at an appropriate time interval T1 via a transmission drive circuit 71 in accordance with a command from the control device 70, and a reflected wave reflected by an object to be detected is received by a receiver. 20b, the detection signal is input to the control device 70 via the reception amplifier circuit 72. The detection signal of the elevation position sensor 22 is also input to the control device 70 via the A / D converter at each time interval T1.

  Further, a manual switch 76 of a three-position detection type for performing the mowing and threshing operation in the manual mode, an automatic switch 75 for setting the mowing and threshing operation to an automatic mode (auto clutch control mode), and a first height setting device to be described later An automatic lift switch forcibly raising the pre-cutting device 4 to a first set height H1 set in advance at 73a, and also before cutting to a second set height H2 set in advance by the first height setting device 73a. An auto-set switch for forcibly lowering the processing device 4, an operator depresses the ON / OFF operation by stepping on the foot in order to change the lifting amount and / or the lifting speed of the pre-cutting processing device 4 to a smaller side when the manual execution is performed. Each signal of the foot switch 74 and the grain stalk sensor provided in the grain stalk transport route to the feed chain 7 of the pre-cutting device 4 is also input to the control device 70, respectively. It is.

  Two height setting units 73a and 73b for presetting and changing and adjusting the height position (set height position) of the pre-cutting device 4 according to the work state are provided in the operating unit (operating cab 11). (See FIG. 9).

  In the first height setting unit 73a, the first set height H1 in the automatic mode (the position where the cutting clutch switches from ON to OFF during the ascent stroke of the pre-cutting device 4) and the second set height H2 (cutting) (The position at which the reaping clutch switches from OFF to ON during the downward stroke of the pre-processing device 4). In the second height setting unit 73b, the first set height H3 in the manual mode (the position where the cutting clutch switches from ON to OFF during the ascent stroke of the pre-cutting device 4) and the second set height H4 (cutting) (The position at which the mowing clutch is switched from OFF to ON during the descending stroke of the preprocessing device).

  The first height setting device 73a and the second height setting device 73b are configured by a variable resistor or the like, and are connected to the control device 70 via an A / D converter (not shown). The set height values set by the setting unit 73a and the second height setting unit 73b can be changed and adjusted by the operator, and the changed set height values are written and stored in the EEPROM.

  The operation lever 76 a of the manual switch 76 provided in the cab 11 is also connected to the control device 70. The operation lever 76a can be tilted back and forth and is urged to automatically return to a neutral position. While the operation lever 76a is tilted forward, the operation lever 76a continues to descend at a predetermined elevating speed V1, and while the operation lever 76a is tilted rearward. Keeps rising at a predetermined lifting speed V1. In the automatic mode, the vehicle may be raised and lowered at the same lifting speed V1 as described above or at a higher speed.

  In the manual mode, the fine adjustment switching means for finely raising and lowering the raising and lowering speed of the pre-cutting device 4 at the fine speed V2 slower than the predetermined speed V1 includes turning on and off the foot switch 74. As shown in FIGS. 7 and 8, the depressable pedal 87 protrudes upward from the floor plate below the left front side of the seat 11 a. A pouring pedal 88 for turning on / off the pouring clutch 48 is disposed so as to protrude from a floor plate below the round handle 89.

  The control device 70 outputs a predetermined elevating command signal to the first drive circuit 77 and the second drive circuit 78 in accordance with a predetermined calculation result described later, and outputs a hydraulic circuit in accordance with an output from the first drive circuit 77. While operating the electromagnetic solenoids 80a and 80b of the hydraulic switching valve 80 at 79, the electromagnetic solenoid 50a of the electromagnetic proportional pressure reducing valve 50, which is an example of a high-speed response electromagnetic valve, is operated according to the output from the second drive circuit 78. The single-acting hydraulic cylinder 9 for raising and lowering the pre-cutting device 4 is operated.

  In the hydraulic circuit 79 shown in FIG. 5, a pair of left and right rolling control hydraulic cylinders (not shown) for controlling the single-acting lifting hydraulic cylinder 9 and the right and left relative vehicle height of the right and left traveling devices 3 and the traveling machine body 1 are shown. Pressure oil is also supplied to the hydraulic control valve 51 and the like.

  In this case, as shown in FIG. 5, a relief valve 54 is inserted in the oil supply passage 53 from the hydraulic pump 52 of the hydraulic circuit 79 to the hydraulic switching valve 49. A check valve 55 and a slow return check valve 56 are connected in the middle of the hydraulic pipe from the output port of the four-port three-position switching electromagnetic hydraulic switching valve 80 to the single-acting hydraulic cylinder 9. The other output ports of the hydraulic switching valve 80 are configured to supply oil to the other hydraulic control valves 51 at the same time.

