JP2008245531A - Reaping portion elevation control device of reaping harvester - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a reaping portion elevation control device of a reaping harvester, which can avoid that the reaping portion is thrust at the ground, even if ground height detection means detects a ground height at a position corresponding to the dent portion of the ground. <P>SOLUTION: A control means H for controlling elevation operation means C1 so that the ground height of the reaping portion 2 is at a target ground height on the basis of the information of the ground height detection means A and target ground height-setting means 54 stores the detection value of a machine frame height sensor 59 as a machine frame height on elevation and lifts the reaping portion 2, when the ground height detection means A detects a lower value than the target ground height, and lowers the reaping portion 2, when the ground height detection means A detects a higher value than the target ground height, and when lowering-inhibiting conditions that the detection value of the machine frame height sensor 59 is lower than the machine frame height on elevation, and the detection value of the ground height detection means A is at the maximum ground height of a detectable range, are satisfied. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a lifting operation means for raising and lowering the cutting part relative to the traveling machine body, a ground height detecting means for detecting a ground height of the cutting part, and a target ground for setting a target ground height of the cutting part. Based on the information of a height setting means, the said ground height detection means, and the said target ground height setting means, the cutting operation which controls the said raising / lowering operation means so that the ground height of the said cutting part may become target ground height The present invention relates to a cutting / lifting control device for a harvesting / harvesting machine provided with control means for performing lifting control.

  In the cutting and lifting control device of the harvesting and harvesting machine, conventionally, one ground height detection unit is provided in the cutting unit, and the ground height of the cutting unit is set by the target ground height setting unit. Thus, the lifting cylinder as the lifting operation means is controlled. In other words, the detection value of the ground height detection means detects a value lower than the target ground height, specifically, when the dead zone set corresponding to the target ground height is deviated to the lower side, the cutting unit is raised, When the detection value of the ground height detection means detects a value higher than the target ground height, specifically, when the dead zone set corresponding to the target ground height deviates to the higher side, the cutting part is lowered. (For example, refer to Patent Document 1) (hereinafter referred to as a first conventional example). In Patent Document 1, an ultrasonic sensor is used as the ground height detection means.

  As another conventional example, a plurality of ground height detection means are provided with different positions in the cutting width direction in the cutting portion, and at least one of the plurality of ground height detection means is more than the target ground height. When the low ground height is detected, the cutting unit is raised, and when each of the plurality of ground height detecting units detects a ground height higher than the target ground height, the lifting operation unit is controlled to lower the cutting unit. (For example, refer to Patent Document 2) (hereinafter referred to as a second conventional example).

JP-A-8-37865 JP 2004-201588 A

  In the first conventional example, the ground height detecting means is partially applied to a field such as a groove formed on a traveling trace of a traveling wheel of a management work machine that performs a herbicide spraying operation or the like. If the ground height is to be detected at a position corresponding to the formed recess, the ground height of the cutting part is the proper height even though the ground height is appropriate for the whole cutting part. If the cutting part is mistakenly determined to be higher than the appropriate value and the cutting part is lowered, the ground height of the cutting part becomes too low, and the weeding tool located at the tip of the cutting part may rush into the ground.

  Similarly, in the second conventional example, if each of the plurality of ground height detection means detects the ground height at a position corresponding to the above-described recess, the whole cutting unit is used. Although the ground height is appropriate, each of the plurality of ground height detection means erroneously determines that the ground height of the cutting part is higher than the appropriate value and lowers the cutting part. Therefore, there is a possibility that the cutting tool positioned at the tip of the cutting unit may be pushed into the ground because the ground height of the cutting unit becomes too low.

  By the way, in the second conventional example, when at least one of the plurality of ground height detecting means detects a ground height lower than the target ground height, the lifting operation means is controlled so as to raise the cutting part. In such a configuration, for example, in the case of performing an operation of harvesting a lying stem culm, there is a possibility that a favorable harvesting operation cannot be performed by repeatedly performing the raising operation of the harvesting unit. there were.

In other words, when cutting with a harvesting harvester, the stalks to be harvested may be in a fallen state. The target height is set lower than when the stalks that are in a standing posture are reaped, and the mowing work is performed in the follow-up mowing form or the reception mowing form. In this cutting operation, when at least one of the plurality of ground height detecting means detects a ground height lower than the target ground height, the cutting portion is raised. In some cases, the lifting operation of the harvesting unit may be repeatedly performed, for example, when the lying pedicle is harvested.
Then, when the raising operation of the cutting part is performed in the cutting work of the lying stem and stalk, for example, in the state where the cutting work is performed in the form of the harvesting, it becomes a state of covering the upper part of the cutting part. There is a possibility that the stalks are torn off or pulled out as the mowing part rises. Similarly, when the mowing operation is carried out in the form of additional mowing, the raising device provided in the mowing part Although the stems that are raised while being locked in are likely to be torn off or pulled out as the mowing part rises, in the conventional configuration, although they want to avoid raising the mowing part, Even in the cutting work of the stems that are being performed, there is a possibility that good cutting work cannot be performed by repeatedly performing the raising operation of the cutting part.

  The object of the present invention is to perform a good cutting operation while avoiding the cutting portion from being pushed into the ground even when the ground height detecting means detects the ground height at a position corresponding to the concave portion of the ground. It is in the point which provides the cutting raising / lowering control apparatus of the harvesting harvester which can be performed.

  Another object of the present invention is to achieve a good cutting while avoiding the cutting part to be pushed into the ground even if the ground height detecting means may detect the ground height at a position corresponding to the concave portion of the ground. In addition, the present invention is to provide a cutting / lifting control device for a harvesting and harvesting machine that can perform a work well and can perform a good harvesting work on a lying stalk.

  The cutting and lifting control device for a harvesting and harvesting machine according to the present invention includes a lifting and lowering operating unit that lifts and lowers a cutting unit with respect to a traveling machine body, a ground height detecting unit that detects a ground height of the cutting unit, and the cutting unit. Based on the information of the target ground height setting means for setting the target ground height, the ground height detection means, and the target ground height setting means, the ground height of the cutting unit becomes the target ground height. Control means for executing the lifting / lowering control for controlling the lifting / lowering means as described above, and the first characteristic configuration thereof is a machine body for detecting the height of the cutting part with respect to the traveling machine body. Height detecting means is provided, and when the control means detects a value lower than the target ground height as the cutting lift control, detection of the aircraft height detecting means at that time Ascending value vs. aircraft height When the lift operation means is controlled to store and raise the cutting part, and the ground height detection means detects a value higher than the target ground height, the detection value of the aircraft height detection means If the lowering prohibition condition that is lower than the height of the aircraft at the time of ascent and the detection value of the ground height detection means is the maximum ground height of the detectable range is not satisfied, the cutting part is lowered, If the lowering prohibition condition is satisfied, the lifting operation means is controlled in such a manner that the cutting part is not lowered.

  According to the first characteristic configuration, when the ground height detecting means detects a value lower than the target ground height, the control means controls the lifting operation means in a form that raises the cutting part. The detected value of the height detection means when the height detection means detects a value lower than the target height is stored as the height of the rise time.

  Then, when the ground height detection means detects a value higher than the target ground height, at that time, if the lowering prohibition condition is not satisfied, the cutting unit is lowered, but the lowering prohibition condition is satisfied. If it exists, the said cutting part will not be lowered.

  In other words, the descent prohibition condition is that the detection value of the aircraft height detection means is lower than the height of the aircraft against the ascent and the detection value of the ground height detection means is the maximum ground height within the detectable range. In this state, the ground height detecting means is connected to the ground between the cutting part and the ground even though the cutting part is at a low ground height at which the lifting operation is performed. This corresponds to a state where it is detected that the gap is greatly separated, that is, a state where the ground height detection means detects the ground height at a position corresponding to a recess formed on the ground.

  Therefore, if the lowering prohibition condition is satisfied, it is possible to prevent the cutting unit from being pushed into the ground without lowering the cutting unit.

