JP5426251B2 - Combine and ground height control program - Google Patents

Description

  The present invention relates to a combine and a ground height control program including a ground height detection sled body.

Conventionally, in a combine that harvests and processes root vegetables and the like (for example, soybeans), a ground height detection sled body that touches the field and detects the height of the cutting part is disposed below the cutting part. Yes.
Such ground height detection sled bodies are provided independently on the left and right sides, detect the left and right ground heights of the cutting part, perform the vertical movement control of the left and right crawlers of the traveling part, and the cutting part fixed integrally with the machine Is controlled in a posture parallel to the farm scene along the left-right inclination or the left-right unevenness of the farm scene (for example, Patent Document 1 and Patent Document 2).

  In such a combine, since there are two ground height detection sled bodies, when cutting three or more ridges, both ground height detection sled bodies are grounded to the central heel, An accurate ground height detection operation cannot be performed, and there is a possibility that the posture cannot be controlled to be parallel to the farm scene. In addition, when the center ridge is higher than the left and right ridges, the combine is tilted based on the ground height detected by either the left or right ground height detection sled body. Etc. will be highly mowed.

  In order to eliminate such drawbacks, in Patent Document 3, a proposal has been made to dispose a ground height detection sled body between the right and left ground height detection sled bodies. According to Patent Document 3, the intermediate ground height sled body is subordinate to one of the left and right ground height detection sled bodies according to the shape of the ridge, or is in a free swinging state. The detection operation is stabilized.

Japanese Patent Laid-Open No. 11-46540 JP-A-11-75465 Japanese Patent Laying-Open No. 2005-211011

  However, in the combine of the above-mentioned Patent Document 3, the center ground height detection sled body does not perform ground height detection independently of the left and right ground height detection sled bodies. As a result, there was a risk that the cutting part would take in the soil.

  It is an object of the present invention to provide a combine and ground height control program that can solve the above problems.

The invention according to claim 1 includes a cutting part provided at a front portion of the machine body, a plurality of ground height detecting sled bodies mounted below the cutting part and functioning as a grounding body, and the plurality of ground heights. A plurality of detectors each functioning as a detecting means interlockingly connected to the warp detecting body, and a setting means for setting the ground height by controlling the raising and lowering of the right and left traveling mechanisms of the aircraft by signals from the plurality of detecting parts A plurality of ground height detecting sled bodies independently arranged in the left-right direction of the cutting portion, and left and right ends of the plurality of ground height detecting sled bodies. The ground height detection sled body located at the center has horizontal control means for the ridges, and the ground height detection sled body of the plurality of ground height detection sled bodies has a cutting height control means. a, the horizontal control unit, the ground height of the left and right ridge And the detection value based performs ground parallel control, the mowing height control means, a detection value of the ground height in the center of ridge based on, from ground parallel control elevation control of the reaper If the detected value of ground height at the center ridge is smaller than the detected value of ground height at the left and right ridges, the ground height for the left and right ridges is the desired ground height. It is performed as follows.

According to a second aspect of the present invention, there is provided a ground height control program for controlling a ground height of a combine body, wherein the computer is mounted below a cutting portion provided at a front portion of the combine body, and An acquisition means for acquiring each detected value of the ground height of the ground height detecting sled body independently disposed in the left and right direction of the cutting part, and a detected value of each ground height in the left and right ridges Based on the above, based on the horizontal control means for performing the ground parallel control of the traveling mechanism and the detected value of the ground height at the center ridge, the lifting control of the cutting portion is given priority over the ground parallel control. If the detected value of the ground height at the center ridge is smaller than the detected value of the ground height at the left and right ridges, the ground height for the left and right ridges is set to the desired ground height. Cutting height control means, and machine Characterized in that to.

According to the first aspect of the present invention, at least three or more ground height detection sled bodies are separately arranged, and each independently detects the ground height. The ground height detection sled body located at the left and right ends has a horizontal control means for the heel, and the ground height detection sled body located at the center has a cutting height control means. Further, the horizontal control means performs ground parallel control based on the detection values of the ground heights on the left and right ridges, and the cutting height control means detects the ground height detection values on the central ridge. Based on the above, the raising / lowering control of the cutting unit is performed with priority over the ground parallel control. At this time, if the detected value of the ground height at the center ridge is smaller than the detected value of each ground height at the left and right ridges, the elevation control is performed so that the ground height relative to the left and right ridges becomes the desired ground height. I do. As a result, the cutting height with respect to the left and right reeds becomes the desired ground height, and the ground height of the central reed is greater than the appropriate ground height, so there is no risk that the reclaiming part will take in the soil of the reed in the center. .
Therefore, in this invention, it is possible to control the combine in a posture parallel to the field scene, and it is possible to prevent the soil from being taken up by the cutting unit.

