JP2005080610A - Harvester - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a harvester furnished with a ground height detection means 21 to detect the ground height of a pretreatment device based on the vertical tilting angle of a ground sensor supported by the pretreatment device in a vertically tiltable manner and enabling the steering operation of the traveling machine body while preventing the lateral slip of the ground sensor 23 on the ground. <P>SOLUTION: The steering detection means 44 is interlocked with a controlling means 41. When the steering operation is detected by the steering detection means 44, a lift cylinder 6 is operated to lifting side by the controlling means 41 to lift the pretreatment device until the ground sensor 23 reaches the lower limit. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention is based on an up-and-down drive mechanism for moving the pre-processing unit up and down with respect to the traveling machine body, and an up-and-down swing angle with respect to the support unit of a grounding sensor that is supported by the support unit of the pre-processing unit in a freely swingable manner. The present invention relates to a harvesting machine provided with a ground height detecting means for detecting a ground height of the pre-processing unit and a control means for automatically operating the lifting drive mechanism based on a detection result by the ground height detecting means.

  The harvesting machine is configured such that when the height detected by the ground height detecting means is equal to or lower than the set height, the lifting / lowering drive mechanism is operated by the control means to the ascending side of the pretreatment unit, and the traveling machine body is moved forward and backward. Even if it inclines, it is possible to work while avoiding the pretreatment unit thrusting into the ground. Further, the elevation drive mechanism is operated by the control means so that the height detected by the ground height detection means falls within the set range, so that the ground height of the pre-processing unit can be increased even if the traveling machine body tilts forward and backward. It is possible to work while maintaining the height at the set height.

Conventionally, for example, this type of harvester is disclosed in Patent Document 1.
That is, a bowl-like shape that is supported by a hydraulic cylinder 14 (equivalent to an elevating drive mechanism) for raising and lowering a mowing part B (equivalent to a pre-processing part) and a weed support rod 9 (equivalent to a support part) so as to swing up and down Switch SW1 (corresponding to ground height detecting means) that detects that the ground contact member 10 (corresponding to the grounding sensor) swings downward by a certain amount or more, and detects that the ground contact member 10 swings upwards by a certain amount or more. The switch SW2 (corresponding to the ground height detecting means) is electrically connected to the solenoids 15A and 15B of the control valve 15 so that the control valve 15 of the hydraulic cylinder 14 is switched by the switches SW1 and SW2. Some of them were equipped with a circuit (corresponding to the control means).

Japanese Utility Model Publication No. 60-5778 (Page 2, Fig. 2-3)

  In this type of harvester, when the steering operation of the aircraft is performed, such as when the row of crops to be harvested is bent and the aircraft is lined up with it, the pre-processing unit will be transverse to the ground. It will swing. For this reason, in the above-described conventional harvesting machine, when the steering operation of the machine is performed, the grounding sensor moves sideways on the ground while the grounding sensor is in contact with the ground, so that it rises to a raised portion or a clot on the ground. There was a case where it was caught strongly and a strong bending force was applied to the ground sensor. Further, an excessive force is easily applied to the sensor support and the detection means. In addition, there is a case in which the scraper or the like is scraped by the side-sliding grounding sensor, and a pretreatment device such as a cutting device of the pretreatment unit enters the dust and moves.

  An object of the present invention is to provide a harvesting machine that can steer the aircraft while making it difficult for the above-mentioned troubles to occur, such as bending force applied to the grounding sensor.

In the first aspect of the invention, the vertical drive mechanism for raising and lowering the preprocessing unit with respect to the traveling machine body, and the vertical movement of the grounding sensor supported by the support unit of the preprocessing unit so as to swing up and down with respect to the support unit. Ground height detecting means for detecting the ground height of the pre-processing unit based on a moving angle, and control means for automatically operating the lifting drive mechanism based on a detection result by the ground height detecting means are provided. In the harvester,
Steering detection means for detecting that the steering operation of the traveling machine body has been performed, and when the steering detection means is in the detection state, the control means is provided with the steering sensor if the grounding sensor is in the grounding state. Pre-processing unit lifting control for automatically operating the lifting drive mechanism so that the pre-processing unit rises to a set height in preference to the detection information from the ground height detection unit based on the detection information by the direction detection unit Is configured to execute.

