JP2020141570A - Crop harvester - Google Patents

Abstract

To provide a crop harvester capable of safely working without damaging crops.SOLUTION: A crop harvester includes a first conveyance belt rotatingly driven so as to clamp Daikon radish, a crop in a field from both left/right outer sides and to convey it from the field toward a rear upper side of a machine body, a direction setup unit 65 receiving an input of a command to rotate the first conveyance belt reversely in the rotation direction in the conveyance, and a control device 71 controlling the rotation drive of the first conveyance belt. The control device 71 reversely rotates the first conveyance belt after a lapse of a first period determined as a prescribed period from when the direction setup unit 65 receives the input of command to rotate reversely.SELECTED DRAWING: Figure 5

Description

The present invention relates to a crop harvester.

Patent Document 1 describes a root vegetable crop harvesting provided with a pull-out transport device having a pair of left and right pull-out transport zones (an example of the transport body of the present application) supported in an obliquely upwardly inclined posture from the front portion to the rear portion of the machine body. The machine is listed. As the aircraft moves forward, the crops in the field enter between the pair of left and right transport zones from the front of the pair of left and right transport zones that are rotationally driven. The crops are transported to the posterior diagonally upper side of the aircraft and collected while being sandwiched by a pair of transport zones.

Patent Document 2 describes a crop harvester that cuts and harvests the roots of crops such as corn. This crop harvester has a cutting section that rotates multiple drums with blades on the outer circumference inward, a reverse button (an example of an input section) that instructs the reverse of the drums, and when the reverse button is pressed. In addition, a signal for decelerating the rotation drive of the drum is output, and the forward rotation drive of the drum is decelerated by the first deceleration means, which decelerates the forward rotation drive based on the output of the signal. Based on this, a replacement control means for replacing the mission for reversely driving the drum, and a reverse drive means for reversely driving the drum after the missions are replaced by the replacement control means are provided. When the reverse button is released, this crop harvester returns to the forward rotation direction by the reverse operation. Even if the crop is caught between the drums of the cutting section and is clogged, this crop harvester can remove the clog by reverse driving the drums.

JP-A-2016-208872 Japanese Unexamined Patent Publication No. 2016-154485

As described above, in the crop harvester, when the rotating device is clogged with crops, the clog is cleared by rotating the rotating device in the reverse direction. However, for example, if the worker suddenly touches the reverse button with the reverse button and the rotating device suddenly reverses, there is a risk of damaging the crop. Therefore, it is desired to provide a crop harvester that can work safely without damaging the crop.

The present invention has been made in view of such circumstances, and an object of the present invention is to provide a crop harvester capable of safely working without damaging the crop.

The characteristic configuration of the crop harvester according to the present invention for achieving the above object is
A carrier that is rotationally driven so as to sandwich the crops in the field from both the left and right sides and transport them from the field toward the rear and upper part of the machine.
An input unit that receives an input of a command to rotate the transport body in the reverse direction with respect to the rotation direction during transport.
A control unit that controls the rotational drive of the carrier is provided.
The control unit is at a point where the carrier is rotated in the reverse direction after a first period defined as a predetermined period has elapsed since the input unit receives the input of the command for the reverse rotation.

According to the above configuration, the control unit reversely rotates the carrier after the first period elapses after the input unit receives the input of the command for reverse rotation. As a result, even if the input unit receives the input of the command to rotate in the reverse direction, the carrier does not rotate in the reverse direction until at least the first period has elapsed. Therefore, even if the operator unexpectedly brings the body into contact with the input portion, the carrier does not unexpectedly rotate in the reverse direction. Therefore, it is possible to provide a crop harvester that can work safely without damaging the crop.

A further characteristic configuration of the crop harvester according to the present invention is that the control unit reverses the transport body after the first period elapses in a state where the input unit receives the input of the command to rotate in the reverse direction. It is at the point of rotation.

According to the above configuration, if the first period elapses while maintaining the state of accepting the input from the time when the input unit receives the input of the command to rotate in the reverse direction, the carrier is rotated in the reverse direction. On the other hand, if the input of the reverse rotation command from the input unit is interrupted before the first period elapses, the carrier does not rotate in the reverse direction. Therefore, even if the worker unexpectedly touches the body to the input part, if the worker notices the contact and separates the body from the input part by at least the first period elapses, the carrier Unexpected reverse rotation can be prevented. Therefore, it is possible to provide a crop harvester that can work safely without damaging the crop.

A further characteristic configuration of the crop harvester according to the present invention is that the input unit is in the first state in which the input of the reverse rotation command is canceled and in the state of receiving the input of the reverse rotation command. It has a switch that can be switched to a second state, and the switch maintains the second state by continuing the input operation of the reverse rotation command, and when the input operation is released, the first state It is at the point of switching to.

According to the above configuration, the input unit maintains the first state when the input operation of the command to rotate the switch in the reverse direction is not performed. Further, even in the second state, when the input operation of the command to rotate the switch in the reverse direction is released, the switch is switched to the first state and the first state is maintained as it is. Therefore, the carrier does not rotate in the reverse direction when the input operation of the command to rotate in the reverse direction is released. Therefore, even if the operator suddenly touches the body with the input portion, the transport body does not unexpectedly rotate in the reverse direction, and if the worker quickly separates the body from the input portion, the transport body unexpectedly rotates. Reverse rotation can be prevented. Therefore, it is possible to provide a crop harvester that can work safely without damaging the crop.

A further characteristic configuration of the crop harvester according to the present invention is that the control unit stops the transport body during transport, and the input unit receives an input of a command to rotate in the reverse direction for a further predetermined period. After the lapse of the second period defined as, the point is to rotate the carrier in the reverse direction.

According to the above configuration, when the transport body is being transported (rotationally driven in the forward rotation direction), the state of accepting the input is maintained from the time when the input unit receives the input of the command to rotate in the reverse direction. After the first period has elapsed and the second period has elapsed while maintaining the state of accepting the input even after the carrier is stopped, the carrier is rotated in the reverse direction. As a result, even if the input unit receives the input of the command to rotate in the reverse direction, at least until the first period elapses and the second period elapses with the input unit continuing to accept the input of the command to rotate in the reverse direction. , The carrier does not rotate in the reverse direction. Therefore, even if the operator unexpectedly brings the body into contact with the input portion, the carrier does not unexpectedly rotate in the reverse direction. Further, even if the worker is not aware that the body is in contact with the input portion, the worker can perceive the stop of the carrier and notice that the body is in contact with the input portion. .. Therefore, it is possible to provide a crop harvester that can work safely without damaging the crop.

