JP2008220335A - Reaping device of combine harvester - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a reaping device of a combine harvester which carries out row matching by moving only a reaping part to left and right and capable of carrying out stable straightly advancing traveling and preventing that crawler treads unreaped grain culms. <P>SOLUTION: In the reaping device of the combine harvester slidably supporting a reaping part 8 in left and right directions to the machine body, grain culms-detecting sensors 100, 101, 105 and 106 for detecting unreaped grain culms 91 are arranged in the vicinity of the ends of grass-dividing plates 24 of the reaping part 8 and automatic control means for automatically carrying out row matching by operating a slide actuator 46 based on detection of the grain culms detection sensors 100, 101, 105 and 106 and automatically carrying out matching is provided. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a technique for a combine harvester, and more particularly, to a technique for detecting a line by a grain culm detection sensor and automatically moving the harvesting part to the left and right to perform alignment.

2. Description of the Related Art Conventionally, automatic steering control is known in which a steering sensor is arranged on a harvesting frame of a combine, and the steering sensor detects an uncut grain culm and automatically corrects the course. This is because the culm detection sensor attached near the weed plate detects the position of the culm, automatically corrects the traveling direction of the combine from the detection result, and can work along the uncut culm row. It is a thing. As means for correcting the traveling direction, means for correcting the traveling direction of the combine by changing the driving amount of the left and right traveling crawlers is known (see Patent Document 1 and Patent Document 2).
JP 2001-120041 A JP 2003-180130 A

However, in the automatic steering control, since the traveling direction of the crawler is changed, the traveling direction of the machine body is changed when the alignment is performed, and the straight traveling cannot be stably performed. Further, in the automatic traveling control, steering control is performed in the direction opposite to the cereal detected by the left and right steering detection units constituting the sensor. There was a fear.
Therefore, in view of such a problem, the present invention provides a combine harvester that can move only the harvesting part to the left and right to perform alignment and perform stable straight traveling, and prevents a crawler from stepping on an uncut grain culm. provide.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

  That is, in claim 1, in the harvesting device for a combine that supports the harvesting part so as to be slidable in the left-right direction with respect to the body, the grain detection for detecting uncut grain seeds in the vicinity of the tip of the weed plate of the harvesting part A sensor is arranged, and an automatic control means is provided that automatically performs alignment by operating a slide actuator based on the detection of the cereal detection sensor.

  According to a second aspect of the present invention, the amount of slide relative to the airframe of the cutting unit is detected, and an alarm is issued before the crawler reaches the set slide amount for stepping on the adjacent strip.

  According to a third aspect of the present invention, the automatic control means operates only when a cutting clutch is engaged, the left / right slide adjustment switch is on, the handle is in the neutral position, and the automatic slide switch is pressed. Is allowed.

  According to a fourth aspect of the present invention, the automatic control means detects uncut cereals with the left cereal detection sensor at the time of cutting, and detects uncut cereals with the right cereal detection sensor at the middle split. It is.

  As effects of the present invention, the following effects can be obtained.

  According to the first aspect of the present invention, the operator's work load is reduced by reducing the number of times of the handle operation by the alignment. In addition, even if the line is slightly bent, the aircraft is in a straight traveling state, so that stable running is possible.

  According to the second aspect, the operator is warned to prevent the crawler from stepping on the rice.

  In the third aspect, the sliding operation of the cutting unit is possible only when the cutting unit is operating and the crawler faces the straight direction. Also, the operator can operate the automatic control means on and off at hand.

  According to the fourth aspect of the present invention, no uncut residue is generated on the right side in the aircraft traveling direction when cutting. At the time of middle splitting, the aircraft is moved to the left in the direction of travel to prevent the uncut cereals on the right side of the aircraft from being stepped on by the crawler.

