JP2020137424A - Combine harvester - Google Patents

Abstract

To provide a combine harvester 1 for eliminating artificial reaping height adjustment operation required when switching from standard reaping to lodging reaping, and inversely from lodging reaping to standard reaping, and while reducing an operation load on an operator with this, capable of preventing reaping residue in performing lodging reaping without making an operation error, in the combine harvester in which a reaping height sensor 69 for detecting a ground height is provided in a reaping part 16 for reaping standing grain culms in a field, and conveying to a threshing part 33, and a control device 63 for moving up and down the reaping part on the basis of a ground height detected by the reaping height sensor to control a reaping height is provided.SOLUTION: A control device 63 for controlling a reaping height by moving up and down a threshing part 16 sets a control target value of a reaping height low, and prevents reaping residue when performing reaping work by increasing a driving speed of the reaping part in order to reap lodged standing grain culms in a field.SELECTED DRAWING: Figure 8

Description

The present invention relates to a combine that controls the cutting height of the cutting section for transporting the raised and cut grain culms to the threshing section.

A combine harvester that harvests grains by cutting rice or wheat raises the culm culm in the field by its cutting part, for example, in the case of a head-feeding combine, by a raising device equipped with a raising claw and by a cutting blade device. At the same time as cutting, the cut grain culms are transported to the threshing section by a grain culm transport device composed of a scraping transport device, a stock root transport device, a tip transport device and the like.

In addition, in the case of a general-purpose combine, the fluffy grain harvester in the field is scraped by a scraping reel equipped with a tine and cut by a cutting blade device, and the cut grain harvester is cut by a horizontal feed auger and a vertical feed feeder. The grain is transported to the threshing section by the harvester transporter, and the grain harvested by the threshing section of the grain harvester of any combine harvester is stored in the grain tank.

Then, the combine is configured to accelerate or decelerate by synchronizing the driving speed of the cutting unit, particularly the raising device or the scraping reel, with the traveling speed (vehicle speed) of the machine body during the cutting work. The purpose of this is to raise the fluffy culms in the field to an appropriate standing posture regardless of the slow speed of the vehicle, or to scrape them properly, and to mow these fluffy culms with a cutting blade device without leaving any residue.

In the head-feeding combine, the drive speed of not only the raising device but also the entire cutting section is configured to accelerate or decelerate in synchronization with the traveling speed of the machine, thereby transporting the culm by the culm transport device. By making the layer thickness substantially constant, it is intended to stabilize the transporting posture of the culm and transport it to the threshing section without causing culm spillage or the like.

Furthermore, in the head-feeding combine, when the culm culm in the field is lying down, the pulling device is driven by increasing the speed to about 1.5 times the normal speed to ensure the raising performance by the pulling device. The grain culm can be raised without omission (see Patent Document 1). In addition, if the fluffy culm that has not fallen down is pulled up by the raising device while the speed is increased, the raising claws may handle the culm and degrain the grains, resulting in grain loss, and the raising device is always accelerated. It does not mean that you can let them do the cutting work.

On the other hand, in the combine, the cutting portion is moved up and down with respect to the machine body to adjust the cutting height of the culm cut by the cutting blade device. This is mainly done by adapting the length (plant height) of the culm length (plant height) of the raised grain culm in the field to the culm length after cutting that can be cut and threshed, avoiding cutting the weeds that grow in the field, or by turning the aircraft at the beginning of cutting. High-cut and low-cut so that the tip of the cutting part does not rush into the rough ground, and also to use the straw as feed and compost, and to lock the fallen fluffy culm to the raising claw without leakage. The purpose is to perform low cutting to raise it.

In addition, when adjusting the cutting height of the cutting part, when manually adjusting the cutting height of the cutting part by operating the lifting operation lever that raises and lowers the cutting part, or when the raising and lowering angle of the cutting part with respect to the machine body is detected. It is known that it is performed by using position control that stops the descent of the cutting part at a predetermined cutting height position by a potentiometer, or automatic cutting height control that automatically adjusts by a sensor that detects the ground height of the cutting part. (See, for example, Patent Documents 2 and 3).

Japanese Patent No. 3853352 Japanese Patent No. 4713522 Japanese Patent No. 5962685

As described above, in the combine described in Patent Document 1, when the culm culm in the field is laid down, the laying switch provided on the main speed change lever of the traveling device is turned on to increase the driving speed of the cutting section. This allows the raising performance of the raising device to be ensured so that the grain can be raised without omission.

Further, in the combine described in Patent Documents 2 and 3, a plurality of grounding type ground height detecting means deployed at different locations in the cutting width direction in the cutting portion and a target for setting the target ground height of the cutting portion. Based on the information of the ground height setting means, the ground height detecting means, and the target ground height setting means, the control means executes the cutting elevating control, thereby avoiding the cutting portion from plunging into the ground. Also, make it possible to cut the grain at a certain height.

Further, in the combine described in Patent Document 2, in the cutting work state where it is assumed that the stem culm is lying down, the content of the cutting lifting control is changed to minimize the rise of the cutting portion, and the stem To reduce the risk of pulling out the culm, etc., so that the cutting work can be performed well. Further, in the combine described in Patent Document 3, the high cutting mode and the low cutting mode are switched based on the control target cutting height set by the control target cutting height setting means, and the control content corresponding to the mode is switched. To stabilize the cutting height.

By the way, when harvesting and threshing a culm that has fallen down due to exposure to wind and rain, the culm that has increased in weight, which is difficult to dry due to lying down, is raised and threshed. The load of the combine increases as compared with the case of cutting and threshing dry fluffy culms. Therefore, in order to reduce this load, the traveling speed is reduced to perform the cutting work, but when the traveling speed is reduced in this way, the raising device is also driven at a low speed, and the culm with the raising claws is used. Raising performance is reduced.

In addition, when raising a large fallen culm for cutting and threshing, it is necessary to reliably catch and raise the fallen culm near the root of the culm with the rising claws while rotating at the start end of the raising device. In that case, lower the cutting part as much as possible and bring the raising claw closer to the root of the fallen culm. In addition, when the culm culm lying in front of the cursive script provided at the tip of the cutting section was allowed to ride on the grass body and then taken over by the raising device, the cutting section was lowered and the tip of the cursive script was laid down. It is necessary to face the bottom of the fluffy culm and lift it.

Therefore, in any case, when cutting the fallen grain culm, it is advantageous to lower the cutting part to perform the cutting work, and at that time, the cutting height of the cutting part is lowered. In addition, the standing hair culm that was not raised by the weed body or the raising device is then trampled by the crawler of the weed body or the traveling device and is covered with mud and hardened, or it is caught by the lower part of the cutting blade device and pulled out together with the stock. It will be dragged as it is, and it will be difficult to collect it.

Therefore, to summarize the artificial operation items when performing the lodging cutting described above, first, the main shift lever of the running is operated to reduce the running speed and reduce the load of cutting and threshing. Further, in order to prevent a decrease in the raising performance due to the deceleration of the traveling speed, the driving speed of the cutting portion is increased by turning on the lodging cutting switch provided on the main speed change lever to ensure the raising performance. Further, in order to lower the cutting height of the cutting section, the raising / lowering operation lever is lowered, or the target ground height setting means is operated to set the target ground height of the cutting section low and start the cutting work.

If partial lodging is observed in a part of the field and the culm culm is not completely lodging, the above-mentioned lodging cutting operation and standard cutting operation are alternately repeated. In addition, the combine can improve the cutting performance in lodging and wet fields by adjusting the up and down of the weed body, adjusting the action height of the raising claw, shifting the raising device, adjusting the height of the cutting blade and adjusting the grain culm transporter. It does not have enough functions to secure it, but it has it.

However, it takes a lot of labor to adjust each of these parts frequently, and in the end, considering work efficiency and grain loss, it is selected to alternately repeat the above-mentioned lodging cutting operation and standard cutting operation. Will be done. Then, in that case, since the operator has to perform such a lodging operation in addition to the steering operation of running the aircraft following the culm, the operation burden is temporarily overlapped with the artificial operation. There is a problem that it becomes heavy and an operation error occurs.

Therefore, in view of the above problems, the present invention eliminates the artificial cutting height adjustment operation required especially when switching from standard cutting to lodging and conversely from lodging to standard cutting, thereby increasing the operational burden on the operator. It is an object of the present invention to provide a combine that can prevent leftovers when performing lodging cutting without operating errors while reducing the number of crops.

In order to solve the above-mentioned problems, the combine of the present invention first provides a cutting height sensor for detecting the height to the ground in the cutting part for cutting the fluffy grain in the field and transporting it toward the threshing part. In a combine harvester that provides a control device that controls the cutting height by raising and lowering the cutting section based on the height to the ground detected by the height sensor, this control device cuts to mow the fallen fluffy grain in the field. When the cutting work is performed by increasing the driving speed of the unit, the cutting height is controlled by setting a low cutting height control target value so as to prevent uncut cutting.

Secondly, in the present invention, a plurality of the cutting height sensors are provided at different locations in the left-right direction of the cutting portion, and the control device has the lowest ground height among the ground heights detected by these cutting height sensors. It is characterized in that the cutting height is controlled by raising and lowering the cutting portion based on the above.

Further, in the third aspect of the present invention, the control device performs ascending / descending automatic control for controlling the cutting height by raising / lowering the cutting portion based on the control target values of the ground height and the cutting height detected by the cutting height sensor. In preparation for this, when the automatic elevating control is executed, when the driving speed of the cutting section is increased in order to cut the fallen fluffy culm in the field, the cutting height control target is used. It is characterized in that the cutting height is controlled so as to prevent uncut cutting by setting a low value.