  A variable throttle valve 58 for lowering the piston rod of the single-acting hydraulic cylinder 9 and an emergency lowering valve 59 are arranged in parallel on a return oil pipe 57 connected between the check valve 55 and the slow return check valve 56 of the hydraulic pipe. Connecting. The variable throttle valve 58 is a two-port two-position switching type valve, and its pilot port is connected to an output port of an electromagnetic proportional pressure reducing valve 50 as an example of the high-speed response solenoid valve.

  The operation control of the lifting hydraulic cylinder 9 of the pre-cutting device 4 is executed as follows. That is, when the electromagnetic hydraulic switching valve 80 is switched to extend the hydraulic cylinder 9, when the electromagnetic solenoid 80a is operated by pulse width modulation control (PWM), the hydraulic pressure is appropriately adjusted by the electromagnetic proportional pressure reducing valve 50. The pilot pressure acts on the variable throttle valve 58, the degree of throttle of the variable throttle valve 58 changes arbitrarily, and is drained from the return oil pipe 57 to the oil tank 60. In that case, the operating speed of the hydraulic cylinder 9 is adjusted according to the degree of throttle of the variable throttle valve 58.

  When reducing the hydraulic cylinder 9, the hydraulic switching valve 80 is set to neutral, the electromagnetic proportional pressure reducing valve 50 is operated by the pulse width modulation control (PWM) method as described above, and the variable throttle is adjusted by adjusting the pilot pressure. The throttle opening of the valve 58 is adjusted, whereby the operating speed of the hydraulic cylinder 9 is adjusted.

  Further, a clutch actuator such as an electromagnetic solenoid corresponding to each of the threshing clutch 48a, the tuning clutch 46, the pouring clutch 48, and the reaping clutch 49 is also connected to the control device 70 (output interface). When the control device 70 outputs an ON / OFF command signal to each clutch actuator, each of the clutches 48a, 46, 48, and 49 operates ON / OFF.

  Next, the mode of lifting / lowering / driving control of the pre-cutting device 4 is described.

  The flowchart shown in FIG. 10 is a step of reading the first set height and the second set height set by the first height setter 73a and the second height setter 73b. When turned on, the automatic mode is set (S1: yes). At this time, the values of the first set height H1 and the second set height H2 set by the first height setting unit 73a and stored in the predetermined memory unit are set. Read (S2). When the answer is no in S1, it is determined whether or not the manual switch 76 is ON (S3). If the manual switch 76 is ON, that is, if the manual mode is set (S3: yes), the setting is performed by the second height setting unit 73b. Then, the values of the first set height H3 and the second set height H4 stored in the predetermined memory unit are read (S4).

  Next, with reference to the flowchart of FIG. 11, the operation of the lifting / lowering / driving control of the pre-cutting device 4 in the automatic mode will be described.

  During the automatic mode control, first, it is determined whether or not the pre-cutting device 4 is being raised (S10). When the operator presses the auto-lift switch prior to re-circulation after harvesting in one stroke in the combine field, the operation is to raise the pre-cutting device 4. If this rise is determined (S10: yes), the mowing pre-processing device 4 is raised at a predetermined speed V1 or the like (S11), and then the ultrasonic sensor 20 determines whether or not it has reached the first set height H1. It is determined based on the detected value (S12). If the first set height H1 is reached (S12: yes), the ascent is stopped (S13). If the first set height H1 is not reached (S12: no), the ascending drive is continued. After the ascent stop (S13), the ON / OFF state of the grain culm sensor provided in the grain culm transport path to the feed chain 7 of the pre-cutting device 4 is determined (S14), and the detection value of the grain culm sensor is determined. If it is OFF (there is no grain culm to be conveyed) (S14: yes), the cutting clutch 49 is turned OFF to stop driving the pre-cutting device 4 (S15).

  From the above, in the automatic mode, for example, when the mowing work is performed at the portion along the ridge or the corner of the field, the reaping is performed so that the lower end of the pre-cutting device 4 does not hit the side of the ridge or the field scene. Even if the pre-processing device 4 is raised higher than the first set height H1, the reaping clutch 49 is held in the engaged state while the grain culm sensor detects the presence of the transported grain culm.