Next, embodiments of the invention will be described.
FIG. 1 is a side view showing the overall structure of a combine according to an embodiment of the present invention, FIG. 2 is a plan view of the combine, and FIG. 3 is a side view of a cutting part. 4 is a cross-sectional explanatory view of the cutting slide unit, FIG. 5 is a plan view of the cutting unit, FIG. 6 is a plan view showing a holding structure of the cutting unit, FIG. 7 is a schematic plan view of the cutting unit, and FIG. FIG. 9 is a schematic plan view of the operation unit, FIG. 10 is a front perspective view of the front column, FIG. 11 is a perspective view showing the steering handle and the operation panel, and FIG. 12 is a diagram showing an example of a warning displayed on the operation panel. 13 is a flowchart showing the flow of automatic steering control, FIG. 14 is a flowchart showing the flow of automatic steering control, and FIG. 15 is a flowchart showing the flow of automatic steering control.

First, the overall configuration of the combine according to the present invention will be described with reference to FIGS. 1 and 2. In addition, although a triple-stripe combine is described in the present embodiment, a double-stripe harvest may be used.
A truck frame 1 of a combine for three-line mowing in the present embodiment is provided with a pair of left and right traveling crawlers 2 and 2 and a machine base 3. A threshing unit 4 is mounted on the machine base 3, a feed chain 5 is stretched to the left side in the threshing unit 4, and a handling cylinder 6 and a processing cylinder 7 are built in. A reaping portion 8 is disposed in front of the threshing portion 4 and includes a cutting blade 9 and a culm conveying mechanism 10. The reaping frame 12 is hydraulically moved up and down between the reaping portion 8 and the machine base 3. By raising and lowering by the cylinder 11, the cutting unit 8 can be driven up and down.

  At the rear end of the feed chain 5, an evacuation chain 14 is disposed to form an evacuation processing portion 13 that faces the end of the evacuation chain 14. Moreover, the grain tank 15 is arrange | positioned to the right side of the said threshing part 4, the grain from the threshing part 4 is carried in via the whipping cylinder 16, and also the grain in this grain tank 15 is carried out. Then, it is discharged out of the machine via the discharge auger 17.

  A substantially round steering handle 19 and a driver's seat 20 are disposed in front of the grain tank 15. An engine 21 is provided below the driver's seat 20, and the traveling crawler is driven by the power of the engine 21. 2, the cutting part 8, the threshing part 4 and the like are driven.

Next, the support structure of the cutting unit 8 will be described with reference to FIGS.
In the cutting unit 8, a plurality of raising cases 23 provided with a plurality of raising tines 22 that raise the cereals are arranged in the left-right direction, and in front of the raising case 23 and between the raising cases 23, 23. The weed boards 24, 24 and 24 for weeding the uncut grain rows are provided. Further, a star wheel 17 and a rake belt 18 are provided to rake the heel side of the cereal that has been raised by the pulling tine 22.
Further, a traveling mission that supports the input case 30 in the left-right direction on the front portion of the machine base 3, projects a cutting connection pipe 29 that is a longitudinal transmission case in front of the input case 30, and is fixed to the front end of the machine base 3. 28 and the left traveling crawler 2.

From the left and right side surfaces of the input case 30, vertical pivot fulcrum pipes 31 and 32 of the cutting unit 8 are projected in the left-right direction of the machine body on the same axis. The vertical pivot fulcrum pipes 31 and 32 are rotatably supported by left and right cradles 33 and 34 that are erected and fixed to the front end of the machine base 3, and are hydraulic lifting cylinders between the cutting connection pipe 29 and the machine base 3. 11 is interposed.
With this configuration, the cutting unit 8 can be moved up and down with the vertical pivot fulcrum pipes 31 and 32 as fulcrums by the expansion and contraction of the hydraulic lift cylinder 11.

A guide case 36 is integrally connected to the lower end (front end) of the cutting connection pipe 29 in the left-right direction, and a slide pipe 37 is passed through the guide case 36 so as to be slidably fitted in the left-right direction of the machine body. ing.
At the left end of the slide pipe 37 protruding leftward from the guide case 36, a pulling case 23, a port base transport chain 38, and a left transmission case 40 for transmitting power to the left tip transfer tine 39 are attached. A right transmission case 43 that transmits power to the cutting blade 9, starboard base transport chain 41, and right tip transfer tine 42 is attached to the right end of 37. Thus, the slide pipe 37 is used as a lateral transmission case that transmits power to the left and right transmission cases.