Further, the fourth aspect of the present invention is that the control device includes automatic ascending control for raising the cutting portion when the ground height detected by the cutting height sensor falls below the control start height, and executes this automatic ascending control. When cutting by increasing the driving speed of the cutting section in order to cut the fallen fluffy culm in the field, set the control target value of the cutting height low and leave the cutting uncut. It is characterized in that the cutting height is controlled so as to prevent.

Fifth, the present invention is provided with a position sensor for detecting the amount of lift of the cutting section with respect to the traveling machine and a cutting height setting device that can be artificially set, and the control device uses the lifting operation tool to control the cutting section. When the ascending / descending amount detected by the position sensor when descending reaches the lower limit value set by the cutting height setter, the descending of the cutting part is stopped, or when the ascending / descending operation tool is lowered together with the release operation tool. Is equipped with a cutting height position control that lowers the cutting section beyond the lower limit, and when this cutting height position control is executed, the driving speed of the cutting section to mow the fallen fluffy culm in the field. When the cutting work is performed by increasing the speed, the cutting height is controlled by setting a low cutting height control target value so as to prevent uncut cutting.

Further, in the sixth aspect of the present invention, when the control device is performing automatic lifting control, when the lifting operation tool is lowered to lower the cutting portion, the height to ground detected by the cutting height sensor is obtained. It is characterized in that when the height reaches the control target value, the descent of the cutting section is stopped.

Further, in the seventh aspect of the present invention, when the control device is performing automatic ascending control and the elevating operation tool is lowered to lower the cutting portion, the height to ground detected by the cutting height sensor is obtained. When the height reaches the control start height plus a predetermined height, the descent of the cutting portion is stopped.

Then, in the eighth aspect of the present invention, when the control device is performing the cutting height position control, the raising / lowering operation tool is lowered together with the release operation tool to lower the cutting portion beyond the lower limit value. Is characterized in that when the ground height detected by the cutting height sensor reaches the stop regulation value, the descent of the cutting portion is stopped.

Further, in the ninth aspect of the present invention, the control device executes the control target value of the cutting height and the automatic raising control when the automatic raising / lowering control is executed by one artificially settable cutting height setting device. The lower limit of the control start height and the cutting height position control when the control start height is determined or when the ascending automatic control is executed by one artificially settable cutting height setting device. Control target value of mowing height when executing automatic elevating control and control start height and mowing height when executing automatic elevating control by one mowing height setting device that can be determined or artificially set. It is characterized by determining a lower limit value when executing position control.

According to the combine of the present invention, a cutting height sensor for detecting the ground height is provided in the cutting section where the fluffy grain stalk in the field is cut and transported toward the threshing section, and the ground height detected by the cutting height sensor is provided. In a combine harvester that provides a control device that raises and lowers the cutting section to control the cutting height based on the height of the harvester, this control device increases the driving speed of the cutting section in order to cut the fallen fluffy grain in the field. When performing the harvesting work, the control target value of the cutting height is set low and the cutting height is controlled so as to prevent uncut parts.

Therefore, for example, when the main speed change lever of the traveling is operated to reduce the traveling speed and then the lodging switching is operated to increase the driving speed of the cutting section, the control device is adjusted to the cutting height. The control target value is set low to control the cutting height, which lowers the ground height of the cutting portion and prevents uncut parts. Further, in order to lower the ground height of the cutting section, the control device can be turned on, for example, by turning on the lodging switch, without operating the elevating operation lever or the setting device for setting the control target value of the cutting height. When the drive speed of the cutting section is increased, the height of the cutting section with respect to the ground can be automatically lowered, which can reduce the operational burden on the operator while eliminating operation errors.

Further, in the present invention, a plurality of the cutting height sensors are provided at different locations in the left-right direction of the cutting portion, and the control device is based on the lowest ground height among the ground heights detected by these cutting height sensors. When the cutting part is raised and lowered to control the cutting height, the ground height of the cutting part provided with all these cutting height sensors including the cutting height sensor that detects the lowest ground height is determined. The height can be controlled to be higher than the control target value set at the time, which reduces the contact between the cutting part and the ground, for example, plunging the weed into the ground, mud or stone of the cutting blade device, etc. It is possible to prevent the biting of the above and eliminate their damage and failure.

Further, according to the present invention, the control device includes automatic elevating control for controlling the cutting height by raising and lowering the cutting portion based on the control target values of the ground height and the cutting height detected by the cutting height sensor. When the automatic ascending / descending control is being executed and the driving speed of the cutting section is increased in order to cut the fallen fluffy culm in the field, the control target value of the cutting height is lowered. Set and control the cutting height to prevent uncut.

When the control device is provided with automatic elevating control in this way, the mowing portion is elevated and lowered based on the control target values of the ground height and the mowing height detected by the mowing height sensor in the standard mowing without lodging. The cutting height can be automatically controlled, so that the manual cutting height adjustment operation is not required, and the cutting height of the cutting section is controlled to be always constant while reducing the operational burden on the operator. The cutting work can be performed without causing damage to the part or loss of grains.

In addition, when the cutting height is controlled by using the automatic lifting control, if there is partial lodging in the field and the cutting is performed, the control device automatically sets the control target value low. Since the control is performed to prevent the uncut portion of the grain culm, there is no need to temporarily end the automatic lifting control or artificially change the control target value. Furthermore, when the felling cutting is returned to the standard cutting, the control target value is also the original. It is possible to return to the value of and perform the cutting work under the normal automatic lifting control.

Further, in the present invention, the control device includes automatic ascending control for raising the cutting portion when the ground height detected by the cutting height sensor falls below the control start height, and this automatic ascending control is executed. In this case, when the cutting work is performed by increasing the driving speed of the cutting section in order to cut the fallen fluffy culm in the field, the control target value of the cutting height is set low to prevent uncut parts. Control the cutting height so as to.

When the control device is provided with automatic ascent control in this way, the cutting section can be automatically ascended when the ground height detected by the cutting height sensor falls below the control start height in standard cutting without lodging. For example, when the cutting work is performed at the cutting height at which the cutting part is lowered and stopped by the lifting operation lever, there are protrusions or obstacles in the field, and the cutting height sensor detects the ground. When the height is lower than the control start height, the cutting portion can be automatically raised, whereby damage to the cutting portion can be prevented.

The cutting unit that has been automatically raised to avoid collision with obstacles or the like can then be lowered by the lifting operation lever to perform the cutting work, and the cutting work can be performed using such automatic raising control. When this is performed, it is possible to prevent the cutting section from being raised and lowered while there are no protrusions or obstacles in the field, so that stable cutting can be performed.

In addition, when the cutting height is controlled by using such automatic ascending control and the field is partially lodginged and the cutting is performed, the control device may perform automatic raising and lowering control. Similarly, since the cutting height is controlled so as to prevent uncut cutting by setting a low cutting height control target value, the ascending automatic control is terminated and, for example, the ascending / descending automatic control is switched to, or the control target value is set. There is no need to set it low again, and when returning from lodging to standard cutting, cutting work can be performed under normal automatic climbing control based on the control start height, freeing from troublesome switching operations. ..

Further, the present invention is provided with a position sensor for detecting the amount of lift of the cutting section with respect to the traveling machine body and an artificially settable cutting height setting device, and the control device lowers the cutting section with an lifting operation tool. When the lifting amount detected by the position sensor reaches the lower limit value set by the cutting height setting device, the lowering of the cutting part is stopped, or when the raising / lowering operation tool is lowered together with the release operation tool, the lower limit value is reached. It is equipped with a cutting height position control that lowers the cutting part beyond the above, and when this cutting height position control is executed, the driving speed of the cutting part is increased in order to cut the fallen fluffy culm in the field. When performing the cutting work, the cutting height is controlled by setting a low cutting height control target value so as to prevent uncut cutting.

When the control device is provided with the cutting height position control in this way, the amount of lifting and lowering detected by the position sensor when the cutting part is lowered by the lifting operation tool in the standard cutting without lodging cutting is determined by the cutting height setting device. When the set lower limit value is reached, the lowering of the cutting section can be stopped, or when the raising / lowering operation tool is lowered together with the release operation tool, the cutting section can be lowered beyond the lower limit value. Therefore, for example, once the cutting height is set by the cutting height setting device, the cutting height of the cutting portion can be adjusted to the set height simply by lowering the lifting operation lever (lifting operation tool). It is possible to facilitate the adjustment of the cutting height by the lifting operation lever, and the cutting height can always be kept constant to perform stable cutting work.

In addition, there may be recesses or grooves in the field, or you may want to lower the cutting part headed up at the beginning of cutting to temporarily lower the cutting height. In such cases, use the trigger switch (release operation tool). By lowering the elevating operation lever while pulling, the cutting portion can be lowered beyond the set height, whereby uncut parts can be eliminated. The lowered cutting portion can be raised above the height set by the raising operation of the raising / lowering operation lever, and then returned to the original cutting height set by the lowering operation of the raising / lowering operation lever.

Then, when the cutting height is controlled by using such cutting height position control and the field is partially lodginged and the cutting is performed, the control device automatically controls the ascending / descending or ascending / descending. Since the cutting height is controlled so as to prevent uncut cutting by setting a low cutting height control target value as in the case of performing the above, the cutting height position control is terminated and, for example, automatic lifting control is performed. It is not necessary to switch to or reset the control target value to a low value, and when the cutting is returned from the lodging cutting to the standard cutting, the cutting work can be performed under the normal cutting height position control.