  Therefore, according to the first feature configuration, even when the ground height detection means detects the ground height at a position corresponding to the concave portion of the ground, it is good while avoiding the cutting part to thrust into the ground. It has come to be able to provide a cutting lift control device for a harvesting and harvesting machine that can perform a proper cutting operation.

  The second characteristic configuration of the present invention is a lifting / lowering operation means for raising / lowering the cutting part relative to the traveling machine body, a ground height detecting means for detecting a ground height of the cutting part, and a target ground height of the cutting part. Based on the information of the target ground height setting means, the ground height detection means and the target ground height setting means, the lifting operation is performed so that the ground height of the cutting unit becomes the target ground height. A harvesting / raising / lowering control device for a harvesting / harvesting machine provided with control means for performing harvesting / raising / lowering control for controlling the means, wherein the height detection means for detecting the height of the harvesting unit relative to the traveling machine body A plurality of the ground height detection means are provided at different positions in the cutting width direction of the cutting unit, and the control means includes the ground height detection means as the cutting lift control. Two or more ground height detections When a stage or all the ground height detection means are in a multiple detection state in which a value lower than the target ground height is detected, the detection value of the aircraft height detection means is stored as an ascent height against the aircraft height; When the lifting operation means is controlled to raise the mowing unit, and all of the plurality of ground height detection means detect a value higher than the target ground height, detection by the aircraft height detection means If the value is lower than the height of the aircraft at the time of ascent and all the detection values of the ground height detection means are the maximum ground height in the detectable range, the cutting part is lowered In addition, when the lowering prohibition condition is satisfied, the lifting operation means is controlled in such a manner that the cutting portion is not lowered.

  According to the second characteristic configuration, the control means is configured such that two or more of the ground height detection means or all the ground height detection means of the plurality of ground height detection means are based on the target ground height. When the multi-detection state for detecting a low value is reached, the lifting operation means is controlled in the form of raising the mowing unit, but the detection value of the aircraft height detection means when the multi-detection state is reached Is stored as the height of the aircraft against ascent.

  Then, when all of the plurality of ground height detection means detect a value higher than the target ground height, at that time, if the lowering prohibition condition is not satisfied, the mowing unit is lowered, but the lowering prohibition condition If the above is satisfied, the cutting part is not lowered.

  In other words, the descent prohibition condition means that the detection value of the aircraft height detection means is lower than the height of the aircraft against the ascent and the maximum detection range of all the detection values of the ground height detection means. All the ground height detection means are in the state where the ground level is low and the cutting unit is at a low ground level where the above-described lifting operation is performed. Is a state in which it is detected that there is a large separation between the two, that is, a state in which all the ground height detection means detect the ground height at positions corresponding to the recesses formed on the ground. .

  In addition, it is considered that the occurrence frequency of the ground height detection means in a state corresponding to the concave portion in this way is low as the occurrence frequency. While the traveling wheels of the management work machine that performs herbicide spraying work travels between the strips across the four strips, the number of work strips such as herbicide spraying work varies, Since the running trace of the traveling wheel is formed with a plurality of strips, depending on the installation state of the plurality of ground height detecting means, the ground height may be detected at a position corresponding to the plurality of running traces. There is.

  Therefore, even if all of the plurality of ground height detection means detect a value higher than the target ground height, the cutting unit is lowered if the lowering prohibition condition is satisfied. In this way, it is possible to avoid the cutting part from being pushed into the ground.

  Further, when two or more ground height detection means among a plurality of ground height detection means or all the ground height detection means are in a multiple detection state in which a value lower than the target ground height is detected. The lifting operation means is controlled in such a manner that the cutting part is raised, and the cutting part is not raised when only one of the plurality of ground height detection means detects a value lower than the target ground height. Therefore, in the working mode of cutting the fallen stem culm, in the case where a protrusion is present at a part of the cutting width direction in the cutting part, the stalk is pulled out without raising the cutting part, etc. This reduces the risk of the occurrence of cutting and makes it possible to perform the cutting operation satisfactorily.

In other words, when the stalks are lying down, the field is often a soft wet field.For example, there are protrusions in the field scene at some points in the cutting width direction of the cutting part. Therefore, even if the cutting part is pushed into such a protruding part, it is considered that there is little possibility that the cutting part is damaged because the field scene is relatively soft.
On the other hand, the multiple scene detection state in which two or more ground height detection means or all the ground height detection means detect a value lower than the target ground height is detected because the farm scene protrudes over a wide range. Or the case where the entire body is approaching the ground with the vehicle body tilting back and forth. In such a case, the mowing portion is raised to avoid being buried in the ground.

  In other words, when there is a possibility that the cutting part will be largely buried in the ground, by raising the cutting part, it is possible to avoid cutting the cutting part into the ground and avoid cutting the cutting part. Even in the case where a protruding part that partially protrudes in a part of the width direction is formed, by not raising the reaping part, the possibility of occurrence of pulling out of the stem is reduced, The cutting work can be performed satisfactorily.

  Therefore, according to the second feature configuration, even if the ground height detecting means detects the ground height at a position corresponding to the concave portion of the ground, it is good while avoiding the cutting part to thrust into the ground. This makes it possible to provide a cutting / lifting control device for a harvesting / harvesting machine that can perform a good harvesting operation on a lying stalk.

  The third characteristic configuration of the present invention is a lifting operation means for raising and lowering the cutting part with respect to the traveling machine body, a ground height detecting means for detecting a ground height of the cutting part, and a target ground height of the cutting part. Based on the information of the target ground height setting means, the ground height detection means and the target ground height setting means, the lifting operation is performed so that the ground height of the cutting unit becomes the target ground height. A harvesting and lifting control device for a harvesting and harvesting machine, wherein the ground height detection means is configured to vary the position in the cutting width direction of the harvesting unit. A plurality of the ground height detection means or all of the ground height detection means are used as the target as the cutting lift control. Detect a value lower than the ground height When the number detection state is reached, and any one of the plurality of ground height detection means detects a value lower than the target ground height, and detects a plurality of other ground height detections. When the rising and retreating condition in which the detection value of one or more of the means is the maximum ground height of the detectable range is satisfied, the lifting operation means is controlled in a form in which the mowing part is raised, And when all the said several ground height detection means detects a value higher than the said target ground height, it exists in the point comprised so that the said cutting part may be lowered | hung.

  According to the third characteristic configuration, the control means is configured such that two or more of the ground height detection means or all the ground height detection means of the plurality of ground height detection means are based on the target ground height. When the multiple detection state for detecting a low value is reached, the lifting operation means is controlled so as to raise the mowing unit. On the other hand, even in the case of not being in the multiple detection state, the lifting operation means is controlled so as to raise the mowing unit when the ascending / retreating condition is satisfied.

  In other words, the ascending / retreating condition means that any one of the plurality of ground height detecting means detects a value lower than the target ground height and the other ground heights are detected. The detection value of one or more of the height detection means is the maximum ground height within the detectable range, and any one ground height detection means detects a value lower than the target ground height. In spite of the fact that the cutting part has a lower ground height, one or more of the other ground height detection means has a large gap between the cutting part and the ground. This is a state where it is detected that they are separated from each other, that is, a state where the ground height detection means detects the ground height at a position corresponding to the concave portion formed on the ground.

  Even when the multiple detection state is not satisfied, it is possible to avoid the cutting part from being pushed into the ground by controlling the lifting operation means so as to raise the cutting part when the ascending / retreating condition is satisfied. It becomes.

  Further, when the ascending and retreating conditions are not satisfied, two or more ground height detecting means among a plurality of ground height detecting means or all the ground height detecting means are more than the target ground height. The lifting operation means is controlled in such a manner that the mowing unit is raised in the case of a multiple detection state in which a lower value is detected, and only one of the plurality of ground height detecting means is lower than the target ground height. In the state where the cutting part is not lifted in the state of detecting, in the work mode of cutting the fallen stem cocoon, in the case where there are protrusions in some places in the cutting width direction in the cutting part, etc. Without raising the mowing part, the possibility of pulling out the stems and the like is reduced, and the mowing work can be performed satisfactorily.