A further characteristic configuration of the crop harvester according to the present invention is that the notification unit is further provided, and the control unit causes the notification unit to perform a predetermined notification when the carrier is rotated in the reverse direction.

According to the above configuration, even if the operator does not notice that the body is in contact with the input unit and the transport body rotates in the reverse direction due to this, the worker rotates the transport body in the reverse direction by the notification of the notification unit. You can notice that. As a result, the worker can take measures that do not damage the crop (for example, canceling the input of the command to rotate in the reverse direction). That is, it is possible to provide a crop harvester that can work safely without damaging the crop.

A further characteristic configuration of the crop harvester according to the present invention is that the notification unit has a speaker that outputs a predetermined sound as the predetermined notification.

According to the above configuration, it can be notified by a sound (for example, an alarm sound or a buzzer sound).

A further characteristic configuration of the crop harvester according to the present invention is a hydraulic motor that rotationally drives the carrier and switches the rotation direction according to the flow direction of the supplied hydraulic oil, and a flow direction of the hydraulic oil. A spool valve for switching is further provided, and the control unit controls the rotation direction of the carrier by switching to the spool valve.

According to the above configuration, the rotation direction of the hydraulic motor can be switched by switching the flow direction of the hydraulic oil by the spool valve, and the rotation direction of the transport body can be switched between the rotation direction at the time of transportation and the reverse rotation thereof. ..

It is a side view of a radish harvester. It is a top view of a radish harvester. It is sectional drawing which shows the support structure of a transport device. It is a hydraulic circuit diagram which shows the drive system of a hydraulic motor. It is a figure which shows the linkage state of a control device and each part. It is an operation flow diagram when the first conveyor belt is rotated forward. It is an operation flow diagram when the first conveyor belt is rotated in the reverse direction. It is an operation flow diagram when the separation belt is rotationally driven.

The crop harvester according to the present invention will be described below with reference to the drawings. In the present embodiment, as shown in FIGS. 1 and 2, as an example of the crop harvester according to the present embodiment, a radish harvester 100 for harvesting radish from a field will be illustrated and described.

In the following description, the direction of arrow F is "front side of the aircraft" (see FIGS. 1 and 2), the direction of arrow B is "rear side of the aircraft" (see FIGS. 1 and 2), and the direction of arrow U is "upper side". (See FIG. 1), the direction of arrow D is "lower" (see FIG. 1), the direction of arrow L is "left side of the aircraft" (see FIG. 2), and the direction of arrow R is "right side of the aircraft" (see FIG. 2). And.

[Overall composition of radish harvester]
As shown in FIGS. 1 and 2, the radish harvester 100 is supported by the body 1, the right and left crawler-type traveling devices 2 supporting the body 1, and the front right portion of the body 1, and is supported by the operation panel 3a and the seat 3b. The operation unit 3 having (see FIG. 2), the transport device 4 supported along the front-rear direction on the left side of the machine body 1, the separation device 5 supported on the front (front) of the transport device 4, and the transport device. The transport conveyor 7 is supported along the left-right direction at the lower position of the rear part of 4, the storage part 8 as the harvesting part of the crop supported at the rear part of the machine body 1, and the front part of the machine body 1. Auxiliary wheels 6 and subsoilers 17, a work deck 9 for auxiliary workers (assistants) provided between the transport conveyor 7 and the storage unit 8, and front and rear supported by the upper part of the machine body 1. It is provided with a roof 10 extending from the operating unit 3 to the storage unit 8 in the direction and extending from the operating unit 3 to the transport device 4 in the left-right direction. The radish harvester 100 includes a control device 71 (see FIG. 5, an example of a control unit) as an internal device as its central control device.

[Structure of transport device]
The transport device 4 is a device that transports the fish from the field toward the rear side of the machine body and the upper side of the machine body. As shown in FIG. 1, the entire transport device 4 is supported in a rear-up shape (front-down shape). The front part of the transport device 4 is located at a low position close to the field. The rear part of the transfer device 4 is located at a high position on the upper side of the transfer conveyor 7.

The transport device 4 includes a right and left support frame 13, an arch-shaped lateral frame 16, a cutter 14, right and left rotating bodies 15 supported by the front and rear ends of the support frame 13, right and left rotating bodies 15. A hydraulic motor 40 (an example of a transport body) that rotationally drives a first transport belt 11 (an example of a transport body), a right and left second transport belt 12 (another example of a transport body), a first transport belt 11 and a second transport belt 12 An example of a hydraulic motor), a hydraulic motor 42 that rotationally drives the transfer conveyor 7, and a rotation speed sensor 69 that detects the rotation speed of the first transfer belt 11. As shown in FIG. 2, the transport device 4 is arranged on the left side of the machine body as one end side in the left-right direction of the machine body. The operation unit 3 is arranged on the right side of the machine body as the other end side in the left-right direction of the machine body of the transport device 4. The sideways frame 16 is connected over the front portion of the right and left support frames 13. In this embodiment, the rotation speed means the number of rotations per unit time.

The first transport belt 11 sandwiches the leaf portion A1 of the radish A in the field from both the left and right outer sides, and transports the radish A from the field toward the rear side of the machine body and the upper side of the machine body. The first transport belt 11 is attached over the front and rear rotating bodies 15, and the entire first transport belt 11 is supported in a rear-up shape (front-down shape) and rotatably.

The second transport belt 12 is supported from the lower side of the intermediate portion in the front-rear direction of the first transport belt 11 along the first transport belt 11 in a rear-up shape (front-down shape). At the rear of the second transfer belt 12, a cutter 14 is supported between the first transfer belt 11 and the second transfer belt 12.

The hydraulic motors 40 and 42 are energy conversion devices that rotate by converting the fluid force generated by the flow of the hydraulic oil into rotational power when the hydraulic oil is supplied. The rotation direction of the hydraulic motors 40 and 42 is determined according to the flow direction of the hydraulic oil. The supply of hydraulic oil to the hydraulic motors 40 and 42 will be described later.

The rotation speed sensor 69 is provided in the hydraulic motor 40, detects the rotation speed of the hydraulic motor 40, and detects and outputs the rotation speed of the first transfer belt 11 (second transfer belt 12).