  In addition, the mowing unit is provided with four mowing frames 12 that extend in parallel with the longitudinal direction of the machine body, and the rear ends of the mowing frames 12 are integrally connected by a lateral connection pipe 44. The left and right ends of the horizontal connection pipe 44 are integrally connected to the outer ends of the left and right transmission cases 40 and 43 via a connection frame 45, and a slide actuator is provided on the opposite side of the connection surface of the cutting connection pipe 29. A hydraulic slide cylinder 46 is installed. With this configuration, the cutting unit 8 can be slid in the left-right direction of the machine body by the expansion and contraction of the hydraulic slide cylinder 46.

  A transmission case 47 for vertical conveyance is provided in the input case at the upper end of the cutting connection pipe 29 so as to be rotatable around a vertical axis perpendicular to the vertical rotation fulcrum pipes 31 and 32. Further, a vertical conveyance drive case 48 is provided on the transmission case 47 for vertical conveyance, which is parallel to the vertical pivot fulcrum pipes 31 and 32 and attached to be rotatable about the horizontal axis. The feed end side is supported by the drive case 48, and the vertical conveying device 49 and the upper conveying device 50 are moved up and down independently to raise and lower the cutting unit 8 and adjust the handling depth.

  Further, lower portions of the pulling cases 23 and 23 are supported by a support pipe 51 (see FIG. 3) integrally connected to the front end side of the cutting frame 12. The lateral transmission pipe 53 is integrally extended from the upper end of the pulling transmission pipe 52 standingly fixed to the left transmission case 40 to the right side of the machine body, and the right end side of the lateral transmission pipe 53 is connected to the rightmost cutting frame 12 (not shown). The upper portions of the pulling cases 23 and 23 are supported by a chain case 54 provided on the lateral transmission pipe 53.

On the other hand, the cutting part 8 includes a cutting upper connection pipe 55 having one end fixed to the input case 30 and the other end fixed to the middle part of the cutting connection pipe 29, Is fixedly provided with an intermediate portion of the cutting side panel 56 that is erected in the longitudinal direction of the machine body along the left edge of the driving operation portion.
A cutting upper rear support shaft 57 is pivotally supported on the front surface of the cutting upper connecting pipe 55, and an upper end of the cutting upper rear support shaft 57 is pivotally supported by an intermediate portion of the cutting side panel 56. Further, a vertical cutting upper front support shaft 59 is provided at a middle portion of the horizontal transmission pipe 53 via a bracket 58.
A rotating frame 60 is installed between the cutting upper rear support shaft 57 and the cutting upper front support shaft 59, and a vertical rear bearing pipe 61 fixed to the rear end of the rotating frame 60 is connected to the upper cutting support shaft. The shaft 57 is rotatably supported on the outside of the shaft 57. Further, a vertical front bearing pipe 62 fixed to the front end of the rotating frame 60 is rotatably fitted and supported on the outside of the cutting upper front support shaft.
By configuring the cutting upper connecting pipe 55 and the rotating frame 60 in this way, the cutting pipe 8 is restricted from rotating up and down with the slide pipe 37 as a fulcrum, and is rotated following the slide of the cutting section 8. The frame 60 can be rotated in the horizontal direction. However, the left-right parallel movement of the cutting part is not limited to the above-described configuration, and it is also possible to arrange the parallel links in the front-rear direction on the top, bottom, left, and right to move the cutting part left and right.

Next, the power transmission mechanism of the cutting unit 8 will be described with reference to FIG.
A cutting input shaft 64 is mounted on the shaft center of the input case 30, and a cutting input pulley 63 is fixed on the left end of the cutting input shaft 64 protruding to the outside of the rotation fulcrum pipe 32. In this way, the power from the engine 21 is transmitted to the cutting input pulley 63, via the bevel gears, the transmission shafts, and the like disposed inside the right rotation fulcrum pipe 32, the input case 30, the cutting connection pipe 29, and the slide pipe 37. Power is transmitted to the shaft that is pivotally supported by the left and right transmission cases 40 and 43.
Further, a vertical transmission shaft 65 is mounted on the internal axis of the cutting connection pipe 29, and interlocked with the upper end of the vertical transmission shaft 65 via bevel gears 66 and 67 disposed in the intermediate portion of the cutting input shaft 64 inside the input case 30. To do. Power is transmitted from the lower end of the vertical transmission shaft 65 to the horizontal transmission shaft 68 via bevel gears 76 and 77.