Further, according to the present invention, when the control device is performing automatic ascending / descending control and the elevating / lowering operation tool is lowered to lower the cutting portion, the ground height detected by the cutting height sensor is controlled. When the target value is reached, the descent of the cutting section is stopped. Therefore, when the raising / lowering operation lever is lowered to lower the cutting portion at the beginning of cutting or the like, if the lowering operation is accidentally continued, the cutting portion touches the ground and is buried.

However, in that case, the control device stops the descent of the cutting section when the ground height detected by the cutting height sensor reaches the control target value, so that the cutting section is prevented from further descending and the cutting section is brought to the ground. It can be prevented from being buried by touching the ground. Therefore, in order to control the cutting height by automatic ascending / descending control at the beginning of cutting or the like, the lowering operation of the cutting part can be performed without paying much attention to the timing of the lowering / stopping operation when lowering the cutting part. Damage can be prevented, and since the cutting section has reached the control target value, the cutting section will refrain from raising and lowering for a while due to the subsequent automatic lifting and lowering control, so that the stability of control can be improved.

Further, according to the present invention, when the control device is performing automatic ascending control, the height to ground detected by the cutting height sensor is controlled when the elevating operation tool is lowered to lower the cutting unit. When the height reached the start height plus a predetermined height, the descent of the cutting section is stopped. Therefore, when the cutting part raised by the start of cutting or the automatic raising control is lowered by lowering the raising / lowering operation lever, if the lowering operation is mistakenly continued, the cutting part will be grounded and buried.

However, in that case, when the ground height detected by the cutting height sensor reaches the height obtained by adding the predetermined height to the control start height, the control device stops the lowering of the cutting part, so that the lowering of the cutting part is further lowered. It is possible to prevent the cutting part from touching the ground and being buried. Therefore, the lowering operation of the cutting part can be performed without paying much attention to the lowering stop operation timing when the cutting part is lowered to near the original control start height, and thus damage to the cutting part can be prevented. Moreover, when the height is lowered above the control start height, the cutting portion will be raised again by the subsequent automatic ascending control, which can be prevented and the stability of the control can be improved.

Further, according to the present invention, when the control device is performing cutting height position control, when the raising / lowering operation tool is lowered together with the release operation tool to lower the cutting portion beyond the lower limit value, cutting is performed. When the height to the ground detected by the height sensor reaches the stop regulation value, the descent of the cutting section is stopped. Therefore, if there are recesses or grooves in the field or the cutting part heads up at the beginning of cutting during normal cutting work as described above, pull the trigger switch to prevent uncut parts. The lifting operation lever can be lowered to lower the cutting section beyond the set height, but if the lowering operation is continued as it is, the cutting section will be grounded and buried.

However, in that case, the control device stops the descent of the cutting section when the ground height detected by the cutting height sensor reaches the stop regulation value, so that the cutting section is prevented from further descending and the cutting section is brought to the ground. It can be prevented from being buried by touching the ground. Therefore, the lowering operation of the cutting part can be performed without paying much attention to the lowering stop operation timing when lowering the cutting part beyond the set height, thereby reliably preventing damage to the cutting part and uncut portion. be able to.

Moreover, in the present invention, the control device has a control target value of a cutting height when executing automatic lifting control by one artificially settable cutting height setting device and control when executing automatic climbing control. The start height is determined, or the control start height when executing the ascending automatic control and the lower limit value when executing the cutting height position control are determined by one artificially settable cutting height setter. Or, the control start height and mowing height position control when executing the elevating automatic control and the control start height and mowing height position control when executing the elevating automatic control by one artificially settable mowing height setting device. Determine the lower limit for execution.

Therefore, the control target value of the cutting height when executing the automatic ascending / descending control and the control start height when executing the automatic ascending / descending control are set to one standard fixed value set in advance and fixed in each control. While testing the control amount such as the ascending / descending speed that matches the value, the optimum value can be obtained and summarized in a stable control form that does not cause hunting or the like. However, in this case, if there is a difference between the height required by the user and the standard fixed value, it is difficult to deal with it, or a complicated fixed value change operation is forced.

Therefore, a cutting height setting device that can be artificially set is provided in the control unit so that the control target value and the control start height can be easily changed. However, if a setting device is provided for each control, the control is performed. The installation space for these setters and the like in the unit is filled up, which deteriorates the operability of each setter and also affects the cost by providing a large number of setters.

However, here, when executing the control target value of the cutting height when executing the automatic lifting control related to the lifting control of the cutting unit, the control start height when executing the automatic raising control, or the cutting height position control. The above-mentioned problems can be solved by determining the lower limit value of the above with one cutting height setting device. A potentiometer, a rotary switch, or the like can be used as the cutting height setting device, and the height value in each control can be set continuously or as several values.

It is a side view of the combine to which this invention is applied. It is a top view of the combine. It is a top view of the control part. It is a power transmission diagram of a cutting part. A state in which a cutting height sancer is attached to the tip of the cutting portion is shown, and (a) is a side view thereof. Further, (b) is a plan sectional view of a cutting height sansa. It is explanatory drawing which shows the detection state of the cutting height sansa with respect to the ground. It is a block diagram of the control device which controls the elevating and lowering of a cutting part. It is explanatory drawing which summarized the outline of the elevating control of a cutting part. It is a flowchart of ascending / descending automatic control. It is a flowchart of ascending automatic control. It is a continuation flowchart of the ascending automatic control. It is a flowchart of cutting height position control.

Embodiments of the present invention will be described with reference to the drawings. As shown in FIGS. 1 and 2, the 6-row harvesting self-removing combine harvester 1 that threshes rice and wheat while cutting is via a traveling frame 3 below the aircraft frame (traveling aircraft) 2 that is framed in a substantially rectangular shape. The left and right crawler traveling devices 4 are provided. The left and right crawler traveling devices 4 include a drive sprocket 6 attached to a drive shaft protruding from the left and right of the transmission case 5, an idle wheel 7 pivotally supported by the traveling frame 3, a track roller 8, and rubber wound around them. A crawler 9 is provided.

Further, a substantially rectangular driving frame is integrally connected to the front right side of the airframe 2 in the forward direction of the airframe, and a control unit 10 is provided over the operating frame and the airframe 2 behind the operating frame 2. As shown in FIG. 3, the control unit 10 is provided with a driver's seat 12 behind the floor 11, and a front console (front operation panel) 13 is provided at the front of the floor 11 of the floor 11 and the driver's seat 12. A side console (side operation panel) 14 is provided on the left side, and a cabin 15 covers the control unit 10.

Further, the cutting portion 16 is provided so as to be able to move up and down from the left front portion of the machine body frame 2 to the front portion of the control portion 10 by a hydraulic cylinder (not shown). Then, the cutting section 16 divides the standing hair culms in the field into cut grain culms and uncut grain culms by seven weed bodies 17 provided at the lower part of the front end and narrow guides 18 on the left and right, and becomes the outermost on the left and right. The harvested culm that entered between the weeds 17 is raised by a pulling device 19 provided with a raising claw 19a, and then, as shown in FIG. 4, a scraping device 22 composed of a scraping belt 20 with protrusions and a star wheel 21. While gathering together, the culm near the root of the stock is cut by the reciprocal cutting blade device 23.

Further, the grain culms cut and cut by the cutting blade device 23 are sent backward by the star wheel 21 of the scraping device 22, and the grain culms sent backward are provided on the left, right, and center of the stock transfer device 24. It is taken over by 25 and 26 and transported further backward. The terminal portion of the stock source transport device 26 provided in the center faces the confluence portion provided in the middle of the transport path of the right stock source transport device 24, and the grain culm conveyed by the middle stock source transport device 26 is the confluence portion in the middle. In, the culm is merged with the grain culm transported by the right stock transfer device 24, and thereafter, the right stock transfer device 24 takes over.

On the other hand, the terminal portion of the stock source transport device 25 provided on the left side faces the terminal portion of the right stock source transfer device 24, and the grain culms transported by the left stock source transfer device 25 have been transported by the right stock source transfer device 24. It merges with the grain culm at the confluence at the end of both transport devices 24 and 25. Further, the merged grain culms are taken over by the handling depth transport device 27 having the starting end portion facing both the confluence portions, and are further conveyed rearward and upward.

Then, the grain culm handed over to the handling depth transport device 27 is handed over to the threshing food chain 29 from the terminal portion of the handling depth transport device 27 via the auxiliary transport device 28. Although the transport route on the stock root side of the grain culm has been mainly described so far, the tip side of the grain culm is provided on the upper side of the right stock root transport device 24, the handling depth transport device 27, and the auxiliary transport device 28. Locked to the tip transfer device 30, the transfer claws attached to the transfer chains of the left suction transfer device 31 and the middle suction transfer device 32 provided on the upper side of the left stock transfer device 25 and the middle stock transfer device 26. Transport.

Further, the threshing section 33 is provided on the left side of the machine frame 2 behind the cutting section 16, and the first and second handling chambers are provided below the cylinder cover 34 that covers the upper part. Among them, in the first handling chamber, a threshing feed chain 29 and its holding rail 35 for transporting the culm transported from the cutting section 16 along the handling port, a first handling cylinder provided with handling teeth and its receiving net. Etc. are provided. In addition, the second handling chamber is attached to the first handling chamber so as to face the rear of the machine from the rear end tip side of the first handling cylinder, and the straw waste mixed with grains that could not be threshed in the first handling chamber. A second handling cylinder for processing and the like and a receiving net thereof are provided.