[Structure of separator]
As shown in FIGS. 1 and 2, the separation device 5 includes four sets of separation belts 18, 19, upper and lower, as a separate body integrally formed so that a large number of locking claws 18a, 19a are lined up at intervals. It includes a vertical frame 20 arranged in the direction, a hydraulic motor 41 that rotationally drives the separation belts 18 and 19, and a rotation speed sensor 70 that detects the rotation speed of the separation belts 18 and 19. In the separating device 5, the vertical frame 20 is supported by the front portion of the support frame 13.

The two sets of separation belts 19 are rotatably supported by the vertical frame 20 at intervals in the left-right direction so that the locking claws 19a face in the left-right direction. In front of the front portion of the right and left first transport belts 11, the locking claws 19a of the right and left separation belts 19 are in a state of facing each other.

The right and left separation belts 18 are rotatably supported by the vertical frame 20 at intervals in the left-right direction. The right and left separation belts 18 are arranged in front of the separation belt 19. The locking claw 18a of the separation belt 18 faces forward.

Similar to the hydraulic motors 40 and 42, the hydraulic motor 41 is an energy conversion device that rotates by converting the fluid force due to the flow of the hydraulic oil into rotational power when the hydraulic oil is supplied. The rotation direction of the hydraulic motor 41 is determined according to the flow direction of the hydraulic oil. The supply of hydraulic oil to the hydraulic motor 41 will be described later.

The rotation speed sensor 70 is provided in the hydraulic motor 41, detects the rotation speed of the hydraulic motor 41, and detects and outputs the rotation speeds of the separation belts 18 and 19.

[Support structure of transport device]
As shown in FIGS. 1 to 3, a hydraulic cylinder 25 for raising and lowering the upper link 22, the lower link 23, the vertical link 24, and the upper link 22 and the lower link 23 is provided on the left front portion of the machine body 1. .. Auxiliary wheels 6 and a subsoiler 17 are supported on the front parts of the upper link 22 and the lower link 23.

The upper link 22 and the lower link 23 are supported so as to be swingable up and down. A vertical link 24 is connected to the front portion of the upper link 22 and the lower link 23, and a quadruple link is formed by the upper link 22, the lower link 23, and the vertical link 24.

The support link 26 is swingably supported around the axial core P1 in the left-right direction at the front portion of the lower link 23. A support link 27 is swingably supported around an axial core P2 in the left-right direction above the support link 26. The support links 26 and 27 are supported by the lower link 23. The hydraulic cylinder 28 is connected over the support links 26 and 27. The upper part of the support link 27 is swingably connected to the upper part of the lateral frame 16.

A vertical support 29 connected vertically, a tubular member 30 slidably slidably supported in the vertical direction along the vertical support 29, and a tubular member 30 are mounted on the left rear portion of the machine body 1. An elevating hydraulic cylinder 31 that slides up and down is provided. The rear portion of the support frame 13 is swingably connected to the upper end portion of the tubular member 30.

By sliding the tubular member 30 up and down by the lifting hydraulic cylinder 31, the height of the rear end portion of the transport device 4, that is, the rear portion of the support frame 13 (second transport belt 12) can be changed. In this case, the displacement of the support frame 13 in the front-rear direction due to the vertical slide is absorbed by the support links 26 and 27 swinging back and forth around the axis P1.

As will be described later, in harvesting radish A (an example of a crop), for example, when radish A is long, the height of the rear end portion of the transport device 4 may be slightly increased. When the radish A is short, the height of the rear end portion of the transport device 4 may be slightly lowered. As a result, the vertical distance between the rear end of the second transport belt 12 and the conveyor 7 can be adjusted to the length of the radish A.

Further, by extending and contracting the hydraulic cylinder 28, bending and stretching the support links 26 and 27, and changing the position of the upper part of the support link 27 up and down, the front of the first transport belt 11 (support frame 13) The height of the part from the field can be changed.

As described above, when the rear end portion of the transport device 4, that is, the rear portion of the support frame 13 (second transport belt 12) is lifted and lowered by the lifting hydraulic cylinder 31, the tubular member 30 is in the middle of the vertical sliding range. When it is located below the portion and the intermediate portion, as shown in FIGS. 1 and 2, the left rear portion 10a of the roof 10 is in a horizontal posture connected to the main body portion 10b of the roof 10.

As shown in FIGS. 1 and 2, the support link 32 is vertically swingably supported on the front portion of the support frame 13. The front portion of the support link 32 is swingably connected to the lower portion of the vertical frame 20. The support frame 13 and the vertical frame 20 are connected via a support link 32.

An operation arm 33 and a hydraulic cylinder 34 are provided on the left front portion of the machine body 1. The operation arm 33 is supported so as to be swingable up and down around the axis P3 in the left-right direction of the left front portion of the machine body 1. The front portion of the operation arm 33 is swingably connected to the upper portion of the vertical frame 20. The hydraulic cylinder 34 is connected to the lower link 23 and the operation arm 33. The hydraulic cylinder 34 is supported by the lower link 23.

When the upper link 22 and the lower link 23 (auxiliary wheels 6 and the subsoiler 17) are moved up and down by the hydraulic cylinder 25 when the machine body 1 is turning, the front part of the transport device 4 and the separating device 5 move up and down together. The height of the separation device 5 from the field is changed by swinging the operation arm 33 up and down by the hydraulic cylinder 34. Even if the height of the front part of the first transport belt 11 (support frame 13) from the field is changed by the hydraulic cylinder 28, this operation is absorbed by the support link 32 and the height of the separation device 5 does not change. .. Similarly, even if the height of the separating device 5 from the field is changed by the hydraulic cylinder 34, this operation is absorbed by the support link 32 and reaches the height of the front portion of the first transport belt 11 (support frame 13). There is no change.

[Flow of radish harvesting by transport device and separation device]
As shown in FIG. 1, as the aircraft 1 moves forward, the radish A in the row to be harvested is inserted between the right and left separation belts 18.

The locking claws 18a facing forward on the right and left separation belts 18 move upward between the leaf A1 of the radish A in the row to be harvested and the leaf A1 of the radish A in the adjacent row. The separation belt 18 is rotationally driven to separate the leaf portions A1 of the adjacent radish A from each other.

Next, the radish A in the row to be harvested enters between the right and left separation belts 19, and the separation belt 19 moves upward so that the opposing locking claws 19a in the right and left separation belts 19 move upward. Rotationally driven, in the radish A in the row to be harvested, the leaf portions A1 of the adjacent radish A are separated from each other.

The first transport belt 11 is rotationally driven so that the opposing portions of the right and left first transport belts 11 move to the rear side. Similarly, the right and left second transport belts 12 are also rotationally driven so that the opposing portions move to the rear side.