  A horizontal transmission shaft 68 is mounted on the inner axis of the slide pipe 37, and the left end portion of the horizontal transmission shaft 68 is inserted into the left transmission case 40, and a bevel gear is attached to an output shaft 69 that is pivotally supported inside the left transmission case 40. The power is transmitted through the output shaft 69, and the power is transmitted from the output shaft 69 to the raising cases 23, 23, the port side transport chain 38, and the left tip transport tine 39. Further, the right end portion of the lateral transmission shaft 68 is inserted into the right transmission case 43 and power is transmitted to the cutting blade drive shaft 72 via the bevel gears 73 and 74. The power of the starboard base transfer chain 41 and the right tip transfer tine 42 is taken out from an output sprocket 75 provided on the lateral transmission shaft 68 inside the left side of the right transmission case 43.

Next, the culm detection sensor in the cutting unit 8 will be described with reference to FIG.
In the cutting unit 8, a plurality of raising cases 23 provided with a plurality of raising tines 22 that raise the cereals are arranged in the left-right direction, and in front of the raising case 23 and between the raising cases 23, 23. The weed boards 24, 24 and 24 for weeding the uncut grain rows are provided. The weed plates 24, 24, 24 are attached to the tip of the cutting frame 12 that extends forward from the lower end side of each pulling case 23. In addition, a cereal detection sensor is disposed in the vicinity of the front ends of the weed plates 24, 24, 24, that is, in the front end portion of the cutting frame 12.

  More specifically, a stalk detection sensor for row-cutting (external cutting) is arranged on the cutting frame 12 on the side away from the driver's seat (arranged in the cutting direction left side or the second cutting frame from the left), The split culm detection sensor is arranged on the cutting frame on the side close to the driver's seat (second side from the right side or the right side). In other words, the middle split sensor is provided with limit switch type middle split right and left grain bud detection sensors 100 and 101 in the vicinity of the tip of the rightmost weed plate 24, and The left and right detection units 102 and 103 are extended rearward and obliquely outward so that the detection units 102 and 103 do not come into contact with the strips 91 and 91 of the uncut grain culm. In such a configuration, when the detection units 102 and 103 come into contact with the uncut culm row 91 and 91, the culm detection sensors 100 and 101 are turned "ON" and the reaping part slides so as to be "OFF". Is done.

  Further, the row cutting sensor is provided with limit switch type row crop right and left grain detection sensors 105 and 106 in the vicinity of the tip of the second weed plate from the leftmost side. As in the above-mentioned cereal detection sensors 100 and 101, the left and right detection units 107 and 108 extend obliquely outward from the rear, and the detection units 107 and 108 are arranged on the left and right sides of the weed plate 24. It is made not to contact | abut each uncut grain row | line | column 91 * 91. In such a configuration, when the detection units 107 and 108 come into contact with the non-cut grain culm rows 91 and 91, the culm detection sensors 105 and 106 are turned "ON" and the reaping part slides so as to be "OFF". Is done. However, it is also possible to adopt a configuration in which only one of the left and right grain scum detection sensors 100 and 101 for middle splitting and the left and right grain stalk detection sensors 105 and 106 for row cutting are arranged.