In other words, when the stalks are lying down, the field is often a soft wet field.For example, there are protrusions in the field scene at some points in the cutting width direction of the cutting part. Therefore, even if the cutting part is pushed into such a protruding part, it is considered that there is little possibility that the cutting part is damaged because the field scene is relatively soft.
On the other hand, the multiple scene detection state in which two or more ground height detection means or all the ground height detection means detect a value lower than the target ground height is detected because the farm scene protrudes over a wide range. Or the case where the entire body is approaching the ground with the vehicle body tilting back and forth. In such a case, the mowing portion is raised to avoid being buried in the ground.

  In other words, when there is a possibility that the cutting part will be largely buried in the ground, by raising the cutting part, it is possible to avoid cutting the cutting part into the ground and avoid cutting the cutting part. Even in the case where a protruding part that partially protrudes in a part of the width direction is formed, by not raising the reaping part, the possibility of occurrence of pulling out of the stem is reduced, The cutting work can be performed satisfactorily.

  Therefore, according to the third characteristic configuration, even if the ground height detection means detects the ground height at a position corresponding to the concave portion of the ground, it is good while avoiding the cutting part thrusting into the ground. This makes it possible to provide a cutting / lifting control device for a harvesting / harvesting machine that can perform a good harvesting operation on a lying stalk.

  According to a fourth feature configuration of the present invention, in addition to either the second feature configuration or the third feature configuration, the control unit sets the target ground height setting unit as the cutting elevation control. When the ground height is less than or equal to the control state switching set height, the target ground set by the target ground height setting means is raised on the condition that the multiple detection state is reached When the height is higher than the set height for control state switching, the reaping section is provided on the condition that any one of the plurality of ground height detection means is in a minority detection state for detecting a value lower than the target ground height. It is in the point which is comprised so that the said raising / lowering operation means may be controlled to raise.

  According to the fourth feature configuration, when the target ground height set by the target ground height setting means is higher than the control state switching set height, any of the plurality of ground height detection means Since the mowing unit is raised on condition that a minority detection state in which a value lower than the target ground height is detected, there are protrusions in the farm scene at some points in the mowing width direction of the mowing unit. Even in such a case, it is possible to appropriately avoid the cutting portion from being pushed into the ground.

  When the target ground height set by the target ground height setting means is equal to or lower than the control state switching set height, two or more of the ground height detection means of the plurality of ground height detection means The mowing unit is raised on condition that the height detection means or all the ground height detection means are in a multiple detection state in which a value lower than the target ground height is detected.

In other words, it is assumed that the target ground height is set to be equal to or lower than the set height for switching the control state when the stems as the target of cutting are lying down. In the working state, the lifting operation means is controlled in such a manner that the cutting unit is raised on condition that the multiple detection state is obtained, and only one of the plurality of ground height detecting means is lower than the target ground height. Since the cutting part is not raised in the minority detection state in which the value is detected, in the case where the protruding part is present in a part of the cutting width direction in the cutting part, the cutting part is not raised, This reduces the risk of pulling out and the like, so that the cutting operation can be performed satisfactorily.
On the other hand, it is assumed that the target ground height is set to a value higher than the set height for control state switching. In the state, even if the cutting unit is raised during the cutting operation, there is little possibility that the stem will be pulled out, so the cutting unit is raised by raising the cutting unit on the condition that the minority detection state is reached. Even in the case where there are protrusions in the field scene at some points in the cutting width direction of the part, it is possible to appropriately avoid the cutting part from thrusting into the ground.

  Therefore, according to the fourth feature configuration, by performing the lifting control in an appropriate state according to the difference in the situation of the cutting operation, the cutting operation can be performed satisfactorily while avoiding the cutting portion from being pushed into the ground. It becomes possible.

  According to a fifth characteristic configuration of the present invention, in addition to any one of the first characteristic configuration to the fourth characteristic configuration, the control means performs the ground height detection means and the target ground height setting means as the cutting lift control. When raising the mowing unit based on the information of, raising the target amount set in advance, and lowering the mowing unit based on the information of the ground height detection means and the target ground height setting means Is configured to control the elevating operation means so as to lower the mowing part until the detection value of any of the plurality of ground height detecting means reaches the target ground height.

  According to the fifth characteristic configuration, the control means raises a preset target amount when raising the mowing unit based on information of the ground height detection means and the target ground height setting means. Since the lifting operation means is controlled, when there is a possibility that the cutting part is in a low position and may rush into the ground, the reaping part raises the preset target amount, so that the cutting part rushes into the soil. It can be avoided.

  On the other hand, when the mowing unit is lowered, the mowing unit is lowered until the detected value of any of the plurality of ground height detecting means reaches the target ground height. It can be lowered to a position corresponding to the target ground height, and the subsequent cutting operation can be performed satisfactorily.

[First Embodiment]
DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment of a cutting / lifting control device for a harvesting and harvesting machine according to the present invention will be described with reference to the drawings.
FIG. 1 shows a side view of a combine as a harvesting and harvesting machine. This combine harvests the culm planted in the field at the front part of the traveling machine body V configured to be able to travel with a pair of left and right crawler traveling devices 1L, 1R, and conveys the harvested culm backward. A reaping part 2 configured to be able to move up and down is provided, and the traveling machine body V includes a threshing device 3 for threshing the harvested cereal meal, a grain tank 4 for storing the threshed grain, a boarding operation part 5 and the like. It is configured with.

  The cutting part 2 includes a plurality of weeding tools 17 for distributing and weeding the planted stalks of the number of crops to be harvested, the pulling device 6 for raising the planted stalks in a standing position, and the raised grains The clipper type mowing device 7 that cuts the stock side of the cocoon, and the vertical conveying device 8 that conveys the harvested cereal rice cake while gradually changing its posture to a sideways posture, and the like, are configured around the horizontal axis P1. It is configured to be driven up and down by a lifting hydraulic cylinder C1 (hereinafter referred to as a lifting cylinder) as a lifting operation means connected to the distal end side of a transmission case 9 that is rotatably supported by the traveling machine body V.

  As shown in FIG. 2, the fuselage sideways transmission case 15 whose central part is connected to the distal end of the transmission case 9, and the support member provided in the sideways transmission case 15 from a plurality of locations in the side of the fuselage. A plurality of round pipe-shaped weeding frames 16 are extended in the forward direction, and the cutting device 7 is attached to the base end portions of the plurality of weeding frame frames 16. The tool 17 is fixed.

  The combine is provided with posture changing operation means 100 that can freely change the right and left inclination angles of the traveling machine body V with respect to the grounding portions of the left and right traveling devices 1L and 1R. Hereinafter, the configuration will be described.

First, the attachment structure to the traveling body V of the left and right traveling apparatuses 1L and 1R will be described. Since the left and right traveling apparatuses 1L and 1R have the same configuration, the left traveling apparatus 1L will be described below, and the description of the right traveling apparatus 1R will be omitted.
As shown in FIG. 3, a driving wheel body 12a is rotatably supported on the front end side of the support frame 11 fixed to the main frame 10 in the front-rear posture constituting the traveling machine body V, and a plurality of driving wheel bodies 12a are supported. A track frame 13 that pivotally supports the idler wheel bodies 12b in a state of being arranged in the front-rear direction and supports the tension wheel bodies 12c at the rear end portion thereof is attached to the support frame 11 so as to be movable up and down. A crawler belt B, which is an endless rotating body, is wound around the drive wheel body 12a, the tension wheel body 12c, and the idler wheel bodies 12b.