  Therefore, the mowing work in the ridge in the automatic mode can be continued as it is, and the grain culm in the ridge can be reliably cut even in the automatic mode. In other words, even during the execution of the automatic mode, the mowing operation can be appropriately performed according to the field conditions and the like.

  In addition, when cutting a part along a ridge or a corner of a field, the trouble of switching between the automatic mode and the manual mode one by one (the trouble of operating the automatic switch 75 or the manual switch 76 for mode switching). ) Can be omitted, and since the automatic mode and the manual mode are not inadvertently switched, the operation of the combine is extremely simple. Therefore, it contributes to improvement of the working efficiency at the time of the mowing work.

  In this embodiment, the first set height H1 at which the reaping clutch switches from ON to OFF during the ascent stroke of the pre-cutting device 4 is set to the second setting H1 at which the reaping clutch switches from OFF to ON during the descending stroke of the pre-cutting device 4. Since it is set at a position higher than the height H2, it is possible to set each of the set height positions H1 and H2 corresponding to the field conditions and the like, as compared with a case where only one set height position can be set. In addition, the pre-cutting device 4 can be held at an appropriate height position according to the field conditions, etc., and a smooth and efficient cutting operation can be realized in the automatic mode. It goes without saying that in the combine according to the present invention, the set height may be only one.

  In addition, the combine of this embodiment includes a first height setting device 73a for an automatic mode for presetting or changing and adjusting the height position of the pre-cutting device 4 according to the working condition. Therefore, the operator can arbitrarily and quickly change and adjust the set height positions H1 and H2 of the pre-cutting device 4. Therefore, also in this respect, it is possible to contribute to the execution of an appropriate reaping operation according to the current condition such as the field condition.

  Furthermore, at the time of execution of the automatic mode, if the harvesting pretreatment device is raised higher than the first set height H1 in a state where the transported stalk is not present in the cereal stalk transport route of the pre-cutting device 4, the automatic operation is automatically performed. Since the cutting clutch 49 can be disengaged and operated, it is wasteful to hold the cutting pre-processing device 4 at a height higher than the first set height H1 as in non-agricultural work such as running on a road. Power consumption can be suppressed.

  That is, according to the structure of the combine according to the present invention, the power transmission to the pre-cutting device 4 can be efficiently executed by making use of the advantage of the conventional automatic clutch control as it is.

  On the other hand, if it is not ascending (S10: no), it is determined whether or not it is descending (S16), and the operator turns to go after harvesting one stroke in the combine field and enters the next harvesting stroke. When the auto set switch is pressed, the pre-cutting device 4 starts a lowering operation. If it is determined that the lowering operation is performed (S16: yes), the pre-cutting device 4 lowers at a predetermined speed V1 or the like (S17). Next, it is determined whether or not it has reached the second set height H2 (H2 <H1) based on the detection value of the ultrasonic sensor 20 (S18). When the height reaches the second set height H2 (S18: yes), the descent is stopped, the reaping clutch 49 is turned on (S19), and reaping is started. If the second set height H2 has not been reached (S18: no), the downward drive is continued.

  Next, the operation of the elevation control of the pre-cutting device 4 in the manual mode will be described with reference to the flowchart of FIG. It is determined whether the manual switch 76 is at the raised position or the lowered position (S20, S21). When the manual switch 76 is at the raised position (S20: yes) and when the manual switch 76 is at the lowered position (S21: yes). Then, the hydraulic cylinder 9 is driven up (S22) or down (S23) to operate the pre-cutting device 4 at a predetermined speed V1 (for example, an operating speed in a state in which the electromagnetic solenoid is continuously excited). Then, it is determined whether or not the operator depresses the depressing pedal 87, in other words, whether or not the foot switch 74 is turned on (S24, S25).

  When the foot switch 74 is in the ON state, that is, when the operator operates the fine adjustment switching means and presses the depression pedal 87 (S24: yes, S25: yes), the speed is very slow only during the pressing. At V2, the mowing pre-processing device 4 is raised or lowered (the raising or lowering corresponds to the raising position or the lowering position of the manual switch 76) (S26, S27). The very low speed V2 operates the hydraulic cylinder 9 by the pulse width modulation control (PWM) method, and V2 is set to about 1/3 to 1/5 of V1. Therefore, the operator enters the manual mode by operating the manual switch 76, moves up and down at an appropriate high speed V1, and depresses the stepping-down pedal 87 before the target cutting height. Since the switching operation can be performed so as to move up and down, it is extremely easy to set the pre-cutting device 4 to the target height.