The leaf A1 of the radish A in the row to be harvested enters between the right and left first transport belts 11 from the front of the right and left first transport belts 11 and is formed by the right and left first transport belts 11. While being pinched, the radish A is lifted (pulled out) from the field and transported to the rear side. In this case, since the soil in the field is destroyed by the subsoiler 17, the radish A is reasonably lifted (pulled out) from the field.

The radish A is transported to the rear side by the first transport belt 11, and the lower portion of the first transport belt 11 in the leaf portion A1 of the radish A is sandwiched and transported by the right and left second transport belts 12. The upper portion of the second transport belt 12 in the leaf portion A1 of the radish A is cut by the cutter 14.

At the rear end of the second conveyor belt 12, the radish A falls from the second conveyor belt 12 onto the conveyor 7, and is conveyed to the right by the conveyor 7. The worker of the work deck 9 takes out the good radish A from the radish A conveyed by the transfer conveyor 7 and arranges the good radish A in the storage unit 8 in an aligned state, and the defective radish A is conveyed by the transfer conveyor 7. Then, it is discharged from the right end of the conveyor 7 to the field.

In this case, as described above, the height of the rear portion of the support frame 13 (second conveyor belt 12) is changed so that the vertical distance between the rear end portion of the second conveyor belt 12 and the conveyor 7 is set to the length of the radish A. By adjusting the height, the radish A can be made to fall from the second conveyor belt 12 to the conveyor 7 without spilling at the rear end portion of the second conveyor belt 12.

The leaf portion A1 of the radish A is transported to the rear side by the first transport belt 11, and is discharged from the rear end of the first transport belt 11 to the field. In this case, a guide plate 21 for guiding the leaf portion A1 of the radish A is provided so that the leaf portion A1 of the radish A falls substantially directly below the rear end portion of the first transport belt 11.

[Outline of traveling transmission system and transportation transmission system]
As shown in FIG. 4, the power of the engine 35 is transmitted from the output shaft 35a of the engine 35 to the hydrostatic continuously variable transmission 38 via the transmission belt 36.

The power shifted by the hydrostatic continuously variable transmission 38 is transmitted to the traveling device 2, and the machine body 1 moves forward and backward. The hydrostatic continuously variable transmission 38 is moved forward and backward by the operator artificially operating the speed change lever 78 (see FIGS. 2 and 4) provided on the front side of the seat 3b in the driver unit 3. Can be operated to. The traveling device 2 is provided with a traveling speed sensor 68 that detects the traveling speed of the machine body 1.

The power of the engine 35 is transmitted from the output shaft 35a of the engine 35 to the hydraulic pump 39 via the transmission belt 37, and the hydraulic pump 39 is driven. The discharge pressure of the hydraulic oil by the hydraulic pump 39 increases as the rotation speed of the engine 35 increases, and decreases as the rotation speed of the engine 35 decreases. By driving the hydraulic pump 39, hydraulic oil is supplied to the hydraulic motors 40, 41, 42. As a result, the hydraulic motors 40, 41, and 42 rotate, and the first transfer belt 11, the second transfer belt 12, the separation belts 18, 19, and the transfer conveyor 7 are rotationally driven.

As described above, the traveling transmission system that transmits power to the traveling device 2 and the transport transmission system that transmits power to the transfer device 4, the separation device 5, and the transfer conveyor 7 are branched in parallel from the engine 35. , The traveling transmission system and the transport transmission system are in an independent relationship with each other.

[Hydraulic circuit for driving the transfer device and separation device]
As shown in FIG. 4, the radish harvester 100 includes a tank 43 for storing hydraulic oil as a hydraulic circuit for driving a transport device 4 and a separating device 5, a strainer 44 for purifying hydraulic oil, and a hydraulic pump 39 for outputting hydraulic oil. A control valve unit 45 for controlling the supply of hydraulic oil to the transfer device 4 and the separation device 5 is provided. The hydraulic oil of the tank 43 is supplied to the hydraulic pump 39 via the strainer 44, and the hydraulic oil of the hydraulic pump 39 is supplied to the control valve unit 45.

The control valve unit 45 includes a control valve 46 and a control valve 47. The hydraulic oil of the hydraulic pump 39 is supplied to the control valve 46 by the oil passage 48. The hydraulic oil of the hydraulic pump 39 is supplied to the control valve 47 by the oil passage 49 branched from the oil passage 48.

The hydraulic oil returned from the control valves 46 and 47 is supplied from the oil passage 50 to the filter 51, and is returned from the filter 51 to the tank 43. The oil passages 52 are connected over the oil passages 48 and 50, and a relief valve 53 for protecting the control valves 46 and 47 is provided in the oil passages 52.

The control valve 46 passes the hydraulic oil in a neutral position 46N that does not allow the hydraulic oil to flow, a normal rotation position 46A that allows the hydraulic oil to flow in the direction in which the hydraulic motor 40 is driven in the forward direction, and a direction in which the hydraulic motor 40 is driven in the reverse direction. This is an electromagnetically operated type spool valve whose position is variably configured within a range of three positions of the reversing position 46B to be flowed. The hydraulic motor 40 can be driven in the forward rotation and the reverse rotation, and a pair of oil passages 54 from the control valve 46 are connected to the hydraulic motor 40. The oil passage 55 from the relief valve 40a built in the hydraulic motor 40 is connected to the filter 51.

The control valve 47 is variably configured in a range of two positions, a neutral position 47N that does not allow hydraulic oil to flow and a normal rotation position 47A that allows hydraulic oil to flow in the direction in which the hydraulic motor 41 rotates in the normal direction. This is a model spool valve. The hydraulic motor 41 is only driven in the forward rotation, and the oil passage 56 from the control valve 47 is connected to the hydraulic motor 41. The oil passage 57 from the relief valve 41a built in the hydraulic motor 41 is connected to the oil passage 55.

The oil passage 58 from the hydraulic motor 41 is connected to the hydraulic motor 42, and the hydraulic motor 42 is only driven in the forward rotation. The oil passage 59 from the hydraulic motor 42 is connected to the oil cooler 60, and the hydraulic oil is returned from the oil cooler 60 to the tank 43. An oil passage 61 bypassing the hydraulic motor 42 is connected over the oil passages 58 and 59, and a variable throttle portion 62 is provided in the oil passage 61.