On the other hand, a sorting chamber is provided below the first and second handling chambers. The sorting chamber is provided with a swinging flow plate, a first spiral and a second spiral, a wall insert fan, a suction fan, etc., and grains and the like leaking from the receiving net of the handling chamber are placed on the swinging flow plate. The sorted grains are transferred from the 1st spiral to the grain tank 37 via the grain raising device 36, and the 2nd product mixed with straw debris is oscillated from the 2nd spiral through the 2nd reducing device. Put it back on the board.

Further, the straw debris reaching the end of the rocking flow plate, the straw debris captured by the suction fan, or the straw debris discharged from the end of the second handling cylinder is discharged to the outside of the machine behind the threshing section 33. Further, the culm discharged from the handling chamber after the threshing process is completed is conveyed toward the disc type cutter 39 by the straw discharging transport device 38, and the disc type cutter 39 is further conveyed by the straw discharging transport device 38. Shred the culm that has come and release it as cut straw to the site where it was cut, or release it as long straw as it is.

Then, the grain tank 37 is provided further behind the driving part composed of the diesel engine 40 and the like provided from below the control part 10 to the rear, and temporarily stores the grains transferred by the grain raising device 36. When the grain tank 37 is full of grains, the discharge auger 41 is operated to discharge the grains from the grain tank 37 and discharge the grains to a container or the like outside the machine.

The discharge auger 41 includes a vertical pipe containing a horizontal spiral and a vertical spiral provided at the bottom of the grain tank 37, and the vertical pipe is rotatably erected behind the grain tank 37 by an auger swivel motor. It is composed of a vertical pipe 42 and a second vertical pipe 45 which can be raised and lowered by a hydraulic cylinder 44 via a gear case 43 on the upper portion of the first vertical pipe 42.

Next, the above-mentioned cutting section 16 will be further described. As shown in FIGS. 1 and 4, the cutting section 16 rotatably supports the rear side of the cutting section 16 on the upper portion of the support column provided near the left front portion of the machine frame 2. A transmission frame 46 is provided, which is composed of a pipe case connected in a substantially E-shape whose front side moves up and down in the vertical direction by a hydraulic cylinder. Further, a preprocessing frame 47, a support frame, and the like are attached to the front portion of the transmission frame 46.

Further, the transmission frame 46, the pretreatment frame 47, the support frame, and the like include a pulling device 19, a scraping device 22, a cutting blade device 23, a stock source transport device 24, 25, 26, and a handling depth transport device 27. Each device such as the auxiliary transfer device 28, the tip transfer device 30, and the suction transfer devices 31 and 32, the weed body 17, the side cover 48, the tip guide plate 49, the hood 50, and the like are attached.

A transmission shaft provided with a bevel gear is pivotally supported in the transmission frame 46, and the engine 40 provided in the prime mover is via a cutting clutch 52 composed of a transport HST (hydrostatic continuously variable transmission) 51 and a belt tension clutch. The input shaft 53 of the input transmission unit 46a in the transmission frame 46 is driven, and then the vertical transmission unit 46b, the tip / auxiliary transport transmission unit 46c, the right stock transmission unit 46d, the handling depth transmission unit 46e, and the middle stock transmission unit 46e. Each device is driven from the transmission unit 46f, the lower transmission unit 46g, the left stock transmission unit 46h, the raising transmission unit 46i, and the cutting blade drive unit 46j.

The threshing section 33 is driven from the engine 40 via a threshing clutch 54 composed of a belt tension clutch, and the transport HST 51 is driven by the power branched from the drive system of the threshing section 33, and the threshing section 33 is threshed from the transport HST 51. It drives each part of the threshing food chain 29 and the cutting part 16 of the part 33. Further, the traveling transmission that drives the left and right crawler traveling devices 4 is driven from the engine 40 via a traveling clutch 55 composed of a belt tension clutch.

Further, the traveling transmission includes a traveling HST (hydrostatic continuously variable transmission) 56 constituting the main transmission attached to the transmission case 5, a standard (cutting and degreasing work speed) provided in the transmission case 5, and traveling (running on the road). A sub-transmission device composed of a gear transmission 57 capable of switching to (speed) is provided, and the left and right drive sprockets 6 are driven via a steering device composed of left and right side clutches, brakes, etc. provided in the transmission case 5. ..

Therefore, when traveling on the road, the engine 40 is started by the starter key, the auxiliary shift lever 58 provided in the control unit 10 is operated to the forward travel position, and the main shift lever 59 is moved from the neutral position to the forward forward position. Alternatively, the combine 1 can be driven at a required speed by positioning the combine harvester in the backward position and increasing or decreasing the position. Further, when the cutting work is performed in the field, the combine 1 can be driven at a speed lower than the road speed by operating the auxiliary shift lever 58 to the rear standard position and similarly increasing or decreasing the main shift lever 59.

When performing the cutting work, the front side of the power clutch switch 60 configured by the momentary type rocker switch provided in the control unit 10 is pushed, and the grain removal clutch 54 is first engaged by a power clutch electric motor (not shown). The front side of the power clutch switch 60 is pushed again to engage the cutting clutch 52 by the power clutch electric motor to drive each part of the grain removal section 33 and the cutting section 16 and the cutter 39. When disengaging the cutting clutch 52 and the threshing clutch 54, the clutches can be disengaged in sequence by pressing the power clutch switch 60 toward the rear.

Further, when the multi-steering lever (elevating operation tool) 61 provided in the control unit 10 is tilted forward from its neutral position, the elevating lever potentiometer 62 detects this and is configured by the microcomputer unit as shown in FIG. The control device 63 energizes the lowering solenoid 64 to switch the hydraulic elevating electromagnetic switching valve to the lowering side, whereby the hydraulic cylinder lowers the cutting portion 16 from the raised non-working posture to the lowered working posture. When the multi-steering lever 61 is returned to its neutral position, the lowering of the cutting section 16 is stopped, and when the multi-steering lever 61 is tilted rearward from the neutral position, the ascending solenoid 65 is energized to move the cutting section 16. Can be raised.

Further, when the multi-steering lever 61 is tilted from its neutral position to the left-right direction, the control device 63 operates a steering device composed of the left-right side clutches, brakes, and the like provided in the transmission case 5 to operate the combine 1 in the traveling direction. Can be changed, and the harvesting work of the fluffy grain in the field is started under such an operation.

When the fluffy culm in the field is lying down due to wind and rain from a standing position, the lodging cutting switch 66 composed of an alternate type switch provided on the grip of the main speed change lever 59 provided in the control unit 10 is pressed to perform lodging cutting. .. Then, in this case, when the lodging switch 66 is turned on, the control device 63 operates the trunnion shaft of the transport HST51 in the forward and reverse directions via the transport electric motor, and synchronizes with the traveling speed (vehicle speed) as shown in FIG. 8, for example. The speed at which the cutting unit 16 is driven is switched from the standard to the lodging, and the transport HST control (vehicle speed synchronized transport control) is performed so that the speed is increased by about 1.5 times from the standard.

On the other hand, in the case of cutting and threshing the heavier culms that are laid down and folded and difficult to dry, the load of the combine 1 is increased as compared with the case of cutting and threshing the culms in the standing posture. Therefore, in order to reduce this load, the worker will reduce the traveling speed and perform the cutting work in consideration of an appropriate steering operation and grain loss, although the work efficiency is lowered.

Therefore, when performing lodging cutting in this way, if the traveling speed is lowered compared to the case where the main speed change lever 59 is operated to the deceleration side to perform standard cutting, the driving speed of the cutting unit 16 will be the standard cutting without lodging cutting. The speed is substantially the same as the speed at which the cutting is performed, and the cutting work can be performed without deteriorating the raising performance of the grain culm by the raising claw 19a. When the cutting operation is performed at the same traveling speed as the standard cutting, the driving speed of the cutting unit 16 is increased, and the raising performance of the grain culm by the raising claw 19a is further improved.

As a method of increasing the speed of driving the cutting unit 16 in synchronization with the traveling speed to increase the lodging cutting speed from the standard cutting, the cutting unit 16 is connected from between the traveling HST 56 and the auxiliary transmission 57 via the cutting clutch 52. The input shaft 53 is driven, and the auxiliary transmission 57 provided in the traveling transmission is changed to a gear transmission that can be switched between standard and traveling as well as lodging.

When the change is made in this way, the drive speed of the cutting unit 16 can be driven at a speed synchronized with the vehicle speed by the traveling HST 56 instead of the transport HST 51, and the auxiliary shift lever 58 is newly provided from the standard position in the lodging position. If the switching operation is performed, the traveling speed will be lower than the standard, but the driving speed of the cutting unit 16 will remain the same, and the main speed change lever 59 will be decelerated while relatively performing the transport HST control in the lodging of the transport HST 51 described above. It is equivalent to the case where the running speed is reduced by operating the vehicle.

If a switch for detecting the switching operation is provided at the lodging position of the auxiliary transmission lever 58, the control device 63 can detect that the cutting has shifted from the standard cutting to the lodging cutting. Further, the transport HST control of the embodiment detects the output rotation speed of the transmission rotation sensor 67 for detecting the rotation speed of the transmission shaft provided on the transmission downstream side of the auxiliary transmission 57 provided in the transmission case 5 and the transfer HST 51 (not shown). Based on the transfer rotation sensor, the trunnion shaft of the transfer HST51 is controlled by operating in the forward and reverse directions via the transfer electric motor, but detailed description of the control content will be omitted.

The outline of the structure of the combine harvester and the operation mode in particular in lodging cutting have been described above. Next, a mode in which the raising and lowering control of the harvesting unit 16 is performed based on automatic control will be described. First, the control device 63 rotatably supports the cutting section 16 with a position sensor (lift potentiometer) 68 that detects the lifting amount of the cutting section 16 with respect to the traveling machine body according to the raising / lowering angle in order to automatically control the raising and lowering. (Not shown), and a cutting height sensor 69 is provided in the cutting section 16.