Next, the operation unit 120 will be described with reference to FIGS. 9 to 11.
The driver 120 is provided with a driver seat 20 on the rear part of the step 121, and a front column 123 is erected in front of the driver seat 20. A handle shaft (not shown) protrudes upward from the front column 123, and a rotary steering handle 19 configured as a round handle is integrally supported at the upper end of the handle shaft. Is provided with a display means 125 for monitoring the number of revolutions, the amount of fuel, the hydraulic pressure, the battery, etc., the display at the time of operation, the display at the time of alarm, and the like. Is attached. The operation panel 131 is operated by automatic slide control of the cutting unit 8 to select a cutting mode or a middle mode, a cutting depth setting dial, a cutting depth setting dial, a cutting height setting dial, an inclination switch, etc. Is arranged. The arrangement positions of the cutting mode changeover switch 117, the display means 125, and the fit slide switch 132 described later are not particularly limited, and may be positions other than those shown in the present embodiment. A side column 126 is disposed on the side of the driver's seat 20, and various levers such as a main shift lever 127, a fork shift lever 128, and a harvesting clutch 130, and operation switches are disposed on the side column 126. ing.
In addition, the fit slide switch 132 is disposed at a position where the operator can operate with a finger (thumb) while holding the steering handle 19 while traveling straight.
When the cutting clutch 130 is in the “ON” state, and the cutting mode changeover switch 117 is set to “intermediate splitting” or “strip cutting”, and the steering handle 19 is in the straight traveling state. Only the trimming section can be controlled. In other words, the cutting slide control can be performed only when the cutting unit 8 is driven and the machine is traveling straight ahead, and the cutting mode changeover switch 117 is set to “intermediate work” or “row cutting”. If the fit slide switch 132 is operated in the state of “work”, that is, not “ON”, the cutting slide control is not performed and the manual operation is prioritized.
As shown in FIG. 8, the cereal detection sensors 100 and 101, the cereal detection sensors 105 and 106, the reaping mode changeover switch 117 for selecting “intermediate work” and “row cutting work”, Cut-off slide limit switches 82L and 82R for detecting the left and right slide limits provided on the hydraulic slide cylinder 46, fit slide switch 132, alarm means 142 composed of a buzzer, a speaker, a lamp, or the like, and a display composed of a screen such as a liquid crystal display Means 125 and solenoids 143 and 144 of electromagnetic valves for driving the hydraulic slide cylinder 46 are connected to the control means 150. The control means 150 includes a CPU, RAM, ROM, interface and the like.

Next, the alignment control by the control means 150, that is, the cutting slide control will be described with reference to FIGS.
First, as shown in FIG. 13, it is determined whether or not the cutting clutch is “ON” (step 10). If “ON”, the fit slide switch 132 (a cutting slide switch can be provided separately) is operated. If so (step 20: YES), the manual priority mode is set, the solenoid 143 or 144 on the side where the fit slide switch 132 is operated is operated, the electromagnetic valve 145 is switched, and the hydraulic slide cylinder 46 is operated. (Step 22).
Next, it is determined by the selection of the cutting mode changeover switch 117 whether to perform the mid-split operation or the row cutting operation (step 50). That is, the cutting mode change-over switch 117 can select “OFF (cutting slide control OFF)”, “intermediate splitting work”, and “strip cutting work”. This is a case where “splitting work” or “strip cutting work” is selected. In the case of “OFF”, the hydraulic slide cylinder 46 is operated only when the fit slide switch 132 is operated, and the hydraulic cylinder 46 does not operate even if the signals of the grain detection sensors 100, 101, 105, and 106 are input. When the cutting mode changeover switch 117 is switched to perform the middle split operation, the electromagnetic valve 145 is switched in accordance with the detection signals from the right and left grain scum detection sensors 100 and 101 (step 51).