  That is, when the steering operation of the traveling machine body is performed, it is detected by the steering detection means. If the grounding sensor is in the grounded state at this time, the control means executes the pre-processing unit lifting control, and the lifting drive mechanism moves to the ground. Prior to the detection result by the height detection means, the pre-processing unit is raised to the set height by being operated to the ascending side. This sets the height at which the ground sensor rises above the ground as the set height of this pre-processing unit, or sets the height at which the support unit descends to the lower limit even if it does not rise above the ground. If the pre-processing unit swings due to the steering operation of the traveling aircraft, even if the grounding sensor does not skid on the ground or hits an obstacle, it can be easily lifted and swung by the contact reaction force. This makes it easier to move over obstacles.

  Therefore, according to the first aspect of the present invention, the grounding sensor does not slide on the ground for the pre-processing unit lifting control when the aircraft is steered, or the grounding sensor easily obstructs the obstacle. The aircraft's direction of travel is changed while getting over, and the grounding sensor is subjected to a strong bending force, causing deformation and damage to the grounding sensor and its support, etc. It is possible to avoid the occurrence of work failures.

In the second aspect of the invention, an elevating drive mechanism for elevating and lowering the preprocessing unit with respect to the traveling machine body, and an up-and-down swinging with respect to the support unit of the grounding sensor supported by the support unit of the preprocessing unit so as to freely swing up and down Ground height detecting means for detecting the ground height of the pre-processing unit based on a moving angle, and control means for automatically operating the lifting drive mechanism based on a detection result by the ground height detecting means are provided. In the harvester,
Steering detecting means for detecting that the steering operation of the traveling machine body has been performed, and an operating state in which the grounding sensor is held by being swung up to a set rising mounting height with respect to the support portion; Sensor lifting and holding means that can be switched to an action release state that allows vertical swinging of the support portion of the ground sensor is provided, and the control means is detected by the steering detection means when the steering detection means is in a detection state. Based on the information, it is configured to execute sensor lifting control for switching the sensor lifting holding means from the action release state to the action state.

  In other words, when a steering operation is performed on the traveling machine body, the control means executes sensor lifting control detected by the steering detection means, and the sensor lifting holding means is switched to the operating state to set the ground sensor to the set raised mounting height. Raise and hold. As a result, if the ground sensor is set to a height that rises from the ground as the set rising mounting height of this ground sensor, even if the pre-processing unit shakes due to the steering operation of the traveling aircraft, The ground sensor floats from the ground and does not skid on the ground.

  Therefore, according to the second aspect of the invention, in order to control the lifting of the sensor when the aircraft is steered, the grounding sensor is changed so that the grounding sensor does not skid on the ground and the bending force is applied to the grounding sensor. It is possible to work while avoiding deformation and breakage of the grounding sensor and its supporting portion due to the contact, and scraping of scraps and the like by the grounding sensor.

  In the third invention, in the configuration of the second invention, the sensor lifting and holding means is an electromagnet.

  That is, the sensor lifting means is an electromagnet, and when the power is turned on, a magnetic force is generated, and this magnetic force causes the ground sensor to rise and swing to the set ascending mounting height. When is turned off, the action is released so as to release the magnetic force and allow the ground sensor to swing up and down.

  Therefore, according to the third aspect of the present invention, the ground sensor can be lifted and held and released with a simple structure in which an electromagnet is provided and the power supply is turned on / off, which is compact and inexpensive.

  According to the fourth aspect of the present invention, in any one of the first to third aspects of the present invention, the weeding ground detecting means for detecting the grounding of the weeding device included in the preprocessing unit, the preprocessing unit A mounting height sensor for detecting a mounting height with respect to the traveling machine body, and the control means sets the detection height by the mounting height sensor when the weed contact detection means enters a detection state. In a state where priority is given to the detection height by the mounting height sensor being equal to or higher than the set control target lower limit height, the detection height by the ground height detection means becomes the set ground height. In addition, the elevation drive mechanism is automatically operated based on the detection results of the ground height detection means and the mounting height sensor.