Then, as shown in FIG. 5, the cutting height sensor 69 is bolted up and down into the elongated hole of the mounting plate 70a provided at the tip of the weeding frame 70 which is inserted and fixed to the pretreatment frame 47 of the cutting portion 16 from the front. It is attached to the grass body 17 to be attached in an adjustable manner, and the height (height to ground) between the cutting portion 16 and the ground is detected. The cutting height sensor 69 is provided on each of the third and fifth cursive scripts 17 from the left among the seven cursive scripts 17 provided in the left-right direction, and the cursive scripts 17 are formed with a divider portion 17a forming a substantially triangular shape. A guide portion 17b is provided, which is fixed to the upper surface of the divider portion 17a and is inclined to a front low and a rear height to be formed wide from the front portion to the rear portion.

Further, the cutting height sensor 69 attaches the base plate 71 to the divider portion 17a with bolts so that the upper portion is covered by the guide portion 17b of the weed body 17. Further, the detection shaft 72 is fitted into the hole of the boss 71a provided on the left side surface of the base plate 71 in the left-right direction to rotatably support the shaft. Then, at the left end of the detection shaft 72, the upper portion of the first operating body 73 is fixed so as to rotate integrally with the detection shaft 72.

Further, a boss 73a in the front-rear direction is provided in the lower part of the first operating body 73, and a pin 74a fixed to the front portion of the second operating body 74 is fitted into the hole of the boss 73a to prevent it from coming off. The second operating body 74 is pivotally supported so as to be rotatable in the left-right direction. Further, the upper portion of the sled body 75 having a predetermined width is rotatably attached to the pin 74b in the left-right direction which is fixed to the rear portion of the second actuating body 74.

On the other hand, the front portion of the first operating arm 76 is attached to the right end of the detection shaft 72 so as to rotate integrally with the detection shaft 72, and a flange nut is attached to the right end of the detection shaft 72 to attach the detection shaft 72. The base plate 71 is prevented from coming off from the boss 71a. Further, a potentiometer 77 with a return spring is attached to the right side surface of the base plate 71 with screws, and the tip of the second actuating arm 78 fixed to the actuating shaft of the potentiometer 77 is provided in contact with the rear portion of the first actuating arm 76. ..

The torsion coil spring 79 fitted to the outer circumference of the boss 71a urges the first actuator 73 to rotate forward, and the torsion coil spring 80 fitted to the outer circumference of the boss 73a is attached to the second actuator 74. The warp body 75 is urged to face downward, and the torsion coil spring 81 fitted to the outer circumference of the pin 74b urges the warp body 75 to rotate backward. Further, the upper portion of the first actuating body 73 abuts on the pin 71b provided on the left side surface of the base plate 71, and further rearward rotation of the first actuating body 73 is restricted, and the sled body 75 itself is second. It abuts on the rear of the actuating body 74 to restrict further rearward rotation of the sled body 75.

Then, when the cutting height sensor 69 is configured in this way, when the cutting portion 16 rises high away from the ground as shown in FIG. 6, the cutting height sensor 69 is in a free state shown in FIG. The potentiometer 77 outputs a voltage close to the upper limit of the detection range, whereby the control device 63 can determine that the cutting unit 16 is rising high away from the ground. Further, when the cutting portion 16 descends, the sled body 75 touches the ground, and the first operating body 73 rotates backward via the second operating body 74, the sled body 75 passes through the detection shaft 72 and the first operating arm 76. The second operating arm 78 is moved upward (counterclockwise when viewed from the left side).

Therefore, the potentiometer 77 gradually outputs a higher voltage from a voltage close to the upper limit of the detection range, whereby the control device 63 can detect the height of the cutting unit 16 by the cutting height sensor 69, and also. From the output voltage, for example, the height between the lower surface of the divider 17a of the weed body 17 and the ground, and by extension, the cutting height between the original cutting blade device 23 and the ground can be obtained (control target value). [High] to [Medium] to [Low]).

When the cutting portion 16 approaches the ground and the lower surface of the divider portion 17a of the weed body 17 is buried in the ground or not buried or is lowered to the brink, the cutting height sensor 69 is in the mechanical stop state (first). The upper part of the actuator 73 abuts on the pin 71b of the base plate 71, and the rotation of the first actuator 73 further backward is restricted), and the potentiometer 77 is close to the lower limit of the detection range. By outputting the voltage, the control device 63 can determine that the cutting height sensor 69 cannot detect the cutting height of the cutting unit 16 any more.

Further, when the cutting portion 16 is lowered and the sled body 75 touches the ground to detect the cutting height, and the machine body is steered in accordance with the standing hair grain, the sled body 75 resists in the left-right direction. At that time, the sled body 75 rotates in the left-right direction around the boss 73a, which is the front-rear direction of the first operating body 73, to release the resistance, thereby preventing damage to the cutting height sensor 69. .. Further, when the machine body is moved backward without raising the cutting portion 16, the sled body 75 rotates forward around the pin 74b of the second operating body 74 to release the resistance from the ground, so that the cutting height is also the same. Prevent damage to the sensor 69. Reference numeral 82 denotes a cover that covers the potentiometer 77 and the like.

The structure of the cutting height sensor 69 has been described above. Next, when the above-mentioned control device 63 is described, as shown in the block diagram of the control device 63 of FIG. 7, the control device 63 has four microcomputer units ( ECUA to ECUD) are provided, and each unit is connected to each other via a controller area network (CAN) to perform various controls. Here, only the input / output system related to the elevating control of the cutting unit 16 will be described.

That is, the input circuit of the control device 63 includes the power clutch switch 60, the elevating lever potentiometer 62, the lodging mowing switch 66, the transmission rotation sensor 67, the lift potentiometer 68, and the left and right mowing height sensors 69 _R and 69 _L , which have already been described. Connect the potentiometer 77.

Further, the input circuit of the control device 63 includes a cutting height dial (cutting height setting device) 83 composed of a variable resistor provided in the control unit 10, a selection switch 84 composed of a momentary type push button switch, and a main shift. A main speed change lever potentiometer 85 for detecting the rotation operation angle of the lever 59, a trigger switch 86 composed of a momentary type push button switch provided on the grip of the multi-steering lever 61, and the like are connected.

Further, the output circuit of the control device 63 includes an ascending / descending automatic lamp 87 composed of light emitting diodes provided in the control unit 10, an ascending automatic lamp 88, a cutting height position control lamp 89 and a liquid crystal monitor 90, and a descending solenoid already described. The 64, the rising solenoid 65, and the flow rate adjusting solenoid 91 of the electromagnetic proportional flow rate adjusting valve provided in the hydraulic circuit of the hydraulic cylinder that raises and lowers the cutting portion 16 are connected.

As shown collectively in FIG. 8, the control device 63 configured as described above is one of the automatic lift control, the automatic lift control, the cutting height position control, and the manual lift control related to the lift control of the cutting unit 16. The control can be sequentially selected based on the on operation of the selection switch 84 provided in the control unit 10. Further, this selected state is notified by turning on any of the elevating automatic lamp 87, the elevating automatic lamp 88, and the cutting height position control lamp 89, and turning off all the lamps of the manual elevating control, and is displayed on the liquid crystal monitor 90. You can check it by looking at this monitor.

Further, the above three automatic ascending / descending control, automatic ascending control, and cutting height position control are closely related to the vehicle speed synchronized transport control already described, and the lodging switch 66 is turned on from the "standard" control state of the vehicle speed synchronized transport control. Then, when the vehicle speed-tuned transport control shifts to the "falling" control state, the "standard" control state is changed to the "falling" control state, or the "falling" control state is changed to the "standard" so that each of the three controls follows this. Return to the control state and execute each control.

In the manual lifting control, regardless of standard cutting or lodging cutting, the control device 63 moves the multi-steering lever 61 from the neutral position to a predetermined amount or more in the front-rear direction based on the value obtained by converting the output voltage of the lift potentiometer 68 into A / D. When it is determined that the cutting unit 16 has been lowered, for example, the lowering solenoid 64 is energized to switch the hydraulic elevating electromagnetic switching valve to the lowering side, and the hydraulic cylinder is contracted. On the contrary, when it is determined that the cutting unit 16 has been raised, the rising solenoid 65 is energized to switch the hydraulic lifting electromagnetic switching valve to the rising side to extend the hydraulic cylinder.

Further, when it is determined that the multi-steering lever 61 has returned to the neutral position, the energization of any of the solenoids 64 and 65 is cut off, the hydraulic elevating electromagnetic switching valve is returned to the neutral position, and the expansion / contraction operation of the hydraulic cylinder is stopped. Therefore, in the manual ascending / descending control, the lower surface of the cutting unit 16 touches the ground and stops, or the cutting unit 16 is moved up / down to an arbitrary height within the range of the mechanical operating limit based on the operating stroke of the hydraulic cylinder or the like. Control to make it.

Hereinafter, the specific control contents of the above-mentioned automatic ascending / descending control, automatic ascending / descending control, and cutting height position control will be described. First, the ground height detection method of the cutting unit 16 common to these controls will be described. When the control device 63 controls the cutting height by raising and lowering the cutting unit 16 based on the control target values of the ground height and the cutting height detected by the cutting height sensors 69 _R and 69 _L , the control device 63 controls the cutting height. The cutting height is raised and lowered based on the lower ground height detected by the two cutting height sensors 69 _R and 69 _L provided at different locations in the left and right directions of the cutting unit 16. To control.