As shown in FIG. 14, in the detection signal, when the left cereal detection sensor 100 is “OFF” and the right cereal detection sensor 101 is “ON” (step 70: YES), the hydraulic slide cylinder 46 is moved. By shortening the fixed amount, the entire cutting unit 8 is slid to the left by a predetermined amount (step 71). At this time, if the hydraulic slide cylinder 46 has not reached the slide limit position (step 72: NO), it is determined whether or not the right grain culm detection sensor 101 is “OFF” (step 73). If so, the slide is stopped because it is a normal cutting position (step 74). When the cutting slide limit switch 82L is “ON” and reaches the limit position (step 72: YES), the crawler on the right side may step on the uncut grain cereal, so that the slide is stopped (step 75). As shown in FIG. 12, a warning is issued and the display means 125 displays that the left turn must be performed (step 76). The operator turns the handle to the left according to this display.
Further, when the left cereal detection sensor 100 is “ON” and the right cereal detection sensor 101 is “OFF” (step 80: YES), the hydraulic slide cylinder 46 is extended by a predetermined amount, and the entire reaping part 8 is moved to the right side. (Step 81). At this time, when the hydraulic slide cylinder 46 has not reached the slide limit position (step 82: NO), it is determined whether the left cereal detection sensor 100 is “OFF” (step 83). Since it is a normal cutting position, the slide is stopped (step 84). When the cutting slide limit switch 82R is “ON” and reaches the limit position (step 82: NO), the left crawler may step on the uncut grain cereal, so that the slide is stopped (step 85). As shown in FIG. 12, a warning is issued and the display means 125 displays that the right turn operation must be performed (step 86). The operator turns the handle to the right according to this display. However, when a fine turning operation switch (fit steering switch) is provided, the switch may be operated. Moreover, when the automatic steering device is equipped, the structure which controls turning control (a hydraulic motor, a side clutch, etc.) may be sufficient.
When both the left culm detection sensor 100 and the right culm detection sensor 101 are “OFF” (step 90: YES), the hydraulic slide cylinder 46 is not operated because it is a normal cutting position. Furthermore, when both the left cereal detection sensor 100 and the right cereal detection sensor 101 are “ON” (step 100: YES), the strain or grass that has not been planted normally, or the like has been plunged into the stock. Therefore, an alarm is issued, and it is displayed on the display means 125 that the normal cutting is not performed (step 110). Whether the operator manually operates the fit slide switch 132 after judging the situation. , Manipulate the handle. Thereby, the weeding board 24 can be located in the approximate center position of the adjacent uncut grain cocoons 91 and 91, and steering operation by a handle can be reduced.

  When the cutting mode changeover switch 117 is switched to perform the cutting operation, the cutting slide control is performed based on the detection signals from the left and right cropping detection sensors 105 and 106 for cutting (step 52).

As shown in FIG. 15, in the detection signal, when the left cereal detection sensor 105 is “OFF” and the right cereal detection sensor 106 is “ON” (step 120: YES), the hydraulic slide cylinder 46 is moved. By shortening the fixed amount, the whole cutting unit 8 is slid to the left by a predetermined amount (step 121). At this time, if the hydraulic slide cylinder 46 has not reached the slide limit position (step 122: NO), it is determined whether or not the right grain culm detection sensor 106 is “OFF” (step 123). If so, the slide is stopped because it is a normal cutting position (step 124). When the cutting slide limit switch 82L is “ON” and reaches the limit position (step 122: YES), the crawler on the right side may step on the uncut grain cereal, so that the slide is stopped (step 125). Then, an alarm is issued, and the display means 125 displays that it must be turned to the left (step 126). The operator turns the handle to the left according to this display.
Further, when the left cedar detection sensor 105 is “ON” and the right cereal detection sensor 106 is “OFF” (step 130: YES), the hydraulic slide cylinder 46 is extended by a predetermined amount, and the entire cutting unit 8 is moved to the right side. (Step 131). At this time, if the hydraulic slide cylinder 46 has not reached the slide limit position (step 132: NO), it is determined whether the left cereal detection sensor 105 is “OFF” (step 133). Since it is a normal cutting position, the slide is stopped (step 134). When the cutting slide limit switch 82R is “ON” and reaches the limit position (step 132: NO), the left crawler may step on the uncut grain cereal, so that the slide is stopped (step 135). An alarm is issued, and the display means 125 displays that it is necessary to turn to the right (step 16). The operator turns the handle to the right according to this display. However, when a fine turning operation switch (fit steering switch) is provided, the switch may be operated. Moreover, when the automatic steering device is equipped, the structure which controls turning control (a hydraulic motor, a side clutch, etc.) may be sufficient.
When both the left culm detection sensor 100 and the right culm detection sensor 101 are “OFF” (step 140: YES), the hydraulic slide cylinder 46 is not operated because it is a normal cutting position. Furthermore, when both the left cereal detection sensor 100 and the right cereal detection sensor 101 are “ON” (step 150: YES), the strain or grass that has not been planted normally or the like has been struck into the stock. Therefore, an alarm is issued to indicate that it is not normal cutting (step 160), and the operator determines the situation and manually operates the fit slide switch 132. , Manipulate the handle. Thereby, the weeding board 24 can be located in the approximate center position of the adjacent uncut grain cocoons 91 and 91, and steering operation by a handle can be reduced.