That is, when the weeding device is grounded and detected by the weeding ground detection means, in this case, the detection height by the mounting height sensor when the weeding device is grounded is set as the set control target lower limit height, The pre-processing unit elevation control that operates the elevation drive mechanism so that the detection height by the ground height detection means becomes the set height is executed, not only the detection information by the ground height detection means, but also the mounting height Based on the information detected by the sensor, even if the height detected by the mounting height sensor is equal to or higher than the set control target lower limit height, the control is executed in such a way that it is not smaller than the set control target lower limit height.
In other words, after the situation where the weeding device is grounded, the grounding sensor enters the concave portion of the ground, and the control for lowering the pretreatment unit based on the detection result by the ground height detection means is executed. However, the control for lowering the pre-processing unit is executed while the mounting height of the pre-processing unit with respect to the traveling machine body does not become lower than the mounting height set as the set control target lower limit height. . Thereby, when the set control target lower limit height is reached as the preprocessing unit is lowered, even if the detection result by the ground height detecting means should lower the preprocessing unit, The lowering operation of the preprocessing unit is stopped with priority.

  Therefore, according to the fourth aspect of the invention, the ground height of the pre-processing unit is maintained at the set height even when the traveling machine body is tilted in the front-rear direction, for example, the work is performed while maintaining the cutting height substantially constant. In addition, even if the ground sensor enters the recess, the pre-processing unit can be operated only while it is lowered only to the set control target lower limit height, and it is possible to work while avoiding further lowering operation and grounding. it can.

Embodiments of the present invention will be described below with reference to the drawings.
[First embodiment]
As shown in FIG. 1, a body frame 3 of a self-propelled aircraft that is configured to self-propelled by a pair of left and right crawler traveling devices 1 and that includes a boarding-type driving unit 2 with a driver's seat 2a. A pretreatment unit 10 is connected to the front part, and a threshing device 4 and a grain tank 5 are provided on the machine body frame 3 to constitute a combine.

  This combine harvests grains such as rice and wheat, and when the lift cylinder 6 formed of a hydraulic cylinder connected to the frame 11 of the pretreatment unit 10 is operated, the lift cylinder 6 is moved to the pretreatment unit. By swinging the frame 11 up and down with respect to the body frame 3, the pretreatment unit 10 is moved up and down with respect to the self-propelled body, and the weeding tool 12 and the like located at the front end of the pretreatment unit 10 are A descending working state located near the ground is set, or a lifting non-working state in which the weeding tool 12 and the like are raised above the ground is set. When the pre-processing unit 10 is in a descending working state and the self-propelled machine is run, the pre-processing unit 10 causes the plurality of weed tools 12 and the pulling device to be arranged in the horizontal direction of the planted culm of a plurality of culm rows. The weeding and culling by the corresponding one of the thirteens, the planted cereals that are caused and treated by the respective motive devices 13 are reaped by one clipper-type reaping device 14, It is conveyed toward the rear of the machine body by the conveying device 15. The threshing device 4 inherits the harvested cereal from the transport device 15 by the threshing feed chain 4a and conveys it to the rear of the machine body, and supplies the tip of the harvested cereal to the handling room (not shown) for threshing treatment. . The grain tank 5 collects and stores the threshed grains from the threshing device 4.

  As shown in FIGS. 1 and 2, a ground height detection mechanism 20 and a weeding ground detection mechanism 30 are provided in the vicinity of the front end portion of the preprocessing unit 10, and a height sensor 40 is attached to the base end portion of the preprocessing unit frame 11. As shown in FIG. 7, the ground height detection means 21 of the ground height detection mechanism 20, the weed ground contact detection means 31 of the weed ground contact detection mechanism 30, and the mounting height sensor 40 are controlled by the control means 41. And the control means 41 is linked to the electromagnetic operating portion 42a of the control valve 42 of the lift cylinder 6. The control means 41 is also linked with a cutting height setting means 43 and a steering detection means 44 provided in the operating section.

  As shown in FIGS. 2 and 3, the ground height detection mechanism 20 includes a plurality of ground-position detection mechanisms 20 that are arranged side by side in the horizontal direction on the pretreatment unit 10 so as to support the weeding tool 12 and the raising device 13. One of the weeding frames 16 has a supporting part fixed near the rear side of the weeding tool 12 and a dual-purpose gear case 22, and a belt spring along the longitudinal direction of the body with the front end side supported on the lower end side of the gear case 22. And an earth-shaped grounding sensor 23 whose middle part protrudes downward in a side view of the machine body, and the ground height detecting means 21 including a potentiometer provided on the upper side of the gear case 22.