[Control of transport device and separation device]
As shown in FIG. 5, the control device 71 controls the transfer device 4 and the separation device 5. The control device 71 includes a tuning switch 64, a work clutch switch 63, a transfer speed setting unit 66, a separation speed setting unit 67, and a speed change lever of the operation unit 3 provided on the operation panel 3a (see FIG. 2) of the operation unit 3. Separation from the hydraulic motor 40 of the transport device 4 based on the instruction input from the direction setting unit 65 (an example of the input unit) provided on the knob portion of 78 (see FIG. 2) and the detection values of the rotation speed sensors 69 and 70. It controls the rotational drive of the hydraulic motor 41 of the device 5.

The control device 71 is a device having a CPU and a memory. In the control device 71, the transfer control unit 72 that controls the operation of the transfer device 4 by the CPU executing the software stored in the memory, the separation control unit 73 that controls the operation of the separation device 5, and the transfer device 4 The notification control unit 74 that notifies the notification unit 79 of the operating state is realized. In the present embodiment, the notification unit 79 has a speaker 79a installed on the operation panel 3a of the operation unit 3, and a notification sound (buzzer sound) can be transmitted from the speaker 79a as notification.

The direction setting unit 65 is artificially operated (input operation) by the operator to receive the input of the operator's instruction. The rotation direction of the hydraulic motor 40 (first transfer belt 11 and second transfer belt 12) can be set by input operation to the direction setting unit 65. The direction setting unit 65 includes a forward rotation button 65a which is a push-lock type switch by a push button, and a reverse rotation button 65b and a stop button 65c which are push button type switches. The forward rotation button 65a, the reverse rotation button 65b, and the stop button 65c can be switched between the pushed state and the released state, respectively.

The stop button 65c is maintained in the pushed state only during the pushing operation by the operator or the like, and naturally (automatically) returns to the released state when the pushing operation by the worker or the like is released.

When the forward rotation button 65a is pushed by an operator or the like, it is locked in the pushed state to maintain the pushed state. The forward rotation button 65a automatically returns to the release state when the stop button 65c is pushed in.

When the forward rotation button 65a is pushed in and locked in the pushed state, the direction setting unit 65 outputs an instruction input for driving the hydraulic motor 40 in the forward rotation to the control device 71. In the present embodiment, while the forward rotation button 65a is locked in the pushed state, the instruction input for driving the hydraulic motor 40 in the forward rotation is continuously output to the control device 71.

The reverse button 65b is maintained in the pushed state (an example of the second state) only during the pushing operation by the operator or the like, and is naturally (automatically) released (the first state) when the pushing operation by the operator or the like is released. Return to one example).

When the reverse rotation button 65b is pushed in and input, the direction setting unit 65 outputs an instruction input for reversely driving the hydraulic motor 40 to the control device 71. The direction setting unit 65 continues to output an instruction input for driving the hydraulic motor 40 in the reverse direction to the control device 71 while the reverse rotation button 65b is pushed in and input. When the stop button 65c is pushed in and input, the direction setting unit 65 outputs an instruction input for stopping the hydraulic motor 40 to the control device 71.

The tuning switch 64 is an on / off type switch artificially operated by an operator. The synchronization switch 64 switches between synchronizing the rotation speed of the first transport belt 11 with the travel speed of the machine body 1 detected by the travel speed sensor 68 and enabling the rotation speed of the first transport belt 11 to be manually operated. .. When the tuning switch 64 is OFF (OFF in FIG. 5), the rotation speeds of the first transfer belt 11, the second transfer belt 12, and the separation belt 19 are set to the transfer speed setting unit 66 independent of the traveling speed of the machine body 1. And it can be set by manual operation by the separation speed setting unit 67. When the tuning switch 64 is ON (ON in FIG. 5), the rotation speeds of the first transport belt 11, the second transport belt 12, and the separation belt 19 are set in synchronization with the traveling speed of the machine body 1.

The transfer speed setting unit 66 and the separation speed setting unit 67 are dial-operated output adjustment switches, and are operation interfaces that receive inputs for setting target rotation speeds of the first transfer belt 11 and the separation belts 18 and 19. The target rotation speed of the first transfer belt 11 can be set (adjusted) by adjusting the position (setting value) of the memory 66a of the transfer speed setting unit 66 in the operation range from "low" to "high". The target rotation speeds of the separation belts 18 and 19 can be set (adjusted) by adjusting the position of the memory 67a of the separation speed setting unit 67 in the range of "low" to "high". The setting of the target rotation speed of the transport speed setting unit 66 and the separation speed setting unit 67 is determined proportionally to the positions of the respective memories 66a and 67a in the operation range from "low" to "high", for example. be able to.

The transfer control unit 72 provides feedback so that the rotation speed of the first transfer belt 11 detected by the rotation speed sensor 69 becomes the target rotation speed of the first transfer belt 11 set by the adjustment of the transfer speed setting unit 66. Take control. This feedback control is performed by adjusting the duty ratio of the control valve 46, as will be described later. Further, the transfer control unit 72 controls the rotation direction of the hydraulic motor 40 so that the first transfer belt 11 and the second transfer belt 12 are rotationally driven in the rotation direction set by the direction setting unit 65.

When the first transport belt 11 is rotated in the forward direction (normal rotation), the transfer control unit 72 operates the control valve 46 alternately at the neutral position 46N and the normal rotation position 46A to rotate the cycle and the normal rotation position 46A. Duty control (hereinafter referred to as forward rotation control) for changing or adjusting the duty ratio, which is the ratio to the operation time, is performed. As a result, the flow rate is controlled so that the hydraulic oil having a predetermined flow rate is supplied (flowed) to the hydraulic motor 40 in the direction of the forward rotation drive, and the hydraulic motor 40 is driven in the forward rotation at the controlled rotation speed. To. The hydraulic motor 40 that rotates at the rotational speed controlled in this way rotates the first transport belt 11 in the forward rotation direction at the target rotational speed. Further, the second transport belt 12 is rotationally driven in synchronization with the first transport belt 11.

When the first transport belt 11 is rotated (reversed) in the reverse direction, the transfer control unit 72 operates the control valve 46 alternately at the neutral position 46N and the reverse position 46B to obtain the cycle and the operation time of the reverse position 46B. Duty control (hereinafter referred to as reverse control) for changing or adjusting the duty ratio, which is the ratio of As a result, the flow rate is controlled so that the hydraulic oil having a predetermined (fixed) flow rate is supplied (flowed) to the hydraulic motor 40 in the direction of reverse drive, and the hydraulic motor 40 is preset (fixed). It is driven in reverse at the rotation speed of. In this way, the first transport belt 11 is rotationally driven in the reverse rotation direction. Further, the second transport belt 12 is rotationally driven in the reverse rotation direction in synchronization with the first transport belt 11. The transport control unit 72 ends the reverse rotation control when the instruction input for reversely driving the hydraulic motor 40 is no longer detected.