  Note that the slide amount (reference value) varies depending on the individual aircraft and can be set freely.

  By configuring as described above, the combine according to the present invention is a combine harvester that supports the harvester 8 so as to be slidable in the left-right direction with respect to the body. In the vicinity of the tip of 24, the culm detection sensor 100, 101, 105, 106 for detecting the uncut culm 91 is arranged, and the slide actuator 46 is operated based on the detection of the culm detection sensor 100, 101, 105, 106. It is equipped with an automatic control means for automatically aligning. With this configuration, the operator's work load is reduced by reducing the number of times of handle operation by matching. In addition, even if the line is slightly bent, the aircraft is in a straight traveling state, so that stable running is possible.

  Further, the amount of slide of the cutting unit 8 relative to the machine body is detected, and an alarm is issued before reaching the set amount of slide on which the crawlers 2 and 2 step on the adjacent strips. By configuring in this way, it is possible to prevent the operator from stepping on the rice by warning the operator.

  The automatic control means operates only when the cutting clutch 130 is engaged, the left / right slide adjustment switch 117 is on, the handle 19 is in the neutral position, and the automatic slide switch 132 is pressed. Is allowed. By configuring in this way, the sliding operation of the cutting unit is possible only when the cutting unit is operating and the crawler is directed straight. Also, the operator can operate the automatic control means on and off at hand.

  The automatic control means detects the uncut rice cake 91 by the left rice cake detection sensor 100/101 when cutting, and detects the uncut rice cake 91 by the right rice cake detection sensor 105/106 at the middle time. It is a thing. By configuring in this way, no cutting residue is generated on the right side in the aircraft traveling direction when cutting. At the time of middle splitting, the aircraft is moved to the left in the direction of travel to prevent the uncut cereals on the right side of the aircraft from being stepped on by the crawler.

The side view which showed the whole structure of the combine which concerns on one Example of this invention. The top view of a combine. The side view of a cutting part. Cross-sectional explanatory drawing of a cutting slide part. The top view of a cutting part. The top view which shows the holding structure of a cutting part. The plane schematic diagram of a cutting part. The block diagram of slide control. The schematic plan view of a driving | running part. The front perspective view of a front column. The perspective view which shows a steering handle and an operation panel. The figure which shows an example of the warning displayed on an operation panel. The flowchart figure showing the flow of automatic steering control. The flowchart figure showing the flow of automatic steering control. The flowchart figure showing the flow of automatic steering control.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Track frame 2 Crawler 3 Machine stand 8 Cutting part 11 Hydraulic raising / lowering cylinder 19 Steering handle 20 Driver's seat 46 Hydraulic slide cylinder 100 Left grain cocoon detection sensor 101 Right grain cocoon detection sensor 105 Left grain cocoon detection sensor 106 Right grain cocoon detection sensor

Claims (4)

  In the harvester for a combine that supports the mowing unit so as to be slidable in the left-right direction with respect to the machine body, a cereal detection sensor that detects an uncut cereal cocoon is disposed near the tip of the weed plate of the reaping unit, A combine harvester, comprising automatic control means for automatically adjusting a slide actuator based on detection by a detection sensor.   2. The combine harvester according to claim 1, wherein the amount of slide relative to the machine body of the harvesting unit is detected, and an alarm is issued before reaching a set slide amount on which the crawler steps on an adjacent strip.   The automatic control means includes a cutting clutch, the left / right slide adjustment switch is turned on, the handle is in a neutral position, and is allowed to operate only when the automatic slide switch is pressed. A combine harvester according to claim 1 or 2. The automatic control means detects uncut cereals with a left-side culm detection sensor at the time of cutting, and detects uncut cereals with a right-side culm detection sensor at the middle split. The combine harvester according to any one of claims 1 to 3.

Images