  As shown in FIGS. 5 and 6, the front end side of the ground sensor 23 is connected to the input shaft 24 of the gear case 22 so as to be integrally rotatable. The ground sensor 23 has a shaft 24 a around the machine body side of the input shaft 24. Thus, it swings up and down with respect to the gear case 22. The grounding action part 23a located in the middle part in the front-rear direction of the grounding sensor 23 is grounded by the rotation bias of the input shaft 24 by the spring 25 provided in the gear case 22 and the weight of the grounding sensor 23. It is energized as follows. As shown in FIG. 3 (b), the bent end 23b on the rear end side of the ground sensor 23 is received by the sensor holder provided with a bent wire rod attached to the weeding frame 16 by the stopper 17 which is also used. It has been lowered to the lower limit to be supported. The input shaft 24 and the ground height detection means so that the rotation of the input shaft 24 is accelerated and transmitted to the operation shaft 21a of the ground height detection means 21 by a gear-use interlocking mechanism 26 provided in the gear case 22. 21 is linked.

  As a result, when the pretreatment unit 10 rises to the ground, the ground sensor 23 swings downward with respect to the gear case 22 around the shaft core 24a, and the pretreatment unit 10 descends to the ground. Along with this, the ground sensor 23 swings up and down with respect to the gear case 22 around the shaft core 24a, and in either case, the ground height detection means is interlocked with the vertical swing of the ground sensor 23. 21, the operation shaft 21 a rotates, and the ground height detection mechanism 20 determines the ground height of the preprocessing unit 10 based on the vertical swing angle of the ground sensor 23 with respect to the gear case 22 by the ground height detection means 21. The detection result is converted into an electrical signal by the ground height detection means 21 and output to the control means 41.

  The cutting height setting means 43 is composed of a potentiometer or a liquid crystal touch panel that can be freely rotated, and the cutting height to be maintained by the elevation control of the preprocessing unit 10 by manually operating the operation unit (not shown). The ground height of the pre-processing unit 10 is set, and the set ground height is output to the control means 41 as an electrical signal.

The steering detection means 44 includes a left steering detection switch 44 a and a right steering detection switch 44 b that detect the operation position of the steering lever 45.
When the steering lever 45 is operated to the straight position S where the steering device (not shown) is operated so that the driving speeds of the left and right crawler traveling devices 1 and 1 are the same and the traveling machine body travels straight, the steering lever 45 switch operation part 45a does not act on both detection switches 44a and 44b, and both left steering detection switch 44a and right steering detection switch 44b are turned off. When the steering lever 45 is operated to the left steering position L for operating the steering device such that the driving speeds of the left and right crawler traveling devices 1 and 1 are different and the traveling machine body travels leftward, the switch of the steering lever 45 is operated. The operation unit 45a acts only on the left steering detection switch 44a, and the left steering detection switch 44a is turned on and the right steering detection switch 44b is turned off. When the steering lever 45 is operated to the right steering position R for operating the steering device such that the driving speeds of the left and right crawler traveling devices 1 and 1 are different and the traveling machine body travels to the right, the switch of the steering lever 45 is operated. The operation unit 45a acts only on the right steering detection switch 44b, and the right steering detection switch 44b is turned on and the left steering detection switch 44a is turned off.

  As a result, the steering detection unit 44 switches the traveling vehicle body when the left steering detection switch 44a or the right steering detection switch 44b is turned on from the state where both the detection switches 44a and 44b are off. It is detected that the steering operation of the traveling machine body whose direction is changed to the left direction or the right direction is performed, and the detection result is converted into an electrical signal by both detection switches 44a and 44b and output to the control means 41.