According to the invention which concerns on Claim 2, it is mounted | worn under the cutting part provided in the front part of the body of the said combine, and the ground height which was separately arrange | positioned 3 independently in the left-right direction of the said cutting part Each detection value of the ground height of the detection sled body is acquired. The ground parallel control is performed based on the detected values of the ground heights on the left and right ridges, and the lifting and lowering control of the cutting part is performed based on the detected values of the ground heights on the central ridge by the ground parallel control. Also give priority. At this time, if the detected value of the ground height at the center ridge is smaller than the detected value of each ground height at the left and right ridges, the elevation control is performed so that the ground height relative to the left and right ridges becomes the desired ground height. I do. As a result, the cutting height with respect to the left and right reeds becomes the desired ground height, and the ground height of the central reed is greater than the appropriate ground height, so there is no risk that the reclaiming part will take in the soil of the reed in the center. .
Therefore, in this invention, it is possible to control the combine in a posture parallel to the field scene, and it is possible to prevent the soil from being taken up by the cutting unit.

It is a side view which shows the whole structure of the combine which concerns on embodiment. It is a top view which shows the whole structure of the combine shown in FIG. It is a bottom view of the cutting part shown in FIG. It is a bottom face enlarged view of the interlocking link mechanism which concerns on 1st Embodiment. It is a left side view of the interlocking link mechanism concerning a 1st embodiment. It is a figure for demonstrating connection operation | movement of a center support shaft etc. among the interlocking link mechanisms which concern on 1st Embodiment. It is a figure for demonstrating connection operation | movement of the pivot pipe for left sled bodies etc. among the interlocking link mechanisms which concern on 1st Embodiment. It is a bottom enlarged view of the interlocking link mechanism concerning a 1st embodiment. It is a right side view of the interlocking link mechanism concerning a 1st embodiment. It is a bottom enlarged view of the interlocking link mechanism concerning a 1st embodiment. It is a bottom enlarged view of the interlocking link mechanism which concerns on 2nd Embodiment. It is a right side view of the interlocking link mechanism according to the second embodiment. It is a left side view of the interlocking link mechanism which concerns on 2nd Embodiment. It is a figure for demonstrating connection operation | movement of the pivot pipe for central sled bodies etc. among the interlocking link mechanisms which concern on 2nd Embodiment. It is a figure for demonstrating connection operation | movement of a right spindle etc. among the interlocking link mechanisms which concern on 2nd Embodiment. It is a figure for demonstrating connection operation | movement of the pivot support pipe for left sled bodies among the interlocking link mechanisms which concern on 2nd Embodiment. It is a bottom enlarged view of the interlocking link mechanism which concerns on 2nd Embodiment. It is a bottom enlarged view of the interlocking link mechanism which concerns on 3rd Embodiment. It is a bottom enlarged view of the interlocking link mechanism which concerns on 3rd Embodiment. It is a block diagram of a controller or the like. It is a flowchart of a ground height control process. It is a flowchart of the 1st control processing. It is explanatory drawing which shows the state of each bag. It is a flowchart of the 2nd control processing. It is explanatory drawing which shows the state of each bag. It is a flowchart of a ground height control process (other forms). It is a flowchart of a 3rd control process. It is explanatory drawing which shows the state of each bag. It is explanatory drawing which shows the state of each bag. It is a flowchart of the 5th control processing. It is explanatory drawing which shows the state of each bag.

[1. First Embodiment]
Hereinafter, the combine which concerns on 1st Embodiment of this invention is demonstrated concretely, referring drawings.

[1-1. Overall structure of combine]
First, the whole structure of the combine 150 which concerns on embodiment is demonstrated, referring FIGS. 1-2. FIG. 1 is a side view showing the overall configuration of the combine 150 according to the embodiment, FIG. 2 is a plan view showing the overall configuration of the combine 150, and FIG. 3 is a bottom view of the cutting unit 4 of the combine 150.

  As shown in FIG. 1, a machine body frame 10 is mounted on the crawler type traveling device 1, a threshing unit 2 is mounted on the machine frame 10, and a reaping unit is disposed in front of the threshing unit 2 via a feeder house 3. 4 is provided continuously, a grain tank 5 is mounted on the lateral side of the threshing unit 2, and an operation unit 6 is provided on the front side of the grain tank 5.

  In addition, a swing sorting device 9 is disposed below the threshing unit 2, and the swing sorting device 9 passes through a bucket-type threshing conveyor from the first conveyor disposed horizontally below the swing sorting device 9. It is comprised so that the refined grains, such as the selected first thing, can be conveyed to the grain tank 5 and stored. A screw-type carry-out conveyor is mounted on the lower part of the grain tank 5, and an end portion of the carry-out conveyor is communicated with a lower part of the grain discharge device 13 erected at the rear part via a transfer case.

  The grain discharge device 13 is a bucket type elevator, and has a discharge port at the top, communicated with the base of the conveyor type discharge device 15 via the relay conveyance device 14 from the discharge port, and the grain tank 5 is connected by the conveyor type discharge device 15. It is configured to discharge the grain inside. Moreover, the conveyor type discharge device 15 is configured to be capable of moving up and down and turning.

  The crawler type traveling device 1 is arranged in a pair of left and right, a drive sprocket 20 driven by power transmitted from a transmission case, a driven sprocket 21 attached to a rear portion of the track frames 24L and 24R via a tension mechanism, and a track frame. .., A drive sprocket 20, a driven sprocket 21, a crawler belt 23 wound around the idler wheel 22, and the like.