  A front bell crank 14a configured to be substantially L-shaped in a side view so as to be rotatable around a horizontal axis P2 is pivotally supported on the front side of the support frame 11, and a horizontal axis on the rear side of the support frame 11. A rear bell crank 14b configured to be substantially L-shaped in a side view so as to be rotatable around P3 is pivotally supported. The lower end of the front bell crank 14a is pivotally connected to the front portion of the track frame 13, and the lower end of the rear bell crank 14b is connected to the track frame via an auxiliary link 14b1 for absorbing the stroke. It is pivotally connected to the rear side portion of 13. On the other hand, the cylinder rods of the hydraulic cylinders C2 and C3 are connected to the upper end portions of the front and rear bell cranks 14a and 14b, respectively. The cylinder main body side of each of the hydraulic cylinders C2 and C3 is pivotally connected to the horizontal frame portion of the main frame 10, and each of the hydraulic cylinders C2 and C3 is constituted by a double-acting hydraulic cylinder.

  When the hydraulic cylinder C2 (hereinafter referred to as the left front cylinder) corresponding to the front bell crank 14a is most extended, the hydraulic cylinder C3 (hereinafter referred to as the left rear cylinder) corresponding to the rear bell crank 14b is most shortened. As shown in FIG. 3, the track frame 13 is received and supported by the support frame 11, and the track frame 13 comes closest to the main frame and becomes almost parallel. This state is called the lower limit reference posture.

  Then, when the left front cylinder C2 is shortened and the left rear cylinder C3 is extended from the state of the lower limit reference posture as shown in FIG. 3, as shown in FIG. In contrast, the posture is changed (ascending operation) in the direction of separation while maintaining the parallel posture, and conversely, from the state shown in FIG. 4, the left front cylinder C2 is extended and the left rear cylinder C3 is shortened. Then, the posture change (down operation) is performed in a direction in which the traveling machine body V approaches the grounding portion while maintaining a parallel posture. Further, by operating one of the left front cylinder C2 or the left rear cylinder C3, the posture can be changed to the front lowering state or the rear lowering state.

  Similarly, the right traveling apparatus 1R includes a right front cylinder C4 positioned on the front side of the fuselage and a right rear cylinder C5 positioned on the rear side of the fuselage, and performs the same operation as that of the left traveling apparatus 1L. It has become. Therefore, the posture changing operation means 100 is configured to include four hydraulic cylinders C2, C3, C4 and C5. Although not described in detail, the stroke for detecting the operation amount of each hydraulic cylinder based on the rotation amount of each bell crank 14a, 14b corresponding to each of the four hydraulic cylinders C2, C3, C4, C5. A sensor is provided.

Next, a configuration for controlling the left and right inclined posture of the traveling machine body V will be described.
As shown in FIG. 5, a control device H using a microcomputer as a control means is provided, and a gravitational left and right tilt angle sensor for detecting a left and right tilt angle from the horizontal reference plane of the traveling machine body V is provided in the control device H. 45 and information on each of the posture change switch units SU are input. And the drive signal with respect to the solenoid valves 46-49 for hydraulic control for hydraulically controlling the four hydraulic cylinders C2-C5 for a body posture change from the control apparatus H is each output. Although not shown, detection information of each stroke sensor is also input to the control device H.

  As shown in FIG. 6, the posture change switch unit SU includes a left / right inclination angle setting unit 50 as target inclination angle setting means for setting a target right / left inclination angle (target inclination angle) of the traveling machine body V, and posture control. As an example, a horizontal automatic switch 51 serving as an attitude control mode switching means for commanding on / off of horizontal control, a horizontal lamp 52 indicating on / off status of horizontal control, and a manual command operated by a cross lever type operation tool 53 A right-up switch 53a, a left-up switch 53b, an airframe raising switch 53c, and an airframe lowering switch 53d are provided.

  The left / right tilt angle setting device 50 includes a horizontal switch 50a, a left tilt switch 50b, and a right tilt switch 50c. That is, when the horizontal switch 50a is pressed, a value corresponding to the horizontal state is set as the target inclination angle, and when the left inclination switch 50b is pressed, the currently set target inclination angle is corrected stepwise to the left inclination direction, When the right tilt switch 50c is pressed, the currently set target tilt angle is corrected stepwise to the right tilt direction. And about the left-right inclination angle set by the left-right inclination angle setting device 50, as shown in FIG. 7, 7 of 1-7 shown in the display apparatus (not shown) provided in the front side of the boarding operation part 5. Whether the stage is the fourth stage (target inclination angle = 0 indicates a value corresponding to the horizontal state, a positive angle indicates a right inclination direction and a negative angle indicates a left inclination direction) is displayed.

  When the horizontal automatic switch 51 is instructed to enter the horizontal control, the control device H switches to a state in which the horizontal control is executed, that is, the attitude control execution mode. When the horizontal control is instructed, the control device H Is switched to a control stop state in which the horizontal control is not executed, that is, a posture control stop mode.

The horizontal control by the control device H will be briefly described.
The deviation between the detected value of the left / right tilt angle detected by the left / right tilt angle detection sensor 45 and the target tilt angle set by the left / right tilt angle setting device 50 deviates from the control dead zone to the left tilt side of the traveling vehicle body V. If so, the next operation is performed until the deviation falls within the control dead zone. That is, until either the right front cylinder C4 or the right rear cylinder C5 reaches the lower limit position, the right front cylinder C4 is extended and the right rear cylinder C5 is shortened, and either the right front cylinder C4 or the right rear cylinder C5 is set to the lower limit. When operated to the position, the left front cylinder C2 is shortened and the left rear cylinder C3 is extended until either the left front cylinder C2 or the left rear cylinder C3 reaches the upper limit position.

  If the deviation deviates from the rolling dead zone to the right slope side of the traveling machine body V, the following operation is performed until the deviation falls within the control dead zone. That is, until either the left front cylinder C2 or the left rear cylinder C3 reaches the lower limit position, the left front cylinder C2 is extended and the left rear cylinder C3 is shortened, and either the left front cylinder C2 or the left rear cylinder C3 is set to the lower limit. When operated to the position, the right front cylinder C4 is shortened and the right rear cylinder C5 is extended until either the right front cylinder C4 or the right rear cylinder C5 reaches the upper limit position.

  Further, the combine includes a ground height detecting device A as a plurality of ground height detecting means for detecting the ground height of the cutting unit 2 and a target ground height setting means for setting the target ground height of the cutting unit 2. As a target ground height setting device 54, and the control device H determines the ground height of the cutting unit 2 based on the information on the ground height detection device A and the target ground height setting device 54. It is comprised so that the cutting raising / lowering control which controls the raising / lowering cylinder C1 may be performed.

  In addition, the control device H automatically controls the raising / lowering operation of the cutting unit 2 in order to avoid the thrust to the ground and the automatic raising / lowering mode in which the raising and lowering are automatically executed as the control mode for executing the cutting raising / lowering control. Although it is performed, the lowering operation can be switched to an automatic ascending mode performed by a manual command.

Next, the configuration of the ground height detection apparatus A will be described.
As shown in FIG. 2, among the plurality of weeding frames 16 of the cutting unit 2, in two weeding frames 16 positioned on the inner side in the width direction from the left and right end portions in the horizontal direction of the body, the weeding tools Ground height detection devices A for detecting the ground height of the cutting unit 2 are provided on the rear side of the machine body 17. That is, a plurality of (specifically, two) ground height detection devices A are arranged at different positions in the cutting width direction of the cutting unit 2, and each ground height detection device A The ground height of the cutting unit 2 is detected on the basis of a lift position that changes in accordance with the contact of the grounding body supported by the cutting unit 2 so as to be able to move up and down in a biased state.

Hereinafter, a specific configuration of the ground height detection apparatus A will be described.
As shown in FIG. 8, the front part of the weeding frame 16 where the ground height detection device A is provided is bent in a mountain shape, and the front end part of the weeding tool frame 16 is pressed into a vertical plate shape. A vertical mounting plate 17a connected and fixed to the back portion of the weeding tool 17 is fastened and fixed from the side by two bolts 18 to the formed support portion 16a, and the ground height detecting device A is attached to the mounting plate 17a. Is supported. The bolt insertion hole 17b formed in the mounting plate 17a is formed as a long hole inclined backward, and the weeding tool 17 and the ground height detection device A are integrally positioned in the obliquely vertical direction within the long hole range. It can be adjusted.