  As shown in FIG. 4, the weeding ground contact detection mechanism 30 includes a mounting plate portion 12 a of the weeding tool 12 in one of the plurality of weeding tools 12 arranged in the horizontal direction of the body of the preprocessing unit 10. A pair of front and rear supports standing on the weed frame 16 and connected to a support plate portion 37 a provided by connecting a support 37 to the tip of the weed frame 16 by a connecting shaft 32. The switch operating rod 34 slidably attached to the body 33 in the longitudinal direction of the machine body, the spring 35 mounted on the switch operating rod 34 between the pair of front and rear support bodies 33, 33, and the pair of support bodies 33, 33 are included. The weed contact detection means 31 comprising a detection switch attached to the switch support 36 is provided.

  That is, the weeding tool 12 is swung with respect to the support plate portion 37 a around the axis of the connecting shaft 32 facing the machine body, and the tip side of the weeding tool 12 is swung up and down around the axis of the connecting shaft 32. It is like that. The spring 35 slides and biases the switch operating rod 34 toward the front of the machine body and presses and urges the front end side of the switch operating rod 34 against the mounting plate 12a, so that the mounting plate 12a has a long hole 39. The weeding tool 12 is oscillated and biased to the descending end that is in contact with the positioning pin 38 on the upper end side of the head. When the weeding tool 12 is positioned at the descending end, the switch operating rod 34 is separated from the operating part 31a of the weeding ground detection means 31 by the spring 35 to release the pressing operation on the operating part 31a. Therefore, the weed contact detection means 31 is turned off. When the tip side of the weeding tool 12 is grounded and a ground reaction force acts, the weeding tool 12 swings against the spring 35 on the side where the tip side rises. At this time, the mounting plate portion 12a of the weeding tool 12 slides the switch operating rod 34 backward, and the rear end side of the switch operating rod 34 presses the operating portion 31a of the weeding ground detecting means 31, The grass contact detection means 31 is switched on.

  As a result, when the weeding tool 12 is grounded, the weeding ground detection mechanism 30 detects it by the weeding ground detection means 31 that has been switched from off to on by the upward swing of the weeding tool 12, and the detection result is divided. The grass ground detection means 31 outputs an electrical signal to the control means 41.

  The mounting height sensor 40 links the operating portion to the base of the preprocessing frame 11 so that the preprocessing portion frame 11 is operated in conjunction with the vertical movement of the body frame 3 of the traveling aircraft. Based on the swing angle of the pre-processing unit frame 11 with respect to the traveling machine body, the height of the pre-processing unit 10 attached to the traveling machine body is detected, and the detection result is output to the control means 41 as an electrical signal.

The control means 41 is configured using a microcomputer and operates as shown in FIGS. 8 and 9 based on the information of the detection means 21, 44, 31, the cutting height setting means 43, and the mounting height sensor 40. To do.
That is, in FIG. 8, as shown in step 1, it is determined whether or not the steering operation of the traveling machine has been performed based on the detection information from the steering detection means 44, and it is determined that the steering operation has been performed. In this case, as shown in steps 2 and 3, it is detected whether or not the ground sensor 23 is at the lowering limit based on the detection information by the ground height detecting means 21, and it is detected that the lowering limit is not reached. Determines that the ground sensor 23 is in the ground state, determines that the ground sensor 23 is not in the ground state when it is detected that the lower limit is reached, and determines that the ground sensor 23 is in the ground state. The lift cylinder 6 is operated to the ascending side of the preprocessing unit 10 by outputting a predetermined operation signal to the control valve 42 until the ground sensor 23 reaches the lower limit. The lift cylinder 6 is moved upward until the steering detection means 44 returns to the non-detection state.