When the hydraulic motor 40 is stopped, the transport control unit 72 sets the control valve 46 to the neutral position 46N and performs prohibition control for prohibiting the supply of hydraulic oil to the hydraulic motor 40. As a result, the hydraulic motor 40 is stopped and the rotary drive of the first transport belt 11 is also stopped. Further, the second transport belt 12 also stops in synchronization with the first transport belt 11.

The transport control unit 72 starts and continues the normal rotation control during the period of detecting the instruction input for driving the hydraulic motor 40 in the forward rotation, which is output by the direction setting unit 65. The transport control unit 72 executes reverse rotation control at least within a period of detecting an instruction input for reversely driving the hydraulic motor 40 output by the direction setting unit 65.

When the transport control unit 72 detects an instruction input for reversely driving the hydraulic motor 40 output by the direction setting unit 65 during normal rotation control, the transfer control unit 72 sequentially performs the following control during the period in which the instruction input is detected. ..

When the instruction input for reversely driving the hydraulic motor 40 is detected, the forward rotation control is continued for a predetermined period (an example of the first period, for example, 2.0 seconds as the predetermined period). After that, the forward rotation control is temporarily stopped, and the prohibition control for prohibiting the supply of hydraulic oil to the hydraulic motor 40 is performed to stop the hydraulic motor 40. The transport control unit 72 continues the prohibition control for a predetermined period (an example of the second period, for example, 2.5 seconds as the predetermined period). After that, the reverse rotation control is started. When the instruction input for driving the hydraulic motor 40 in the reverse direction is not detected during the reverse rotation control, the normal rotation control that has been temporarily stopped is restarted.

When the transport control unit 72 detects the instruction input for stopping the hydraulic motor 40 output by the direction setting unit 65, the control valve 46 is set to the neutral position 46N to stop the hydraulic motor 40. As a result, the first transfer belt 11 and the second transfer belt 12 are stopped.

The transport control unit 72 also executes on-counting and zero-counting, which will be described later. The operation flow of the rotation speed control of the first transfer belt 11 by the transfer control unit 72, the direction setting unit 65, and the transfer speed setting unit 66 will be described later separately for the case of forward rotation and the case of reverse rotation.

The separation control unit 73 feedback-controls so that the rotation speed of the separation belts 18 and 19 detected by the rotation speed sensor 70 becomes the target rotation speed of the separation belts 18 and 19 set by the adjustment of the separation speed setting unit 67. I do. This feedback control is performed by duty control of the control valve 47, as will be described later.

The separation control unit 73 operates the control valve 47 alternately and repeatedly at the neutral position 46N and the normal rotation position 47A to change or adjust the duty ratio, which is the ratio between the period and the operation time of the normal rotation position 47A. Take control. As a result, the flow rate of the hydraulic oil for which a predetermined flow rate of the hydraulic oil is supplied (flowed) to the hydraulic motor 41 is controlled, and the hydraulic motor 41 is driven in the forward rotation at the controlled rotation speed. The separation belts 18 and 19 are rotationally driven at the target rotation speed by the hydraulic motor 41 that rotates at the rotation speed controlled in this way.

The operation flow of the rotation speed control of the separation belts 18 and 19 by the separation control unit 73 and the transfer speed setting unit 66 will be described later.

The notification control unit 74 performs notification control that outputs an operation command to the notification unit 79 to emit a notification sound according to the operation state of the transport device 4. The notification control unit 74 in the present embodiment outputs an operation command to the notification unit 79 to the effect that a notification sound is emitted when the transport device 4 is rotating in the reverse direction. The notification control unit 74 acquires the operating state of the transport device 4 from the transport control unit 72.

The notification control by the notification control unit 74 will be described later together with the control flow when the first transport belt 11 is rotated in the reverse direction.

[Operation flow when the first transport belt is rotated forward]
FIG. 6 shows a control flow when the first transport belt 11 is rotated in the forward direction. This control flow is executed by the transport control unit 72 during the operation of the control device 71. Since the second transfer belt 12 is rotationally driven in synchronization with the first transfer belt 11 in the present embodiment, the description of the second transfer belt 12 will be omitted below.

If the engine 35 is started (# 61, YES), it is determined whether or not the manual operation is possible (# 62). If the engine 35 has not started (# 61, NO), it waits. In the present embodiment, the tuning switch 64 is off, the work clutch switch 63 of the radish harvester 100 is on (ON in FIG. 5), and the forward rotation button 65a of the direction setting unit 65 is locked in the pushed state. For example, it is determined that manual operation is possible (# 62, YES), and the target rotation speed of the first transfer belt 11 and the corresponding target rotation of the hydraulic motor 40 are determined based on the position of the memory 66a of the transfer speed setting unit 66. Get the speed (# 63). Then, a control value for setting the duty ratio of the control valve 46 is obtained based on the target rotation speed, and a predetermined real number adjustment value (hereinafter, referred to as "first adjustment value") is obtained for the control value. Is added, and this is output as a control signal to the control valve 46 (# 64). The control valve 46 performs forward rotation control based on this control signal.

After outputting the control signal (# 64), the rotation speed of the first conveyor belt 11 detected by the rotation speed sensor 69 is not too slow (not insufficient rotation) with respect to the target rotation speed (# 65, NO). If the rotation speed is not too fast (not excessive rotation) (# 67, NO) with respect to the target rotation speed, the process returns to # 62 and the process is repeated.

After outputting the control signal (# 64), if the rotation speed of the first conveyor belt 11 detected by the rotation speed sensor 69 is too slow (insufficient rotation) with respect to the target rotation speed (# 65, YES). , The feedback control for increasing the first adjustment value is performed to return from (# 66) to # 62, and the following is repeated.

After outputting the control signal (# 64), the rotation speed of the first conveyor belt 11 detected by the rotation speed sensor 69 is not too slow (not insufficient rotation) with respect to the target rotation speed (# 65, NO). If the rotation speed is too fast (excessive rotation) (# 67, YES) with respect to the target rotation speed, feedback control for reducing the first adjustment value is performed to return from (# 68) to # 62. Repeat below.