  The ground height detection device A includes a sensor bracket 21 connected to and supported by the mounting plate 17a, a detection case 22 attached to the side surface of the sensor bracket 21, and a lateral front fulcrum X at the front side of the detection case 22. It comprises a grounding body 23 supported at the center so as to be able to swing up and down, an angle sensor 24 using a rotary potentiometer attached to a detection case 22 and the like.

  As shown in FIGS. 9 and 10, the sensor bracket 21 is formed by bending a thick plate material into a J-shape in plan view, and a rolling support shaft 25 protruding from the front end of the sensor bracket 21 is attached to the mounting plate 17a. A boss portion 26 fixed to the rear end portion in the front-rear direction is rotatably inserted from the rear side, and the entire ground height detection device A is supported so as to be rotatable around a rolling fulcrum R that extends in the front-rear direction. The rolling support shaft 25 is prevented from coming off by engaging the tip of a set screw 19 screwed into the boss portion 26 from the outer periphery with an annular groove 20 formed on the outer periphery of the rolling support shaft 26.

  As shown in FIGS. 11 and 12, a torsion spring 27 is externally attached to the boss portion 26, and both free end portions 27a and 27b have a predetermined initial elastic force from the left and right at the rear end portion of the mounting plate 17a. In addition to pinching, a pin 28 projecting forward from the upper front end of the sensor bracket 21 is pinched by both free ends 27 a and 27 b of the torsion spring 27.

  In this way, the free end portions 27a and 27b of the torsion spring 27 held in a fixed posture via the mounting plate 17a sandwich the pin 28 from the left and right, so that the sensor bracket 21 that can rotate around the rolling fulcrum R is obtained. The grounding body 23 is elastically held in a predetermined neutral position located immediately below. When a large turning force more than the setting around the rolling fulcrum R acts on the sensor bracket 21 from the outside, the sensor bracket 21 is rotated and moved while the one of the free end portions 27a and 27b of the torsion spring 27 is pushed and deformed by the pin 28. When the external force disappears, the sensor bracket 21 is returned to its original neutral posture by the elastic restoring force of the torsion spring 27 acting on the pin 28. Therefore, even if the traveling machine body turns while the grounding body 23 is grounded and a large external force acts on the grounding body 23 sideways, the ground height detection device A as a whole rotates in a rolling manner, and thus the ground height detection device. A damage is avoided in advance.

  As shown in FIG. 10, guide ribs 29 protrude rearwardly on both left and right sides of the mounting plate 17 a, such as weeds and straw scraps that approach the rotation fulcrum of the sensor bracket 21 as the vehicle travels forward. Contaminants are guided laterally by the guide rib 29 to escape backward.

  As shown in FIG. 9, a fixed support shaft 31 protrudes laterally from the rear portion of the sensor bracket 21, and the detection case 22 is supported by the fixed support shaft 31 so as to be rotatable around the rear fulcrum Y. . Further, a fulcrum shaft 32 that forms a front fulcrum X is rotatably supported at the front of the detection case 22, and the front end of the grounding body 23 is connected to the projecting end of the fulcrum shaft 32 at a predetermined time. It is connected and fixed so that it can rotate integrally in a moving posture.

  The grounding body 23 is formed of a strip-like plate material that is long in the front and rear, and a mounting base 23a is integrally formed on one side of the front end, and the mounting base 23a can be attached to and detached from the protruding end of the fulcrum shaft 32. It is fixed with bolts.

  The angle sensor 24 is screwed to the side surface of the detection case 22, and a partial small diameter gear 33 fixed to the inner end of the sensor shaft 24a and a partial large diameter gear 34 fixed to the fulcrum shaft 32 are engaged with each other. Yes. Accordingly, when the fulcrum shaft 32 is rotated by the vertical swing of the grounding body 23, it is amplified and transmitted to the sensor shaft 24a, so that the small vertical movement of the grounding body 23 is detected as a large angle change by the angle sensor 24. It has become.

  A torsion spring 35 is externally attached to the fulcrum shaft 32, and one end of the torsion spring 35 is locked and fixed in the case, and the other end of the torsion spring 35 is inserted into the partial large-diameter gear 34 and connected thereto. The fulcrum shaft 32 is pivotally biased so that the grounding body 23 is urged to swing downward by the torsional elastic force of 35, and the grounding body 23 swings up and down smoothly following the change in the height of the ground. It is like that.

  When the grounding body 23 swings greatly downward, the stepped portion 23b formed at the front end corner of the grounding body 23 comes into contact with the protrusion 22a projecting from the outer surface of the detection case 22 from the front, thereby The lower limit of swinging of the body 23 is regulated.

  As shown in FIGS. 9 and 11, a return spring 37 made of a torsion spring is externally fitted to a fulcrum boss portion 36 projecting from the inside of the detection case 22, and at the case inner end of the fixed support shaft 31. A flange 38 is mounted so as to be integrally rotatable. One end of the return spring 37 is locked and fixed in the case, and the other end of the return spring 37 is inserted into and connected to the flange 38. The detection case 22 is urged to rotate about the rear fulcrum Y in the forward downward direction by the force.

  The detection case 22 is configured by bolting the left and right divided cases, and the bolt head 40 above the front part is received and supported by the upper end edge of the sensor bracket 21 so that the detection case 22 rotates downward. The limit is regulated. When the bolt head 40 is abutted and supported on the upper end edge of the sensor bracket 21 and the detection case 22 is in the forward downward rotation limit, the rotation of the detection case 22 from the front fulcrum X which is the swing fulcrum of the grounding body 23 is performed. The rear fulcrum Y, which is a fulcrum, is set to be slightly higher.

  The ground-height detecting device A can be fixed in a retracted posture that is swung up and rotated by the following storage lock means when not in use or when traveling on the road. That is, as shown in FIG. 13 and FIG. 14, a rib-like protruding piece 22 b is provided at the lower part of the detection case 22, and the detection case 22 is manually formed to be moved upwardly and then formed on the protruding piece 22 b. By inserting the headed connecting pin 43 through the pin hole 41 and the pin hole 42 formed in the sensor bracket 21 and preventing it from coming off with the stop pin 44, the ground height detecting device A is greatly lifted forward and rotated. It is configured so that it can be stored and locked in the storage position. When the ground height detection device A is in the retracted position, the lower end of the grounding body 23 urged and rotated to the limit of rotation is located above the lower end of the mounting plate 17a in the weeding tool 17, and the weeding tool Even if the cutting unit 3 is lowered until the ground 17 is grounded, the grounding body 23 in the retracted position does not touch the ground and deform.

  In a state where the cutting unit 23 is at the cutting height and moving forward, the rear end portion of the grounding body 23 is attached below and below the rear fulcrum Y of the detection case 22 as shown in FIG. The grounding reaction force acting on the rear end portion acts to rotate the detection case 22 in the forward and downward direction. The detection case 22 has its own weight, the tension of the return spring 39, and the grounding body 23. The grounding reaction force and the drag resistance associated with the grounding sliding of the grounding body 23 are stably held at the detection position that is a predetermined forward-lowering rotation limit, and in this state, the height of the ground G can be changed. Thus, the grounding body 23 swings up and down around the front fulcrum X, and the swing angle is detected by the angle sensor 24.

  When the grounding body 23 is caught by an obstacle projecting to the ground when the traveling machine body V moves backward, an external force acting forward is applied to the grounding body 23, and the detection case 22 rotates forward about the rear fulcrum Y. Thus, the ground height detection device A swings up to the retracted position in the space below the bent support rod 16 that is retracted upward. Then, when switching to forward movement, the detection case 22 at the retracted position turns downward and automatically returns to the original detection position so that the cutting height can be detected. Note that the return spring 37 is provided so as to be surely returned to the front-down position even when the rotational resistance at the rear fulcrum Y increases, and is a torsion spring for biasing the grounding body 23 to ground. What is weaker than 35 is used.