In this case, it is preferable that a plurality of cutting height sensors 69 are provided at different locations in the left-right direction of the cutting portion 16, such as being provided on all the cursive scripts 17. This is because when one cutting height sensor 69 is provided, the ground height of one portion of the cutting portion 16 provided with the cutting height sensor 69 can be detected, but for example, the other in the left-right direction of the cutting portion 16. The height of the part to the ground cannot be detected, and if there is a relative inclination in the left-right direction between the ground and the cutting part 16, or if there is a partial convex part on the ground, between these and the cutting part 16. Unable to detect the height of. Therefore, as many cutting height sensors 69 as possible will be provided while considering the cost.

Further, when the cutting height is controlled by raising and lowering the cutting unit 16 based on the lower ground height among the ground heights detected by the cutting height sensors 69 _R and 69 _L , the lowest ground height is obtained. control the ground height of the cutting unit 16 all of which mowing height sensor 69 _R, it provided 69 _L, the control target value or more height set at that time including the detected cutting height sensor 69 _R, 69 _L This can reduce the contact between the cutting section 16 and the ground, for example, to prevent the weed body 17 from plunging into the ground and the muddy soil, stones, etc. from the cutting blade device 23 from getting caught, and their damage. And troubles can be eliminated.

Then, explaining from the automatic lift control, the control device 63 controls the cutting height by raising and lowering the cutting unit 16 based on the control target values of the ground height and the cutting height detected by the cutting height sensors 69 _R and 69 _L. When the automatic elevating control is provided and the driving speed of the cutting unit 16 is increased in order to mow the fallen fluffy culm in the field, the mowing work is performed. Control of cutting height The cutting height is controlled so as to prevent uncut cutting by setting a low target value.

When the control device 63 is provided with automatic ascending / descending control in this way, in standard cutting without lodging, the cutting unit is based on the control target values of the ground height and the cutting height detected by the cutting height sensors 69 _R and 69 _L. The cutting height can be automatically controlled by moving the 16 up and down, which eliminates the need for manual cutting height adjustment operations and reduces the operational burden on the operator while keeping the cutting height of the cutting unit 16 constant. It is possible to carry out the cutting work without causing damage to the cutting unit 16 or grain loss.

Further, when the cutting height is controlled by using the automatic elevating control and the field is partially lodging and the cutting is performed, the control device 63 automatically sets the control target value low. Since the control is performed to prevent the uncut portion of the grain culm, there is no need to temporarily end the automatic ascending / descending control or artificially change the control target value. Furthermore, when the felling cutting is returned to the standard cutting, the control target value is also increased. It is possible to return to the original value and perform the cutting work under normal automatic lifting control.

Hereinafter, the specific control contents of the automatic lift control will be described with reference to the flowchart. As shown in FIG. 9, the control device 63 first detects the ground height detected by the left and right cutting height sensors 69 _R and 69 _L potentiometers 77. A predetermined control target value, a rotation speed of a transmission shaft provided on the transmission downstream side of the auxiliary transmission 57 detected by the transmission rotation sensor 67, and a rotation operation angle of the main shift lever 59 detected by the main shift lever potentiometer 85. The operating state of the multi-steering lever 61 detected by the elevating lever potentiometer 62, the on / off state of the cutting clutch 52 and the grain removal clutch 54 based on the power clutch switch 60, the selection state of elevating control by the selection switch 84, and the on / off state of the lodging switch 66. "Reading the sensor value, etc." such as the presence / absence of vehicle speed synchronized transport control based on the state is executed (S1).

Next, the control device 63 determines the control start condition based on the read data (S2). The control start conditions include, for example, that the cutting clutch 52 and the threshing clutch 54 are engaged, that automatic lifting control is selected, that there are no errors such as disconnection or short circuit in each potentiometer, etc. The transmission is rotating, the main speed change lever 59 is in the forward region, the cutting height sensors 69 _R and 69 _L are not in the free state, and the conditions are satisfied if all of these are satisfied. It will be.

Further, if the above-mentioned control start condition is satisfied, the presence or absence of the "manual elevating operation" is determined from the operating state of the multi-steering lever 61 detected by the elevating lever potentiometer 62 (S3), and the manual elevating operation is performed. If not, the presence or absence of "falling down cutting" is determined from the on / off state of the lodging cutting switch 66 (S4). Then, when the lodging switch 66 is turned off and standard cutting is performed, the control target value is used as a predetermined control target value.

However, when the lodging mowing switch 66 is turned on and the lodging cutting is performed, the "control target value" is determined (S5), and the cutting height of the lodging cutting value predetermined is lower than the control target value. The control target value is replaced with the lodging value (S6). Therefore, the predetermined control target value is the cutting height of the control target value “high” shown in FIG. 6, while the predetermined lodging value is the control target value “medium”, “low”, or the sensor “mechanism”. If the cutting height is near the "stop", the control target value will be replaced with the "medium", "low", or the cutting height near the sensor "mechanical stop".

In addition, based on the control target value determined based on the above, "dead zone setting" is performed without performing ascending / descending control within a predetermined range above and below it (S7), and then the "left / right cutting height sensor value" is set. Judgment is made (S8), and for example, when the ground height detected by the potentiometer 77 of the right cutting height sensor 69 _R is lower than the ground height detected by the potentiometer 77 of the left cutting height sensor 69 _L , the cutting height is determined. The sensor value is not set to the ground height detected by the potentiometer 77 of the right cutting height sensor 69 _R (S9), and if they are equal or vice versa, the cutting height sensor value is set to the potentiometer 77 of the left cutting height sensor 69 _R. The height to the ground detected by (S10).

Then, the "cutting height sensor value" is determined (S11), and if the cutting height sensor value is lower than the dead zone, the "elevation operation" is executed (S12), and the cutting height sensor value is lower than the dead zone. If it is high, "lowering operation" is executed (S13), or if the cutting height sensor value is within the dead zone, "elevating operation stop" is executed (S14). Therefore, when the ascending operation is executed, the ascending solenoid 65 is energized to switch the hydraulic elevating electromagnetic switching valve to the ascending side, whereby the hydraulic cylinder raises the cutting portion 16.

Further, when the lowering operation is executed, the lowering solenoid 64 is energized to switch the hydraulic elevating electromagnetic switching valve to the lowering side, whereby the hydraulic cylinder lowers the cutting portion 16. Then, when the elevating operation is stopped, the energization of the descending solenoid 64 and the ascending solenoid 65 is stopped and the hydraulic elevating electromagnetic switching valve is switched to neutral, whereby the hydraulic cylinder stops the elevating operation of the cutting unit 16 and stops.

Note that the feedback control in the lifting control of the cutting unit 16 has problems such as overshoot and hunting that are likely to occur in this case, and a control method such as inching control or PID may be adopted instead of mere on / off control. In this case, in addition to the descending solenoid 64 and the ascending solenoid 65, the flow rate adjusting solenoid 91 of the electromagnetic proportional flow rate adjusting valve provided in the hydraulic circuit may be used for control.

Further, when the manual ascending / descending operation is performed in the above-mentioned step S3, the above-mentioned automatic ascending / descending control is not substantially performed, and the cutting unit 16 is moved up / down by the manual ascending / descending control already described. However, when the automatic lift control is selected and the actual control is started, the cutting height sensors 69 _R and 69 _L deviate from the free state (control start condition), so that the cutting section 16 is lowered by the multi-steering lever 61. If the operation is continued, the cutting portion 16 may collide with the ground and be buried, and the height of the cutting portion 16 when the cutting height sensors 69 _R and 69 _L deviate from the free state is generally set. It is difficult to see.

Therefore, when the control device 63 lowers the cutting unit 16 by lowering the multi-steering lever 61 when the raising / lowering automatic control is performed, the ground height detected by the cutting height sensor 69 is the control target. When the value is reached, the descent of the cutting unit 16 is stopped. Therefore, the control device 63 can prevent the cutting unit 16 from further descending and prevent the cutting unit 16 from touching the ground and being buried.

In addition, the lowering operation of the cutting unit 16 can be performed without paying much attention to the timing of the lowering stop operation when lowering the cutting unit 16 in order to control the cutting height by automatic ascending / descending control at the beginning of cutting. It is possible to prevent damage to the section 16, and since the cutting section 16 has reached the control target value by such control, the cutting section 16 will refrain from raising and lowering for a while due to the subsequent automatic lifting and lowering control. Stability can be increased.

That is, at this time, the control device 63 determines the "manual operation" (S15), and when the ascending operation is performed, the "elevating operation" is performed (S16). However, when the lowering operation is performed, the cutting height sensor value is obtained by stepping on steps S17 to S19 similar to the above-mentioned steps S8 to S10, and then the "cutting height sensor value" is determined (S20).

Then, when the cutting height sensor value is higher than the control target value including the free state, the "downward operation" is performed (S21), but when the cutting height sensor value reaches the control target value, the "elevation operation stop" is performed. Execution (S22), thereby stopping the cutting unit 16 and controlling to solve the above-mentioned problem.

Next, the ascending automatic control will be described. The control device 63 includes an ascending automatic control that raises the cutting unit 16 when the ground height detected by the cutting height sensors 69 _R and 69 _L falls below the control start height. When this automatic rise control is executed, when the driving speed of the cutting unit 16 is increased in order to cut the fallen fluffy culm in the field and the cutting work is performed, the control target value of the cutting height is performed. Set low to control the cutting height to prevent uncut.