When it is determined in step 1 that the steering operation is not performed, cutting height control is executed.
That is, in FIG. 9, as shown in steps 11, 12, and 13, it is determined whether or not the weed contact detection means 31 is in a detection state. A detection height is input, and the detection height by the mounting height sensor 40 when the weed contact detection means 31 is in the detection state is set as the setting control target lower limit height, and the lower limit formed by the storage unit of the microcomputer The setting unit 46 performs storage processing. When the weeding contact detection means 31 switches from the detection state to the non-detection state and then enters the detection state again, the detection height by the mounting height sensor 40 in this case is set as the new set control target lower limit height. Then, the new set control target lower limit height is stored in place of the previously set set control target lower limit height. That is, the setting control target lower limit height is updated every time the weed contact detection unit 31 switches from the non-detection state to the detection state.
Whether it is determined in step 11 that the weed contact detection means 31 is in the detection state or not in the detection state, as shown in steps 14, 15, and 16, the ground height detection means 21. If the detected height by the cutting height setting means 43 is compared with the ground height set by the cutting height setting means 43 and it is determined that the detected height is not larger (small) than the set ground height, the detected height by the ground height detecting means 21 The lift cylinder 6 is operated to the ascending side of the pretreatment unit 10 by outputting a predetermined operation signal to the control valve 42 until becomes equal to the ground height set by the cutting height setting means 43.
If it is determined in step 15 that the detected height is greater than the set ground height, as shown in steps 17 and 18, if the set control target lower limit height is not set, the detected height is set to ground. The lift cylinder 6 is operated to the lower side of the pretreatment unit 10 until it becomes equal to the height.
In step 15, it is determined that the detected height by the ground height detecting means 21 is larger than the ground height set by the cutting height setting means 43. In step 17, it is determined that the set control target lower limit height is set. In this case, as shown in steps 19 and 20, the detected mounting height is set by comparing the detected mounting height by the mounting height sensor 40 with the set control target lower limit height stored by the lower limit setting means 46. It is judged whether the detected mounting height is equal to the target lower limit height, the detected mounting height is larger than the set control target lower limit height, or the detected mounting height is smaller than the set control target lower limit height. If it is determined that the height is greater than the lower limit height, the ground height detected by the ground height detection means 21 is equal to the ground height set by the cutting height setting means 43 or the mounting height sensor 40 The lift cylinder 6 is operated to the lower side of the preprocessing unit 10 until the detected mounting height becomes equal to the set control target lower limit height stored by the lower limit setting means 46, and the detected mounting height is set control target lower limit height. If it is determined that the lift cylinder 6 is lower than the height, the lift cylinder 6 is moved upward of the pre-processing unit 10 until the detected mounting height by the mounting height sensor 40 becomes equal to the set control target lower limit height stored in the lower limit setting means 46. To operate. That is, if the detected height by the mounting height sensor 40 is equal to or higher than the set control target lower limit height, the lift cylinder 6 is operated so that the detected height by the ground height detecting means 21 becomes the set ground height. Even if the lift cylinder 6 is operated downward so that the detection height by the height selection means 21 becomes the set ground height, the detection height by the operation mounting height sensor 40 is accordingly set control target lower limit height Then, the lowering operation of the lift cylinder 6 is stopped. That is, even if the detected height by the ground height detecting means 21 is larger than the set ground height, if the detected height by the mounting height sensor 40 becomes the set control target lower limit height, the pre-processing unit 10 is more than that. The height detected by the ground height detection means 21 becomes the set ground height in a state where priority is given to the height detected by the mounting height sensor 40 being equal to or higher than the set control target lower limit height. The lift cylinder 6 is operated as follows.

[Second Embodiment]
Next, the combine provided with another embodiment is demonstrated.
In this combine as well, the traveling body configured in the same manner as that of the combine of the first embodiment, the pre-processing unit, and the lift cylinder 6 configured similarly to that of the combine of the first embodiment, the ground The height detection mechanism 20, the cutting height setting means 43, the steering detection means 44, the attachment height detection means 40, and the weed contact detection mechanism 30 are provided.

As shown in FIG. 11, also in the combine of the second embodiment, the ground height detection means 21 of the ground height detection mechanism 20, the cutting height setting means 43, the steering detection means 44, the mounting height sensor 40, The weed contact detection means 31 is linked to the control means 41, and this control means 41 is linked to the electromagnetic operation part 42 a of the control valve 42 of the lift cylinder 6. In the combine of the second embodiment, the electromagnet 50 is provided in the preprocessing section 10 so as to be supported by the weeding frame 16, and the drive circuit 51 of the electromagnet 50 is also linked to the control means 41. .
As shown in FIG. 10 (b), the electromagnet 50 is operated to be energized by the drive circuit 51, thereby generating a magnetic force and attracting the rear end side of the ground sensor 23, thereby bringing the ground sensor 23 into the input shaft. As shown in FIG. 10 (a), the drive circuit 51 is brought into an operating state in which it is swung up and down around the axis of the shaft 24a to operate and hold the set up mounting height of the rear end attached to the magnet 50. By being operated to the energization release state by, the magnetic force is released, and the operation is released so as to allow the ground sensor 23 to swing up and down around the axis 24a of the input shaft 24. As the set ascending attachment height of the ground sensor 23, the height at which the ground sensor 23 floats from the ground even when the pre-processing unit 10 is in the descending work state is set.