  Then, the boarding operation unit 5 has a target ground height setting unit 54 as a target ground height setting means for setting the target ground height of the cutting unit 2, an automatic entering state and control for executing the cutting lift control. Automatic up / down on / off switch 55 that can be switched to an automatic cut state that is not executed, and a cutting / lifting mode changeover switch 56 that can switch the control mode in the cutting / lifting control to either the automatic raising / lowering mode or the automatic raising mode. A lift lever 57 for raising and lowering the cutting unit 2 based on this, a lift switch SW1 that is turned on when the lift lever 57 is moved from the neutral position to the raised position, and a lower switch that is turned on when the lift lever 34 is moved from the neutral position to the lowered position SW2 is provided, and as shown in FIG. 5, the detection information of each of the switches 55, 56, SW1, SW2, and the target ground Is information setter 54 is inputted to the control device H, from the control unit H drive signal is output to the solenoid valve 58 for the hydraulic control for hydraulic control of the lifting cylinder C1.

  The target ground height setting unit 54 is configured to rotate the knob 54a to switch the target ground height to a plurality of levels (for example, 9 levels), and when operated to the central portion (level 5) of the operation area, A standard value which is a standard cutting height (for example, 30 mm) is set, and when turning to the right (levels 6 to 9), a cutting height higher than the standard value is set and leftward from the center. When turned to (levels 1 to 4), a cutting height lower than the standard value is set.

  The height of the cutting unit 2 with respect to the machine body is set at a pivotal support part supported by the traveling machine body V of the cutting unit 2, that is, at a position where the cutting unit 2 is supported by the traveling machine body V so as to be rotatable around a lateral axis P <b> 1. A potentiometer type machine height sensor 59 is provided as a machine height detection means to detect, and detection information of the machine height sensor 59 is also input to the control device H. Further, the traveling drive system for the crawler traveling devices 1L and 1R is provided with a rotational speed sensor 60 for detecting the rotational speed of the traveling output shaft, and the control device H is configured to detect the rotational speed sensor 60 and the time lapse information. From this, the travel distance of the traveling machine body V is obtained by calculation.

  When the raising / lowering lever 57 is operated to the raising position and the raising switch SW1 is turned on and the raising command is given, the control device H operates the raising / lowering cylinder C1 to raise the mowing unit 2 while the raising command is given. Let Further, when the elevating lever 57 is operated to the lowered position and the lowering switch SW2 is turned on to command the lowering, the elevating cylinder C1 is operated to lower the mowing unit 2 while the lowering is commanded. Such an operation based on the manual up / down instruction is executed with priority over the below-described cutting up / down control. When the lifting / lowering operation by the command of the lifting / lowering lever 57 is performed, if the command of the lifting / lowering lever 57 is stopped, the cutting unit 2 is lifted / lowered at the lifting / lowering position when the command is stopped and held at that position. become.

  Further, the control device H sets the automatic lifting / lowering on / off switch 55 to ON, and an operation according to a manual lifting / lowering command is performed, so that the height of the machine body of the cutting unit 2 is set to an intermediate level within the range in which lifting / lowering is possible. When each condition of falling below the set height is satisfied, the cutting lift control based on the detection information of each ground height detection device A is executed. Even in the state in which the cutting up / down control is executed, if there is a manual up / down command from the up / down lever 57, the manual up / down operation is executed with priority.

  Then, the control device H indicates that the multiple detection state is set when the target ground height set by the target ground height setting unit 54 is equal to or less than the set height for control state switching as the cutting lift control. When the cutting unit 2 is raised as a condition and the target ground height set by the target ground height setter 54 is higher than the set height for control state switching, any of the two ground height detection devices A The elevating cylinder C1 is controlled so as to raise the mowing unit 2 on the condition that a small number detection state is detected in which a value lower than the target ground height is detected.

  Specifically, the control device H is switched to the attitude control execution mode when the target ground height set by the target ground height setting unit 54 is equal to or less than the set height for control state switching. When the horizontal inclination angle which is a value when the traveling vehicle body V is in the horizontal posture or a value close to it is set as the target inclination angle by the left / right inclination angle setting device 50, the multiple detection state is set. When the cutting height is raised and the target ground height set by the ground height setting unit 54 exceeds the set height for control state switching, the target ground height is the control state. Even if it is below the set height for switching, when it is switched to the posture control stop mode, even if it is switched to the posture control execution mode, the horizontal tilt angle is set as the target tilt angle in the left / right tilt angle setting device 50 Inclination angle other than is set If being is configured to increase the harvesting section 2 on condition that the a small detection state.

  And the control apparatus H raises the cutting part 2 on condition that it will be in the said multiple detection state when the above conditions are satisfied, but the detected value of the aircraft height sensor 59 at that time is used. The lifting cylinder C1 is controlled so as to be stored as the height of the machine body at the time of ascent and to raise the reaping part 2.

  Further, when all of the two ground height detection devices A detect a value higher than the target ground height, the control device H detects that the detected value of the height sensor for the aircraft is lower than the height of the aircraft for the rise and 2 If the descending prohibition condition in which all the detected values of the individual ground height detection devices A are the maximum ground height in the detectable range is not satisfied, the cutting unit 2 is lowered, and the descending prohibition condition is satisfied. If it exists, it is comprised so that the raising / lowering cylinder C1 may be controlled with the form which does not lower the cutting part 2. FIG.

  And the control apparatus H raises the preset target amount, when raising the cutting part 2 based on the information of the ground height detection apparatus A and the target ground height setting device 54, and the ground height detection apparatus When lowering the cutting unit 2 based on the information of A and the target ground height setting unit 54, the cutting unit 2 is lowered until the detection value of either of the two ground height detection devices A reaches the target ground height. It is comprised so that the raising / lowering cylinder C1 may be controlled.

  Hereinafter, a specific control operation of the cutting lift control in the state where the automatic lift mode in the control device H is set will be described based on the flowcharts shown in FIGS. As described above, the condition for executing the cutting up / down control is that the automatic up / down on / off switch 55 is turned on, and the height of the machine body of the cutting unit 2 is set to an intermediate level within the up / down range. Is below the set height. Further, this process is repeatedly executed every predetermined unit time (for example, 10 ms).

  In this cutting lift control, first, if the lift operation is not executed and the automatic lift mode is set, and if the lift operation is not executed (steps 1 and 2), the lift operation is performed. It is determined whether or not the determination timing is reached (step 3). Specifically, each time the traveling distance of the traveling machine body V calculated by calculation based on the rotational speed information of the rotational speed sensor 60 reaches the set distance (30 cm), it is determined that it is the lowering determination timing. ing.

  If it is not the lowering determination timing, the target ground height set by the target ground height setting unit 54 is higher than the control state switching set height or is equal to or lower than the control state switching set height. Specifically, it is determined whether the target ground height set by the target ground height setting unit 54 is set to a level higher than level 2 among levels 1 to 9 or lower than level 2. Discriminate (step 4). Therefore, the target ground height corresponding to level 2 corresponds to the control state switching set height.

  When the target ground height set by the target ground height setter 54 is set to level 2 or lower, the horizontal automatic switch 51 is instructed to enter horizontal control at that time, and the horizontal switch When the value corresponding to the horizontal state is set as the target inclination angle by pressing 50a, the detection values of the two ground height detection devices A are set by the target ground height setting unit 54, respectively. If it is lower than the target ground height, specifically, if the dead zone for raising / lowering control set for the target ground height is deviated to the lower side, the detected value of the aircraft height sensor 59 at that time Is written and stored in a memory (not shown) as the ground height at the time of ascent, and then ascent processing for raising the mowing unit 2 is executed (steps 5, 6, 7, 8, 9).