If it is not determined in # 62 that the manual operation is possible (# 62, NO), zero is output (# 69) as the output of the control signal to the control valve 46, the process returns to # 62, and so on. When zero is output (# 69) as the output of the control signal, the control valve 46 takes a neutral position 46N, and the hydraulic motor 40 does not rotate, or if the hydraulic motor 40 is rotating, the rotation is stopped thereafter.

[Operation flow when the first conveyor belt is rotated in the reverse direction]
FIG. 7 shows a control flow when the first transport belt 11 is rotated in the reverse direction. This control flow is executed by the transport control unit 72 during the operation of the control device 71.

If the engine 35 is started (# 71, YES), it is determined whether or not the reverse is possible (# 72). If the engine 35 has not started (# 71, NO), it waits. In the present embodiment, if the tuning switch 64 is off, the work clutch switch 63 of the radish harvester 100 is on, and the reverse rotation button 65b of the direction setting unit 65 is pushed, it is determined that reverse rotation is possible ( # 72, YES) and start or continue on-counting (# 73). The on-count refers to the measurement of the time when it is determined that the reverse rotation is possible (# 72, YES).

If the on-count value has elapsed for a predetermined time (2.0 seconds in the case of FIG. 7) or more (# 74, YES) after the on-count is started or continued (# 73), the control valve 46 is connected. Zero is output as the output of the control signal (# 75), and zero counting is started or continued (# 76). When zero is output (# 75) as the output of the control signal, the control valve 46 takes a neutral position 46N, and the hydraulic motor 40 does not rotate, or if the hydraulic motor 40 is rotating, the rotation is stopped thereafter. If the on-count has not passed for a predetermined time or more (# 74, YES), the process returns to # 71. The zero count refers to the measurement of the time when zero is output (# 75) as the output of the control signal to the control valve 46.

If the value of the zero count has elapsed for a predetermined time (2.5 seconds in the case of FIG. 7) or more (# 77, YES) after the zero count is started or continued (# 76), the reversal control is executed. (# 78). By the reverse rotation control, the first transfer belt 11 is rotationally driven in the reverse rotation direction. In the present embodiment, when the reverse rotation control is executed (# 78), the notification control unit 74 performs notification control (# 78) accordingly. By the notification control, the notification unit 79 emits a buzzer sound from the speaker 79a installed on the operation panel 3a of the operation unit 3. After executing the reverse rotation control and the notification control (# 78), the process returns to # 71 and repeats thereafter.

If it is not determined that reverse rotation is possible (# 72, NO), the on-count and zero count are cleared to zero, and the reverse rotation control and the notification control are terminated (# 79), and the process returns to # 71. ..

[Operation flow when rotating the separation belt]
FIG. 8 shows a control flow when the separation belts 18 and 19 are rotationally driven. This control flow is executed by the separation control unit 73 during the operation of the control device 71.

If the engine 35 is started (# 81, YES), it is determined whether or not the manual operation is possible (# 82). If the engine 35 has not started (# 81, NO), it waits. In the present embodiment, if the tuning switch 64 is off, the work clutch switch 63 of the radish harvester 100 is on, and the forward rotation button 65a of the direction setting unit 65 is locked in the pushed state, manual operation is possible. It is determined that there is (# 82, YES), and the target rotation speeds of the separation belts 18 and 19 and the corresponding target rotation speeds of the hydraulic motor 41 are acquired based on the position of the memory 67a of the separation speed setting unit 67 (#). 83). Then, a control value for setting the duty ratio of the control valve 47 is obtained based on the target rotation speed, and a predetermined real number adjustment value (hereinafter, referred to as "second adjustment value") is obtained for the control value. Is added, and this is output as a control signal to the control valve 47 (# 84). The control valve 47 performs forward rotation control based on this control signal.

After outputting the control signal (# 84), the rotation speeds of the separation belts 18 and 19 detected by the rotation speed sensor 70 are not too slow (not insufficient rotation) with respect to the target rotation speed (# 85, NO). If the rotation speed is not too fast (not excessive rotation) (# 87, NO) with respect to the target rotation speed, the process returns to # 82 and the process is repeated.

After outputting the control signal (# 84), if the rotation speed of the first conveyor belt 11 detected by the rotation speed sensor 69 is too slow (insufficient rotation) with respect to the target rotation speed (# 85, YES). , The feedback control for increasing the second adjustment value is performed to return from (# 86) to # 82, and the following is repeated.

After outputting the control signal (# 84), the rotation speeds of the separation belts 18 and 19 detected by the rotation speed sensor 70 are not too slow (not insufficient rotation) with respect to the target rotation speed (# 85, NO). If the rotation speed is too fast (excessive rotation) (# 87, YES) with respect to the target rotation speed, feedback control for reducing the second adjustment value is performed to return from (# 88) to # 82. Repeat below.

If it is not determined in # 82 that the manual operation is possible (# 82, NO), zero is output (# 89) as the output of the control signal to the control valve 47, the process returns to # 82, and so on. When zero is output (# 89) as the output of the control signal, the control valve 47 takes a neutral position 47N, and the hydraulic motor 41 does not rotate, or if the hydraulic motor 41 is rotating, the rotation is stopped thereafter.

[Another Embodiment]
(1) In the above embodiment, the first transfer belt 11 and the second transfer belt 12 are rotationally driven by the hydraulic motor 40, and the second transfer belt 12 is rotationally driven in synchronization with the first transfer belt 11. The case where the target rotation speed of the first transport belt 11 is set by the transport speed setting unit 66, which is an output adjustment switch, has been described, but the present invention is not limited to this.

Each of the first transfer belt 11 and the second transfer belt 12 may be rotationally driven by a separate hydraulic motor instead of the hydraulic motor 40. When the first transfer belt 11 and the second transfer belt 12 are rotationally driven by separate hydraulic motors, the target rotation speed may be set by separate output adjustment switches instead of the transfer speed setting unit 66. .. The rotation speeds of the first transport belt 11 and the second transport belt 12 may or may not be synchronized in any case.

(2) In the above embodiment, the case where the separation belts 18 and 19 are rotationally driven by the hydraulic motor 41 and the target rotation speeds of the separation belts 18 and 19 are set by the separation speed setting unit 67 which is an output adjustment switch has been described. Not limited to this.

Each of the separation belt 18 and the separation belt 19 may be rotationally driven by a separate hydraulic motor instead of the hydraulic motor 41. When each of the separation belt 18 and the separation belt 19 is rotationally driven by separate hydraulic motors, the target rotation speed may be set by separate output adjustment switches instead of the separation speed setting unit 67. The rotation speeds of the separation belt 18 and the separation belt 19 may or may not be synchronized in any case.