The control means 41 is configured using a microcomputer and operates as shown in FIGS. 9 and 12 based on the information of each of the detection means 21, 44, 31, cutting height setting means 43, and mounting height sensor 40. To do.
That is, in FIG. 12, as shown in step 31, it is determined whether or not the steering operation of the traveling vehicle has been performed based on the detection information from the steering detection means 44, and it is determined that the steering operation has been performed. In this case, as shown in step 32, an ON operation signal is given to the drive circuit 51, and the electromagnet 50 is switched to the operating state until the steering detection means 44 is in a non-detection state.

  When it is determined in step 31 that the steering operation is not performed, cutting height control is executed as shown in step 33. That is, it is executed as shown in FIG. 9 in the same manner as the combine control means 41 of the first embodiment.

  That is, in both the combine of the first embodiment and the combine of the second embodiment, if the power of the control means 41 is turned on, the grounding sensor 23 swings up and down as the traveling machine body tilts back and forth. Then, the control means 41 operates the lift cylinder 6 based on the detection information from the ground height detection means 21 so that the height detected by the ground height detection means 21 becomes the ground height set by the cutting height setting means 43. Execute cutting height control. Thereby, even if the traveling machine body is tilted back and forth, the ground height of the pre-processing unit 10 is maintained at the ground height set by the cutting height setting means 43, and the cutting height by the reaping device 14 is the cutting height setting means. It is possible to work while adjusting the cutting height set by 43. At this time, if the weeding tool 12 is grounded due to the grounding sensor 23 entering the recess or the like, it is detected by the weeding grounding detecting means 31, and the mounting height of the preprocessing unit 10 relative to the traveling machine body at this time is detected. The detected mounting height is detected by the mounting height sensor 40 and is set as the set control target lower limit height and stored in the lower limit setting means 46 constituted by the storage section of the control means 41. Thereafter, the ground sensor 23 is recessed. Even if the control means 41 executes control for lowering the preprocessing unit 10 based on the detection result by the ground height detection means 21, the preprocessing unit 10 falls below the set control target lower limit height. Therefore, it is possible to work while avoiding that the weeding tool 12 is grounded.

  Further, when the steering lever 45 is operated to the left steering position L or the right steering position R and the traveling body is steered leftward or rightward, the pre-processing unit 10 is in a state of swinging with respect to the ground. At this time, in the combine of the first embodiment, the steering detection means 44 detects that the steering operation has been performed, and the control means 41 is based on the detection result by the steering detection means 44. The pre-processing unit lifting control is performed to perform the ascent operation, and the grounding sensor 23 descends and swings to enter the lower limit attachment state. In the combine of the second embodiment, the control means 41 performs sensor lifting control for switching the electromagnet 50 to the operating state based on the detection result by the steering detection means 44, and the ground sensor 23 is set higher. It will be in a state where it is held at the mounting height. As a result, in both the first and second embodiments of the combine, even when the ground sensor 23 hits the raised portion on the ground, it easily rises and swings due to the contact reaction force and easily moves over the raised portion. It becomes difficult to scrape and scrape.

[Another Example]
In place of the electromagnet 50, a holder for the rear end side of the ground sensor 23 and a drive mechanism for raising and lowering the holder with respect to the weeding frame 16 are provided. The rear end side of the grounding sensor 23 is pulled up to hold the grounding sensor 23 up and swinging to the set rising mounting height, and the drive mechanism lowers the holder so that the holder is grounded. The object of the present invention can also be achieved by implementing various lifting means such as a holder-type lifting means configured to allow the sensor 23 to swing up and down. Therefore, the electromagnet 50, the holder type lifting means, etc. are collectively referred to as the sensor lifting and holding means 50.