  Further, when the target ground height is set higher than level 2, even if the target ground height is set to level 2 or less, the horizontal automatic switch 51 is instructed to turn off horizontal control. And when the target ground height is set at level 2 or less and the horizontal automatic switch 51 is instructed to enter the horizontal control, the left tilt switch 50b or the right tilt switch 50c is operated to operate the target tilt. When a value different from the value corresponding to the horizontal state is set as the corner, that is, when any one of the first to third steps and the fifth to seventh steps other than the fourth step is set, two ground heights The detection value of any one of the height detection devices A deviates from the lower side of the dead zone for the elevation control set with respect to the target ground height set by the target ground height setter 54. And its To After written and stored in a memory (not shown) as rising at ground height Kino pair detection value of the aircraft height sensor 59, it executes the rise process of increasing the harvesting section 2 (step 10,8,9).

As shown in FIG. 16, the ascending process is performed based on the deviation between the detected value of the ground height detection device A and the target ground height with respect to the target ground height set by the target ground height setter 54. In order to avoid rushing in, the target amount for ascent and the ascent speed required to raise the mowing unit 2 are calculated (step 21). When the detection values of the two ground height detection devices A are lower than the target ground height set by the target ground height setting unit 54, the detection of the two ground height detection devices A is performed. Using the detected value of the lower value, the ascent target amount and the ascending speed are obtained.
When the target amount for ascent and the ascent speed are obtained, the detected value of the higher one of the two ground height detecting devices A may be used, and the two ground height detecting devices may be used. You may make it use the average value of each A detected value.

  Then, the ascending operation is executed until the cutting unit 2 detects that the target amount for ascent has been increased based on the detection value of the aircraft height sensor 59, and when the target amount for ascent is increased, the ascent operation is stopped ( Steps 22, 23, 24). When the ascending operation is being executed, the ascending target amount is increased regardless of the detection state of the ground height detecting device A (step 1). Similarly, when the automatic elevating mode is set and when the descent operation is being performed, in other words, until the detected value of either of the two ground height detecting devices A reaches the target ground height. Then, the operation is executed until the detection value of any one of the ground height detection devices A falls within the control dead zone.

  If it is determined in step 3 that the descent determination timing is reached, then the two ground height detection devices A are values higher than the target ground height set by the target ground height setter 54, respectively. Is detected, the detection value of the aircraft height sensor 59 is lower than the height of the aircraft against the above-mentioned height, and the detection values of the two ground height detection devices A are the maximum ground height in the detectable range. If the descent prohibition condition is not satisfied, a descent process for lowering the cutting unit 2 is executed (steps 11, 12, and 13). On the other hand, when the lowering prohibition condition is satisfied, the cutting unit 2 is not lowered. The determination in step 12 corresponds to the determination as to whether or not the lowering prohibition condition is satisfied.

  Incidentally, the maximum ground height of the detectable range is that the ground height detection device A is spaced upward from the ground and the grounding body 23 is not grounded, that is, by the torsional elastic force of the torsion spring 35. The stepped portion 23b formed at the front end corner of the grounding body 23 comes into contact with the projecting portion 22a projecting from the outer surface of the detection case 22 from the front and swings greatly downward. This corresponds to a state in which the downward swing limit is regulated (a state in which the grounding body 23 in FIG. 8 is indicated by a virtual line).

  As shown in FIG. 17, the descending process is performed based on the deviation between the detected value of the ground height detection device A and the target ground height with respect to the target ground height set by the target ground height setter 54. A descending speed required to descend the unit 2 is obtained by calculation (step 31). At that time, the descent speed is obtained using the detection value located on the lower side of the detection values of the two ground height detection devices A. Then, the lowering operation is executed, and when the detected value of any of the ground height detection devices A enters the dead zone, the lowering operation is stopped (steps 32, 33, 34).

[Second Embodiment]
Next, a second embodiment of a cutting / lifting control apparatus for a harvesting and harvesting machine according to the present invention will be described with reference to the drawings.
In this embodiment, when the control means enters the multiple detection state in which all of the two ground height detection devices A detect a value higher than the target ground height as the cutting lift control, and the two ground levels Any one of the height detection devices detects a value lower than the target ground height, and the detected value of one or more of the other plurality of ground height detection means is When the lifting and retreating condition that is the maximum ground height of the detectable range is satisfied, the lifting operation unit is controlled in a form in which the mowing unit is lifted, and all the two ground height detecting devices are When the value higher than the target ground height is detected, the elevating cylinder is controlled to lower the mowing unit.

Hereinafter, a specific control operation of the mowing raising / lowering control in a state where the automatic raising / lowering mode of the control device H is set will be described. Since it is the same as the form, description of the same points is omitted, and different points will be described.
That is, a flowchart corresponding to FIG. 15 of the first embodiment is shown in FIG. 18, and as shown in this figure, the target ground height set by the target ground height setter 54 is level 2 or less. When the horizontal automatic switch 51 is instructed to enter the horizontal control and the horizontal switch 50a is pushed and the target inclination angle is set to a value corresponding to the horizontal state, the two ground heights are detected. When the detection value of the device A is lower than the target ground height set by the target ground height setting unit 54, specifically, the dead zone for the lift control set for the target ground height is low. If it is off, the ascending process for raising the mowing unit 2 is executed (steps 4, 5, 6, 7, 9).

  Further, when the target ground height is set higher than level 2, even if the target ground height is set to level 2 or less, the horizontal automatic switch 51 is instructed to turn off horizontal control. And when the target ground height is set at level 2 or less and the horizontal automatic switch 51 is instructed to enter the horizontal control, the left tilt switch 50b or the right tilt switch 50c is operated to operate the target tilt. When a value different from the value corresponding to the horizontal state is set as the corner, that is, when any one of the first to third steps and the fifth to seventh steps other than the fourth step is set, two ground heights The detection value of any one of the height detection devices A deviates from the lower side of the dead zone for the elevation control set with respect to the target ground height set by the target ground height setter 54. And reaping 2 executes an increase process for increasing the (step 10,9).

  In this embodiment, each of the detection values of the two ground height detection devices A is not in a state where the dead zone for the elevation control set with respect to the target ground height is off the lower side. The detection value of any one of the two ground height detection devices A is outside the dead zone for the elevation control set with respect to the target ground height, and When the detected value of the other ground height detection device A is the maximum ground height within the detectable range, the ascent process for raising the mowing unit 2 is also executed (steps 11 and 9). The determination in step 11 corresponds to the determination as to whether or not the ascending / retreating condition is satisfied.

  Incidentally, the maximum ground height of the detectable range is that the ground height detection device A is spaced upward from the ground and the grounding body 23 is not grounded, that is, by the torsional elastic force of the torsion spring 35. The stepped portion 23b formed at the front end corner of the grounding body 23 comes into contact with the projecting portion 22a projecting from the outer surface of the detection case 22 from the front and swings greatly downward. This corresponds to a state in which the downward swing limit is regulated (a state in which the grounding body 23 in FIG. 8 is indicated by a virtual line).

[Third Embodiment]
This embodiment is the same as the configuration of the first embodiment except that only one ground height detection means is provided and the configuration of the cutting lift control by the control device is different. Therefore, only the different configuration will be described. The description of the same configuration is omitted.

That is, in this embodiment, although not shown, only one ground height control device A of the two ground height control devices A in the first embodiment is provided, and that one ground height control device is provided. Based on the detection information of A, the cutting lift control is performed.
Then, when the ground height detection device A detects a value lower than the target ground height as the cutting lift control, the control device H sets the detected value of the body height sensor 59 at that time to the height when the ground height When the lifting / lowering cylinder C1 is controlled so as to be stored and the mowing unit 2 is raised, and the ground height detection device A detects a value higher than the target ground height, the detected value of the body height sensor 59 is detected. If the descending prohibition condition that the detected value of the ground height detection device A is lower than the height at the time of ascent and the detected value of the ground height detection device A is the maximum ground height within the detectable range is not satisfied, the cutting unit 2 is lowered, When the lowering prohibition condition is satisfied, the lifting cylinder C1 is controlled in such a manner that the cutting unit 2 is not lowered.