(3) In the above embodiment, the case where the rotation speeds of the first transfer belt 11 and the second transfer belt 12 of the transfer device 4 and the rotation speeds of the separation belts 18 and 19 of the separation device 5 are feedback-controlled, respectively. I explained, but it is not limited to this. Only one of the rotation speeds of the first transfer belt 11 and the second transfer belt 12 of the transfer device 4 or the rotation speeds of the separation belts 18 and 19 of the separation device 5 may be feedback-controlled.

(4) In the above embodiment, the transfer control unit 72 and the separation control unit 73 determine that the rotation speed of the first transfer belt 11 and the separation belts 18 and 19 is too fast or too slow with respect to the target rotation speed. Although the case of performing feedback control by so-called proportional control, which controls the rotation speeds of the transport belt 11 and the separation belts 18 and 19, is not limited to this. The feedback control can be combined with different control methods such as proportional control, differential control, and integral control as needed.

(5) In the above embodiment, the case where the notification unit 79 has the speaker 79a installed on the operation panel 3a of the operation unit 3 and the buzzer sound can be transmitted from the speaker 79a as notification has been described. It is not limited to sounds such as buzzer sounds. Instead of the speaker 79a, the notification unit 79 may be a device that emits light to notify (for example, a blinking lamp) or a device that oscillates vibration to notify (for example, a so-called vibrator).

(6) In the above embodiment, the case where the notification control unit 74 performs notification control to notify the notification unit 79 of the operating state of the transport device 4 has been described. However, it is not limited to the operating state of the transport device 4 that the notification control unit 74 notifies the notification unit 79. The notification control unit 74 can notify the start of operation of other movable parts of the radish harvester 100.

For example, when the height of the transport device 4 or the separation device 5 is changed from the field by the lifting hydraulic cylinder 31 or the hydraulic cylinder 34, a notification may be given. For example, after the operation switch (not shown) for instructing the start of the balance adjustment of the transfer device 4 and the separation device 5 is operated, the notification can be given before the start of the movement of the balance weight.

Further, for example, the radish harvester 100 may include an automatic balance adjusting mechanism (not shown) having a balance weight for adjusting the balance between the front and rear of the machine. This is for storing the radish A in the storage unit 8 and adjusting the center of gravity of the machine body 1 when the radish A is discharged from the storage unit 8. In this way, when the radish harvester 100 is provided with an automatic balance adjusting mechanism, a notification may be given when the balance weight is moved (driven) by a hydraulic mechanism (not shown) or the like. For example, after the operation switch (not shown) for inputting the command to start the balance adjustment is operated, the balance weight can be notified before the movement of the balance weight is started.

In this way, the notification control unit 74 notifies the start of operation of the movable portion of the radish harvester 100, so that the operator or the assistant can know the start of operation of the movable portion. As a result, it is possible to avoid the work danger that the operator or the like does not notice the start of operation of the moving portion and improve the safety. In addition, when the worker suddenly touches the operation switch, the operator can perceive this by notification and perform a stop operation or the like. Therefore, it is possible to work safely without damaging crops such as radish A.

(7) In the above embodiment, the radish harvester 100 that harvests radish A from the field is illustrated as an example of the crop harvester according to the present invention, but the crop harvester is limited to the radish harvester 100 that harvests radish A. Absent. The crop harvester according to the present embodiment can be used as a harvesting device for root vegetables such as carrots, turnips and burdock, and leaf vegetables such as onions, cabbage, lettuce and broccoli from the field instead of radish A. ..

The configuration disclosed in the above embodiment (including another embodiment, the same shall apply hereinafter) can be applied in combination with the configuration disclosed in other embodiments as long as there is no contradiction. The embodiments disclosed in the present specification are examples, and the embodiments of the present invention are not limited thereto, and can be appropriately modified without departing from the object of the present invention.

The present invention can be applied to crop harvesters.

1: Aircraft 2: Traveling device 3: Driving unit 3a: Operation panel 4: Conveying device (conveying unit)
5: Separation device (separation part)
11: First transport belt (conveyor body)
12: Second transport belt (conveyor)
18: Separation belt (separator)
19: Separation belt (separator)
35: Engine 40: Hydraulic motor 41: Hydraulic motor 46: Control valve (spool valve)
47: Control valve 65: Direction setting unit (input unit)
66: Transport speed setting unit 67: Separation speed setting unit 69: Rotation speed sensor 70: Rotation speed sensor 71: Control device (control unit)
72: Transport control unit (control unit)
73: Separation control unit (control unit)
78: Shift lever 79: Notification unit 100: Radish harvester (harvester)
A: Radish (crop)

Claims (7)

A carrier that is rotationally driven so as to sandwich the crops in the field from both the left and right sides and transport them from the field toward the rear and upper part of the machine.
An input unit that receives an input of a command to rotate the transport body in the reverse direction with respect to the rotation direction during transport.
A control unit that controls the rotational drive of the carrier is provided.
The control unit is a crop harvester that rotates the carrier in the reverse direction after the first period defined as a predetermined period has elapsed after the input unit receives the input of the command to rotate in the reverse direction. The crop harvester according to claim 1, wherein the control unit rotates the carrier in the reverse direction after the first period elapses in a state where the input unit receives an input of the command to rotate in the reverse direction. The input unit has a switch capable of switching between a first state in which the input of the reverse rotation command is canceled and a second state in which the input of the reverse rotation command is accepted. ,
The crop harvester according to claim 2, wherein the switch maintains the second state by continuing the input operation of the reverse rotation command, and switches to the first state when the input operation is released. The control unit stops the transport body during transport, and after a second period defined as a predetermined period elapses in a state where the input unit receives an input of a command to rotate in the reverse direction, the transport unit The crop harvester according to claim 2 or 3, wherein the body is rotated in the reverse direction. Equipped with a notification unit
The crop harvester according to any one of claims 1 to 4, wherein the control unit causes the notification unit to give a predetermined notification when the carrier is rotated in the reverse direction. The crop harvester according to claim 5, wherein the notification unit has a speaker that outputs a predetermined sound as the predetermined notification. A hydraulic motor that rotationally drives the carrier and switches the rotational direction according to the flow direction of the supplied hydraulic oil.
A spool valve for switching the flow direction of the hydraulic oil is further provided.
The crop harvester according to any one of claims 1 to 6, wherein the control unit controls the rotation direction of the carrier by switching to the spool valve.

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