When the control device 63 is provided with automatic ascending control in this way, in standard cutting without lodging, when the ground height detected by the cutting height sensors 69 _R and 69 _L falls below the control start height, the cutting unit 16 For example, when the cutting work is performed at the cutting height at which the cutting portion 16 is lowered and stopped by the multi-steering lever 61, there are protrusions, obstacles, etc. in the field. When the ground height of the cutting height sensors 69 _R and 69 _L that have detected the above is lower than the control start height, the cutting unit 16 can be automatically raised, whereby damage to the cutting unit 16 can be prevented.

The cutting unit 16 automatically raised to avoid a collision with an obstacle or the like can then be manually lowered by the multi-steering lever 61 to perform cutting work, and such automatic raising control can be performed. When the cutting work is performed using the above, the cutting unit 16 can be prevented from being raised and lowered while there are no protrusions or obstacles in the field, so that stable cutting can be performed.

In addition, when the cutting height is controlled by using such automatic ascending control and the field is partially lodginged and the cutting is performed, the control device 63 automatically controls the ascending / descending. Similarly, since the cutting height is controlled so as to prevent uncut cutting by setting a low cutting height control target value, the ascending automatic control can be terminated and switched to, for example, ascending / descending automatic control, or the control target value. There is no need to reset the setting to low, and when returning from lodging cutting to standard cutting, cutting work can be performed under normal automatic climbing control based on the control start height, freeing you from troublesome switching operations. it can.

Hereinafter, the specific control contents of the ascending automatic control will be described based on the flowchart. As shown in FIGS. 10 and 11, the control device 63 first executes the same “sensor value reading” as the ascending / descending automatic control (reading the sensor value and the like). S1). In the ascending automatic control, in addition to the ascending / descending automatic control, the predetermined control start height and the elevating amount of the cutting unit 16 detected by the lift potentiometer 68 with respect to the traveling machine are also read. Further, the control device 63 determines the control start condition based on the read data (S2).

The control start conditions in this case are, for example, that the cutting clutch 52 and the threshing clutch 54 are engaged, that automatic ascending control is selected, that there is no error in each potentiometer, and that the lift potentiometer 68 is used. Based on the detected value, the amount of elevation of the cutting unit 16 with respect to the traveling machine is less than or equal to a preset predetermined amount (for example, 250 mm or less in terms of cutting height), and if all of these are satisfied, the condition is satisfied. Will be established.

If the above-mentioned control start condition is satisfied, the presence or absence of the "manual elevating operation" is determined from the operating state of the multi-steering lever 61 detected by the elevating lever potentiometer 62 (S3), and the manual elevating operation is performed. If not, the presence or absence of "falling down cutting" is determined from the on / off state of the lodging cutting switch 66 (S4). Then, when the lodging mowing switch 66 is turned off and standard mowing is performed, the mowing height sensor value is obtained by stepping on steps S5 to S7 similar to steps S8 to S10 of the above-mentioned automatic elevating control. Next, the "cutting height sensor value" is determined (S8).

Then, when the cutting height sensor value is higher than the preset control start height, the cutting unit 16 is not moved up and down, but when the control start height is reached or lowered, the "raising operation" is executed (S9), and then. Judgment of "a certain amount increase" is made (S10). Here, if the cutting unit 16 has not risen by a certain amount, the "elevation operation" is continued, and if the cutting unit 16 rises by a certain amount, the "elevation operation stop" is executed (S11).

Therefore, the cutting height of the cutting unit 16 that has completed the ascending control rises by about several tens of millimeters with respect to the cutting height of the cutting unit 16 when the ascending operation is started, and the convex portion or obstacle in the field. For example, it is possible to prevent the weed body 17 from plunging into the ground and the mud and stones of the cutting blade device 23 from getting caught, and to eliminate their damage or failure. The determination of "constant amount increase" in this case is based on the detection value of the lift potentiometer 68 because it is determined by using the amount of elevation of the cutting unit 16 with respect to the traveling machine body.

Further, in step S4 described above, when the lodging mowing switch 66 is turned on and the lodging cutting is performed, the “control target value” is set to a predetermined lodging cutting value as in the automatic ascending / descending control (S12). Next, steps S13 to S20 similar to steps S7 to S14 of the automatic lift control are executed. Further, when the manual ascending / descending operation is performed in the above-mentioned step S3, steps S21 to S28 similar to the steps S15 to S22 of the automatic ascending / descending control are executed. In the determination of the "cutting height sensor value" in step S20 of the automatic ascending / descending control, it is compared with the control target value, but in the automatic ascending / descending control, it is compared with the height obtained by adding a predetermined height to the control start height.

Therefore, when the manual lowering operation is performed by the automatic ascending control, the control device 63 reaches the cutting unit 16 when the ground height detected by the cutting height sensor 69 reaches the height obtained by adding the predetermined height to the control start height. Since the descent of the cutting section 16 is stopped, it is possible to prevent the cutting section 16 from further descending and prevent the cutting section 16 from touching the ground and being buried. Further, the lowering operation of the cutting unit 16 can be performed without paying much attention to the lowering / stopping operation timing when the cutting unit 16 is lowered to near the original control start height, thereby preventing damage to the cutting unit 16. Can be done.

Moreover, when the height is lowered to the control start height or higher, the cutting unit 16 will be raised again by the subsequent automatic ascending control, so that this can be prevented and the stability of the control can be improved. The height obtained by adding a predetermined height to the control start height is controlled by holding the elevating amount of the cutting unit 16 lowered with respect to the traveling machine body when the ascending automatic control is started. You can also do it.

Next, the cutting height position control will be described. In the control device 63, when the cutting unit 16 is lowered by the multi-steering lever 61, the lifting amount of the cutting unit 16 detected by the lift potentiometer 68 with respect to the traveling machine body is the cutting height. When the lower limit value set by the dial 83 is reached, the lowering of the cutting section 16 is stopped, or when the multi-steering lever 61 is lowered together with the trigger switch 86, the lower limit value is exceeded and the cutting section 16 is lowered. When the cutting height position control is provided and the cutting height position control is executed, the driving speed of the cutting unit 16 is increased in order to cut the fallen fluffy culm in the field. , Control of cutting height The cutting height is controlled so as to prevent uncut cutting by setting a low target value.

When the control device 63 is provided with the cutting height position control in this way, the amount of lift detected by the lift potentiometer 68 when the cutting portion 16 is lowered by the multi-steering lever 61 in standard cutting without lodging cutting is the cutting height. When the lower limit value set by the dial 83 is reached, the lowering of the cutting unit 16 is stopped, or when the multi-steering lever 61 is lowered together with the trigger switch 86, the lower limit value is exceeded and the cutting unit 16 is lowered. Can be done.

Therefore, for example, once the cutting height is set by the cutting height dial 83, the cutting height of the cutting unit 16 can be adjusted to the set height simply by lowering the multi-steering lever 61. By facilitating the manual adjustment of the cutting height by the steering lever 61, the cutting height can always be kept constant to perform stable cutting work.

In addition, there may be recesses or grooves in the field, or the cutting section 16 headed up at the beginning of cutting may be lowered to temporarily lower the cutting height. In such cases, the trigger switch 86 is pulled while the multi is used. By lowering the steering lever 61, the cutting portion 16 can be lowered beyond the set height, whereby uncut parts can be eliminated. The lowered cutting section 16 can be raised above the height set by the raising operation of the multi-steering lever 61, and then returned to the original cutting height set by the lowering operation of the multi-steering lever 61.

Then, when the cutting height is controlled by using such cutting height position control and there is a partial lodging in the field and the cutting is performed, the control device 63 automatically controls the ascending / descending or ascending / descending. As in the case of control, the cutting height control target value is set low and the cutting height is controlled so as to prevent uncut cutting. Therefore, the cutting height position control is terminated and, for example, ascending / descending automatic There is no need to switch to control or reset the cutting height with the control target value or cutting height dial 83, and when returning from lodging cutting to standard cutting, cutting work is performed under normal cutting height position control. It can be performed.

When the control device 63 is performing the above-mentioned cutting height position control, the control device 63 lowers the multi-steering lever 61 while pulling the trigger switch 86 to cut beyond the lower limit value set by the cutting height dial 83. When lowering the cutting section 16, the lowering of the cutting section 16 is stopped when the ground height detected by the cutting height sensor 69 reaches a predetermined stop regulation value. Therefore, if there are recesses or grooves in the field or the cutting section heads up at the beginning of cutting during normal cutting work, the multi-steering lever is pulled while pulling the trigger switch 86 to prevent uncut parts. The cutting unit 16 can be lowered beyond the set height by lowering the 61, but if the lowering operation is continued as it is, the cutting unit 16 touches the ground and is buried.

However, in that case, when the ground height detected by the cutting height sensor 69 reaches, for example, the control target value "low" shown in FIG. 6 or the stop regulation value corresponding to the sensor "mechanical stop", the cutting unit 63 Since the descent of the cutting portion 16 is stopped, it is possible to prevent the cutting portion 16 from further descending and prevent the cutting portion 16 from touching the ground and being buried. Therefore, the lowering operation of the cutting unit 16 can be performed without paying much attention to the lowering stop operation timing when the cutting unit 16 is lowered beyond the set height, thereby ensuring damage to the cutting unit 16 and uncut parts. Can be prevented.

Hereinafter, the specific control contents of the cutting height position control will be described based on the flowchart. As shown in FIG. 12, the control device 63 first executes "reading of sensor values, etc." similar to automatic lifting control and the like (reading sensor values, etc.). S1). In the cutting height position control, in addition to reading the sensor value of the automatic lift control, the stop regulation value set in advance, the lower limit value set by the cutting height dial 83, and the running of the cutting unit 16 detected by the lift potentiometer 68 The amount of lifting and lowering with respect to the aircraft and the on / off state of the trigger switch 86 are also read. Further, the control device 63 determines "falling mowing" based on the read data (S2).