  The object of the present invention can also be achieved by adopting various lifting drive means such as a combination of a lift device and an electric motor instead of the lift cylinder 6. Therefore, the lift cylinder 6 and the lift drive means are collectively referred to as the lift drive mechanism 6.

  In addition to the configuration in which the weeding treatment is performed only with the weeding tool 12, the weeding tool 12 is also used in the case of adopting a forced weeding device in which the weeding processing is performed with the lifting weed claw. The present invention can also be applied to the case where both the forced weeding device and the forced weeding device are employed. Therefore, what consists only of one of the weeding implement 12 and a forced weeding device, and what consists of both are named generically and the weeding device 12 is called.

  The present invention can be applied to work vehicles that harvest various crops, such as onions and carrots, in addition to the combine. These work vehicles and combines are collectively referred to as harvesters.

Side view of combine front Perspective view of ground height detection mechanism and weed contact detection mechanism (A) is a side view showing a detection operation state of the ground sensor, (B) is a side view showing a lift state of the ground sensor. Side view of weed contact detection mechanism Longitudinal side view of gear case Longitudinal front view of gear case Block Diagram Flow diagram Flow diagram The side view of the ground height detection mechanism of 2nd Embodiment, (a) is a side view in the detection action state of a ground sensor, (b) is the side view in the lift state of a ground sensor Block diagram of the second embodiment Flow diagram of the second embodiment

Explanation of symbols

6 Lifting Drive Mechanism 10 Pre-Processing Unit 12 Weeding Device 21 Ground Height Detection Unit 22 Supporting Unit 23 Grounding Sensor 31 Weeding Ground Detection Unit 40 Mounting Height Sensor 41 Control Unit 44 Steering Detection Unit 50 Electromagnet

Claims (4)

An elevating drive mechanism for elevating and lowering the preprocessing unit with respect to the traveling machine body, and the preprocessing unit based on an up and down swing angle with respect to the support unit of a grounding sensor supported on the support unit of the preprocessing unit so as to freely swing up and down. A harvesting machine comprising a ground height detection means for detecting the ground height, and a control means for automatically operating the lifting drive mechanism based on a detection result by the ground height detection means,
Steering detection means for detecting that the steering operation of the traveling machine body has been performed,
When the steering detection means is in the detection state, the control means has priority over the detection information by the ground height detection means based on the detection information by the steering detection means if the ground sensor is in the ground state. A harvesting machine configured to execute pre-processing unit lifting control that automatically operates the lifting drive mechanism so that the pre-processing unit rises to a set height. An elevating drive mechanism for elevating and lowering the preprocessing unit with respect to the traveling machine body, and the preprocessing unit based on an up and down swing angle with respect to the support unit of a grounding sensor supported on the support unit of the preprocessing unit so as to freely swing up and down A harvesting machine comprising a ground height detection means for detecting the ground height, and a control means for automatically operating the lifting drive mechanism based on a detection result by the ground height detection means,
Steering detecting means for detecting that the steering operation of the traveling machine body has been performed, and an operating state in which the grounding sensor is held by being swung up to a set rising mounting height with respect to the support portion; Sensor lifting and holding means that can be switched to an action release state that allows vertical swinging with respect to the support portion of the ground sensor,
When the steering detection means enters the detection state, the control means performs sensor lifting control for switching the sensor lifting holding means from the action release state to the action state based on detection information from the steering detection means. A harvester that is configured to perform.   The harvester according to claim 2, wherein the sensor lifting and holding means is an electromagnet. A herbage grounding detecting means for detecting grounding of a weeding device provided in the pretreatment unit, an attachment height sensor for detecting an attachment height of the pretreatment unit with respect to the traveling machine body,
The control means is set as a set control target lower limit height that is detected by the mounting height sensor when the weed contact detection means is in the detection state, and the weed contact detection means is in the detection state. In the state where the detection height by the mounting height sensor at the time of setting is set as the set control target lower limit height, priority is given to the detection height by the mounting height sensor being equal to or higher than the set control target lower limit height, The lift drive mechanism is automatically operated based on the detection results of the ground height detection means and the mounting height sensor so that the detection height by the ground height detection means becomes a set ground height. The harvester according to any one of claims 1 to 3, wherein the harvester is configured.

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