  On the other hand, when the foot switch 74 is in the OFF state, that is, when the operator does not operate the fine adjustment switching means, and when the stepping pedal 87 is not depressed (S24: no, S25: no), the predetermined speed V1 is set. To maintain the lifting drive.

  Next, at the time of ascent (S20: yes), it is determined whether or not it has reached the first set height H3 (a position higher than normal H1) (S28), and if it has reached the first set height H3 ( S28: yes), the ascending drive is stopped (S29), and then the ON / OFF state of the grain culm sensor is determined as described above (S30), and when the detected value of the grain culm sensor is OFF (the grain being conveyed). When there is no culm (S30: yes), the cutting clutch 49 is turned off to stop driving the pre-cutting device 4 (S31).

  During the lowering of the pre-cutting device 4 (S21: yes), it is determined whether or not it has reached the second set height H4 (S32), and has reached the second set height H4 (a position higher than the normal H2). If so (S32: yes), the ascent drive is stopped, and the cutting clutch 49 is turned off to stop driving the cutting pre-processing device 4 (S33).

  Therefore, in both the automatic mode and the manual mode, the first set height position H1 at which the cutting clutch 49 is switched from ON to OFF during the ascent stroke of the pre-cutting device 4, and the cutting clutch during the descending stroke of the pre-cutting device 4. Since the second set height position H2 for switching 49 from OFF to ON can be set by the two height setting devices 73a and 73b, the raising and lowering operation of the mowing pre-processing device and its The accompanying ON / OFF operation of the drive of the pre-cutting device can be performed safely and reliably without relying on the skill and intuition of the operator.

  The present invention is not limited to the illustrated embodiment, but can be embodied in various forms. For example, in order to detect the cutting height, the set height for elevating and lowering, and the elevating movement distance (elevating amount), the ultrasonic sensor 20 as a cutting height sensor is used. It goes without saying that the detected value can be adopted.

  Further, when both the ultrasonic sensor 20 and the elevating position sensor 22 are provided as in the above-described embodiment, the detection of the ultrasonic sensor 20 is performed irrespective of the elevation of the cutting pre-processing device 4. When it is determined that there is no abnormal situation where the value does not fluctuate, the detection value of the lifting / lowering position sensor 22 of the pre-cutting device 4 for the traveling machine body 1 is adopted, and the first set height position H1 and the second set height are used. If the raising / lowering / driving control of the pre-cutting device 4 is executed by collation with the position H2, the unstable detection result of the ultrasonic sensor 20 can be complemented, and there is an advantage that the control is further stabilized.

  If the set values of the speeds V1 and V2 and the values of H1, H2, H3, and H4 are stored in the nonvolatile memory, the previous conditions can be easily restored at the time of restarting even after the power of the combine is once turned off. be able to.

It is a side view of a combine. It is a top view of a combine. It is a side view which shows the attachment position of a position sensor. It is a top view which shows the attachment position of a position sensor. It is a skeleton diagram which shows the power transmission system of a combine. It is a functional block diagram of a hydraulic circuit and a control device. It is a top view in a cab. It is a side view in a cab. It is a partially cutaway perspective view in a cab. It is a flowchart which shows the process of the data of 1st set height H1, H3 and 2nd set height H2, H4. It is a flowchart of the raising / lowering and drive control of the pre-cutting device in an automatic mode. It is a flowchart of raising / lowering / driving control of the pre-cutting device in the manual mode.

Explanation of reference numerals

DESCRIPTION OF SYMBOLS 1 Traveling body 4 Cutting pre-processing device 9 Hydraulic cylinder as elevation drive means 20 Ultrasonic sensor as height detection means 22 Elevation position sensor 49 Cutting clutch 50 Electromagnetic proportional pressure reducing valve 70 Control device 73a, 73b as control means Height Setting device 74 Foot pedal 75 Automatic switch 76 Manual switch 80 Hydraulic switching valve

Claims (1)

A cutting pre-processing device is mounted on a front part of a traveling body equipped with an engine so as to be able to be driven up and down by a lifting drive means, and power from the engine is transmitted to the cutting pre-processing device via a cutting clutch. Was a combine
Grain stalk detection means for detecting the presence or absence of a transport cereal culm in the pre-cutting device,
Height detecting means for detecting a height position of the cutting pre-processing device,
When the grain culm conveying means detects that there is no grain culm to be conveyed, and the height position of the pre-cutting device detected by the height detecting means is higher than a preset height position, the reaping clutch. Control means for executing control for turning off the
A combine comprising:

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