Then, when the lodging mowing switch 66 is turned off and standard mowing is performed, it is determined from the operating state of the multi-steering lever 61 detected by the elevating lever potentiometer 62 whether or not there is a "manual descent operation" (S3). ), It returns if the ascending operation and the ascending / descending operation are not performed. However, if the manual lowering operation is performed here, the "elevation amount" is determined (S4), and if the ascending / descending amount of the cutting unit 16 with respect to the traveling machine body is higher than the lower limit value set by the cutting height dial 83, the "lowering amount" is determined. "Operation" is executed (S5).

Further, if the lifting amount is equal to or less than the lower limit value, the "release operating tool" is determined (S6), and if the trigger switch 86 constituting the release operating tool is not pulled in together with the multi-steering lever 61, " "Stop the lowering operation" is executed (S7). On the other hand, if the trigger switch 86 is pulled in together with the multi-steering lever 61, the "left and right cutting height sensor value" is determined (S8), and as already described, the right cutting height centimeter value is on the left. If it is lower than the cutting height centimeter value, substitute the right cutting height centimeter value into the cutting height sensor value (S9), otherwise substitute the left cutting height sensor value into the cutting height sensor value (S9). S10).

Then, the "cutting height sensor value" is determined (S11), and if the cutting height sensor value is equal to or less than the predetermined stop regulation value, the "downward operation stop" is executed (S7), otherwise. The "lowering operation" is continuously executed (S12).

Further, in step S2 described above, when the lodging mowing switch 66 is turned on and the lodging cutting is performed, the "control start condition" is determined (S13), and for example, the cutting clutch 52 and the threshing clutch 54 are turned on. Control start conditions such as that the cutting height position control is selected, that there is no error in each potentiometer, that the transmission is rotating, that the main shift lever 59 is in the forward region, etc. If even one of the above is not satisfied, the process returns to the steps after step S3 described above as unsuccessful.

However, if all the control start conditions are satisfied, the "manual elevating operation" is determined from the operating state of the multi-steering lever 61 detected by the elevating lever potentiometer 62 (S14), and if the manual elevating operation is performed, The process returns to the steps after step S3 described above. Further, if the manual ascending / descending operation is not performed, the same steps S15 to S23 as those of the ascending automatic control steps S12 to S20 are executed below. When executing the steps after step S18 described above, it is a prerequisite that the left and right cutting height sensors 69 _R and 69 _L do not cause an error such as a failure, although they are not particularly included in the flow. ..

The control contents of the automatic ascending / descending control, the automatic ascending / descending control, and the cutting height position control have been explained above. It can also be provided as a standard fixed value on the program. However, when the control device 63 executes the ascending / descending automatic control or the ascending / descending automatic control using the cutting height dial 83 that sets the lower limit value of the cutting height position control, these values are determined with reference to this. Can be done.

Then, in that case, the control target value of the automatic ascending / descending control can be freely set to the cutting height desired by the operator, or the control start height of the automatic ascending / descending control can be freely set to the height desired by the operator. And the range of discretion of automatic control can be expanded. Further, by sharing one cutting height dial 83, the cost can be reduced, the installation space in the control unit can be reduced, and the operability can be improved by avoiding interference with other operating tools. ..

In addition, the lodging cutting value that controls the cutting height with the lodging cutting, the width of the dead zone in control, the rising amount (constant amount) of the automatic rise control, the predetermined height to be added to the control start height, and the cutting height position control. The stop regulation value of is also set as a standard fixed value in the program, but for example, these values are written to a rewritable non-volatile memory, and the value written to this non-volatile memory is used at the start of each control. If it is read out and used, each value can be changed in advance using the liquid crystal monitor 90, and fine adjustment in each control becomes possible.

Further, the control start condition in the automatic lift control and the like is basically a condition that the cutting work is actually performed. For example, even when the cutting clutch 52 and the threshing clutch 54 are engaged, the running is stopped. If this is the case, it is not necessary to adjust the cutting height, and rather, priority is given to preventing the cutting unit 16 from unintentionally moving up and down at some timing to prevent danger.

Further, the raising and lowering of the cutting unit 16 gives priority to the manual operation, and the automatic control is started when the operator starts the cutting operation with the lowering operation of the cutting unit 16. Therefore, in the present embodiment, the control start condition is defined as described above, but the control start condition can be appropriately changed without departing from the intention.

Although the embodiment of the present invention has been described above, when the combine harvester is used not only for the head-feeding combine harvester but also for a general-purpose combine harvester, the culm culm that causes the drive speed of the scraping reel provided in the cutting section (header section) to fall down is scratched. The speed is increased when the harvester is used, and the scraping reel is moved forward and downward to ensure that the raised grain culm can be harvested without leakage. At that time, the control target value of the cutting height is set low to prevent uncut cutting.

Further, as described in paragraphs 0077 to 0079, when determining the lodging cut, a switch for detecting the switching operation of the auxiliary speed change lever 58 to the lodging position is used, or cutting is performed to cut the lying down culm. It is also possible to change various methods for increasing the speed of the cutting unit when the cutting operation is performed by increasing the driving speed of the unit, or to increase the speed of, for example, only the raising device or the cutting blade device instead of the entire cutting unit.

Furthermore, the lowering regulation of the cutting part using the cutting height sensor during the manual lowering operation can be an obstacle function for the user who gives priority to the uncut part even if the cutting part is temporarily buried in the ground. The present invention may be selected by using a liquid crystal monitor or the like so as not to perform the above embodiment, and the present invention is not limited to the above embodiment.

1 combine 16 harvesting part 33 threshing part 61 multi-steering lever (elevating operation tool)
63 Control device 66 Tilt switch 68 Lift potentiometer (position sensor)
69 Cutting height sensor 83 Cutting height dial (cutting height setting device)
86 Trigger switch (release operation tool)

Claims (9)

A cutting height sensor that detects the ground height is provided in the cutting section that cuts the fluffy harvester in the field and transports it toward the threshing section, and raises and lowers the cutting section based on the ground height detected by this cutting height sensor. In a combine harvester that is provided with a control device that controls the cutting height, this control device is used to increase the driving speed of the cutting section in order to cut the fallen fluffy grain in the field. , Control of cutting height A combine characterized by controlling the cutting height so as to prevent uncut cutting by setting a low target value. A plurality of the cutting height sensors are provided at different locations in the left-right direction of the cutting portion, and the control device raises and lowers the cutting portion based on the lowest ground height detected by these cutting height sensors. The combine according to claim 1, wherein the cutting height is controlled. The control device includes an automatic ascending / descending control that controls the cutting height by raising / lowering the cutting unit based on the control target values of the ground height and the cutting height detected by the cutting height sensor, and executes the automatic raising / lowering control. In this case, when performing the cutting work by increasing the driving speed of the cutting section in order to cut the fallen raised culm in the field, set the control target value of the cutting height low and leave the uncut portion. The combine according to claim 1 or 2, wherein the cutting height is controlled so as to prevent it. The control device includes an automatic ascending control that raises the cutting portion when the ground height detected by the cutting height sensor falls below the control start height, and when this automatic ascending control is executed, the field falls. When performing cutting work by increasing the driving speed of the cutting section in order to cut the culm, set the control target value of the cutting height low and set the cutting height so as to prevent uncut parts. The combine according to any one of claims 1 to 3, wherein the combine is controlled. A position sensor for detecting the amount of lift of the cutting section with respect to the traveling machine and a cutting height setting device that can be artificially set are provided, and the control device is detected by the position sensor when the cutting section is lowered by the lifting operation tool. When the lifted amount reaches the lower limit value set by the cutting height setting device, the lowering of the cutting part is stopped, or when the raising / lowering operation tool is lowered together with the release operation tool, the lower limit value is exceeded and the cutting part is moved. It is equipped with a lowering cutting height position control, and when this cutting height position control is being executed, the driving speed of the cutting section is increased in order to cut the fallen fluffy harvester in the field, and the cutting work is performed. The combine according to any one of claims 1 to 4, wherein the control target value of the cutting height is set low and the cutting height is controlled so as to prevent uncut parts. .. When the control device is performing automatic lifting control, when the lifting operation tool is lowered to lower the cutting unit, cutting is performed when the ground height detected by the cutting height sensor reaches the control target value. The combine according to claim 3, wherein the lowering of the portion is stopped. When the control device is performing automatic ascending control and the elevating operation tool is lowered to lower the cutting unit, the ground height detected by the cutting height sensor is a predetermined height as the control start height. The combine according to claim 4, wherein the lowering of the cutting portion is stopped when the added height is reached. When the control device is performing the cutting height position control, the cutting height sensor detects when the lifting operation tool is lowered together with the release operation tool to lower the cutting portion beyond the lower limit value. The combine according to claim 5, wherein the lowering of the cutting portion is stopped when the height to the ground reaches the stop regulation value. The control device determines a control target value of the cutting height when executing automatic elevating control and a control start height when executing automatic elevating control by one artificially settable cutting height setting device. Or, determine the control start height when executing the ascending automatic control and the lower limit value when executing the cutting height position control by one artificially settable cutting height setting device, or artificially set it. Control target value of mowing height when executing automatic elevating control by one possible cutting height setter, control start height when executing automatic elevating control, and lower limit value when executing mowing height position control The combine according to any one of claims 3 and 4, or 4 and 5, or 3 and 4 and 5, which is characterized by determining.

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