Hereinafter, a specific control operation of the cutting lift control in the state where the automatic lift mode of the control device H is set will be described.
As shown in FIG. 20, if the ascending operation is not executed and the descending operation is not executed (steps 1 and 2), it is determined whether or not it is the descending determination timing. (Step 3) If it is not the lowering determination timing, the detection value of the ground height detection device A is used for the elevation control set with respect to the target ground height set by the target ground height setter 54. If the dead zone is not on the lower side, the detected value of the aircraft height sensor 59 at that time is written and stored in a memory (not shown) as the height at the time of rising, and then the ascending process for raising the cutting unit 2 is executed (Steps 4, 5, 6).

  If it is determined in step 3 that the descent determination timing is reached, then the detection value of the ground height detection device A is set to the target ground height set by the target ground height setter 54. On the other hand, when the dead zone for raising / lowering control set to the upper side is deviated to the higher side, the detection value of the aircraft height sensor 59 is lower than the elevation height against the aircraft height and the detection value of the ground height detection device A is If the descent prohibition condition that is the maximum ground height of the detectable range is not satisfied, the descent process for lowering the cutting unit 2 is executed (steps 7, 8, and 9). On the other hand, when the lowering prohibition condition is satisfied, the cutting unit 2 is not lowered. The determination in step 8 corresponds to the determination as to whether or not the lowering prohibition condition is satisfied.

[Another embodiment]
Hereinafter, other embodiments are listed.

(1) In the first embodiment, two ground height detection means are provided. However, three or more ground height detection means may be provided with different positions in the cutting width direction. In that case, any two or more of the three ground height detection means, or when all the ground height detection means detect a value lower than the target ground height, a large number of detection states are set. It may be configured. Further, when the two or more ground height detection means among the three or more ground height detection means detect a value higher than the target ground height, the reaping part 2 is lowered. Good.

(3) In each of the above embodiments, when the mowing unit is raised based on the information on the ground height detection means and the target ground height setting means, the preset target amount is raised. It is good also as a structure which performs a raise operation until setting time passes after starting.

(4) In each of the above embodiments, when the mowing unit is lowered based on the information on the ground height detection means and the target ground height setting means, the detection value of any of the plurality of ground height detection means However, instead of such a configuration, a preset target amount may be lowered instead of the above-described configuration. .

(5) In each of the above embodiments, the ground height detecting means is configured to be a potentiometer type, but it may be configured to include a switch that is turned on and off according to the vertical displacement amount of the grounding body, Instead of the grounding type detection sensor, a non-contact type ground height sensor such as an ultrasonic sensor may be used.

(6) In the above embodiments, the combine is exemplified as the harvesting harvester. However, the present invention can be applied not only to the combine but also to a vegetable or rush harvester.

Combine side view Plan view showing the support structure of the cutting part Side view of crawler traveling device Side view of crawler traveling device Control block diagram Top view of switch unit The figure which shows the setting state of the target value of horizontal control Side view of cutting height detection device Cutaway plan view of cutting height detector Cutaway plan view of cutting height detector Longitudinal side view of cutting height detector Longitudinal front view showing the rolling structure of the cutting height detection device Side view showing the cutting height detection device swinging up and storing Front view showing storage lock structure of cutting height detection device Flow chart of control operation Flow chart of control operation Flow chart of control operation Flow chart of control operation Flow chart of control operation Flow chart of control operation

Explanation of symbols

1R, 1L Traveling device 54 Target ground height setting means 59 Aircraft body height detection means A Ground height detection means C1 Lifting operation means H Control means V Traveling machine body

Claims (5)

Elevating operation means for elevating the mowing part with respect to the traveling machine body, ground height detecting means for detecting the ground height of the mowing part, and target ground height setting means for setting the target ground height of the mowing part And cutting / lifting control for controlling the lifting / lowering operation means so that the ground height of the cutting unit becomes the target ground height based on the information on the ground height detecting means and the target ground height setting means. A cutting and lifting control device for a harvesting and harvesting machine, comprising:
Aircraft body height detection means for detecting the height of the cutting part relative to the traveling machine body is provided,
The control means is
As the cutting lift control, when the ground height detection means detects a value lower than the target ground height, the detection value of the aircraft height detection means at that time is stored as the rise height versus aircraft height, and Controlling the elevating operation means to raise the mowing part; and
When the ground height detection means detects a value higher than the target ground height, the detection value of the airframe height detection means is lower than the rising height of the airframe and the detection value of the ground height detection means is The lifting operation means is configured to lower the mowing part if the lowering prohibition condition that is the maximum ground height of the detectable range is not satisfied, and not to lower the mowing part if the lowering prohibition condition is satisfied. A harvesting and lifting control device for a harvesting and harvesting machine configured to control the harvesting. Elevating operation means for elevating the mowing part with respect to the traveling machine body, ground height detecting means for detecting the ground height of the mowing part, and target ground height setting means for setting the target ground height of the mowing part And cutting / lifting control for controlling the lifting / lowering operation means so that the ground height of the cutting unit becomes the target ground height based on the information on the ground height detecting means and the target ground height setting means. A cutting and lifting control device for a harvesting and harvesting machine, comprising:
Aircraft body height detection means for detecting the height of the cutting part relative to the traveling machine body is provided,
A plurality of the ground height detection means are provided with different positions in the cutting width direction in the cutting unit,
The control means is
As the cutting and raising / lowering control, a large number of two or more of the plurality of ground height detection means or all of the ground height detection means detect a value lower than the target ground height. When it is in the detection state, it stores the detected value of the aircraft height detection means at that time as the rise time aircraft height and controls the elevating operation means to raise the mowing unit, and
When all of the plurality of ground height detection means detect a value higher than the target ground height, the detection value of the aircraft height detection means is lower than the rising height against the aircraft height and the ground height detection means. The cutting part is lowered unless the lowering prohibition condition in which all the detected values of the above are the maximum ground height of the detectable range is not satisfied, and the cutting part is not lowered when the lowering prohibition condition is satisfied A cutting and lifting control device for a harvesting and harvesting machine configured to control the lifting and lowering operation means in a form. Elevating operation means for elevating the mowing part with respect to the traveling machine body, ground height detecting means for detecting the ground height of the mowing part, and target ground height setting means for setting the target ground height of the mowing part And cutting / lifting control for controlling the lifting / lowering operation means so that the ground height of the cutting unit becomes the target ground height based on the information on the ground height detecting means and the target ground height setting means. A cutting and lifting control device for a harvesting and harvesting machine, comprising:
A plurality of the ground height detection means are provided with different positions in the cutting width direction in the cutting unit,
The control means is
As the cutting and raising / lowering control, a large number of two or more of the plurality of ground height detection means or all of the ground height detection means detect a value lower than the target ground height. When in a detection state, and any one of the plurality of ground height detecting means detects a value lower than the target ground height and the other ground height detecting means When the lifting / retreating condition in which the detection value of one or more of the detection points is the maximum ground height of the detectable range is satisfied, the lifting operation unit is controlled in a form to raise the mowing unit, and ,
A cutting / lifting control device for a harvesting and harvesting machine configured to lower the harvesting unit when all of the plurality of ground height detecting means detect a value higher than the target ground height. The control means is
As the cutting up / down control, when the target ground height set by the target ground height setting means is equal to or lower than the control state switching set height, the cutting unit is set on condition that the multiple detection state is set. And when the target ground height set by the target ground height setting means is higher than the set height for control state switching, one of the plurality of ground height detection means is the target ground height. The harvester of the harvesting and harvesting machine according to claim 2 or 3, wherein the lifting and lowering operation means is controlled so as to raise the harvesting part on condition that a small number detection state in which a value lower than the height is detected. Lift control device. The control means is
As the mowing raising / lowering control, when raising the mowing unit based on the information on the ground height detecting means and the target ground height setting means, a preset target amount is raised, and the ground height detecting means And when lowering the cutting part based on the information of the target ground height setting means, the cutting part is lowered until the detection value of any of the plurality of ground height detection means reaches the target ground height. As described above, the cutting / lifting control device for a harvesting / harvesting machine according to any one of claims 1 to 4, which is configured to control the lifting / lowering operation means.

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