  Between the left and right track frames 24L, 24R and the fuselage frame 10, hydraulic cylinders 25L, 25R, swing link mechanisms, and vehicle height detection means 26 serving as the machine support height raising / lowering drive means are disposed. 25L and 25R expand and contract under the control of the controller 100 described later.

  Then, by extending the hydraulic cylinders 25L and 25R, the front and rear bell cranks constituting the swing link mechanism are rotated, and the track frames 24L and 24R are moved downward in parallel to raise the airframe. . Conversely, when the hydraulic cylinders 25L, 25R are reduced, the track frames 24L, 24R are moved upward, and the airframe can be lowered.

  The cutting unit 4 is provided with a substantially rectangular box-shaped platform 30 that opens to the front and the bottom extending across the entire width of the traveling machine body at the front end of the feeder house 3, and a take-up auger 35 is installed in the platform 30. A clipper-shaped cutting blade device 31 extending in the left-right longitudinal direction is provided at the front lower portion of the platform 30.

  In addition, a scraping reel 33 attached to the front upper portion of the platform 30 so as to be able to rotate forward over the entire width of the traveling machine body is disposed so as to be able to move up and down. The take-up reel 33, the cutting blade device 31, and the take-up auger 35 are driven via a transmission mechanism including a transmission shaft that transmits power from a motor unit (not shown).

  A screw-like scraper (not shown) is provided on the circumferential surface of the take-up auger 35 so as to be in the opposite turning directions with the opening of the feeder house 3 being left. Further, a scraping bar 41 is provided so as to be able to appear and retract at a central portion in the axial direction of the scraping auger 35 where the screw-like scraper is not provided. In addition, a pair of left and right weed bodies 32 are arranged in front of the left and right side portions of the cutting blade device 31 so as to protrude forward.

  Further, a reel lifting / lowering cylinder 39 is disposed between the platform 30 and the take-up reel 33 so that the take-up reel 33 can be moved up and down. Further, a hydraulic cylinder 27 is disposed between the lower portion of the feeder house 3 and the body frame 10 as a lifting drive unit for the cutting unit 4.

  Since the harvesting unit 4 is configured as described above, the cereal grains that have been pulled backward by the scraping reel 33 are harvested by the cutting blade device 31 and collected by the scraping auger 35. The harvested cereals are fed laterally on the platform 30 by a screw-like scraper provided on the take-up auger 35, and are taken in by the take-up bar, and are fed into the feeder house 3 at the front end opening of the feeder house 3. Is transferred to the threshing unit.

  In addition, ground height detection sled bodies 36L, 36C, and 36R for detecting the ground height of the combine 150 are disposed behind the cutting blade device 31 (see FIG. 3). Further, the three ground height detecting sled bodies 36L, 36C, 36R provided in the cutting part 4 are curved sled-like flat plates, and swing around the front end parts 81R, 81C, 81L. Thus, unevenness and uplift / sink of the farm scene are detected.

  These ground height detection sled bodies 36L, 36C, 36R can swing independently, and the left and right ground height detection sled bodies 36L, 36R are used for horizontal control with respect to the saddle. The ground height detection sled body 36C is used for cutting height control. Further, the swing of each ground height detection sled body 36L, 36C, 36R is transmitted to the potentiometers 52L, 52C, 52R by the interlocking link mechanisms.

[1-2. Sled support shaft]
In order to pivotally support the sled bodies 36L, 36C, 36R, a sled body support shaft 360 is installed on the left and right side walls 83L, 83R of the platform 30.
The sled body support shaft 360 rotatably supports the right support shaft 40R for rotatably supporting the right ground height detecting sled body 36R and the center ground height detecting sled body 36C. And a hollow pipe-like left support shaft 40L for rotatably supporting the left ground clearance detecting body 36L.

  The left end of the right support shaft 40R is pivotally supported by a bracket 191 protruding from the inner wall surface of the platform 30 via a boss 111, and the right end of the right support shaft 40R is supported by the platform 30. It is pivotally supported by the right wall 83R and protrudes outward.

  The front end edge 361 of the ground height detecting sled body 36R is overlapped on the ceiling of the bracket 211 having a substantially U-shaped cross section protruding from the outer peripheral surface of the right support shaft 40R, and the both are fixed with bolts 85 and nuts 185. By doing so, the ground height detection sled body 36L is integrally connected to the right support shaft 40R.

  Therefore, if the right-side ground height detection sled body 36R swings corresponding to the unevenness of the field scene, the rotational torque is transmitted to the right support shaft 40R, and the right support shaft 40R is moved to the right ground height. The swinging of the detection sled body 36R is detected.

  Further, the right end of the right support shaft 40R protrudes outward from the right wall 83R of the platform 30 in a rotatable state as described above, and the protruding shaft end is detected via the boss 91. It is linked to a potentiometer 52R (described later) as a unit via a linked link mechanism 175 (described later).

  On the other hand, the right end of the center support shaft 40C is pivotally supported by the bracket 191 via the boss 113 with the same axis as the shaft of the right support shaft 40R, and the left end of the center support shaft 40C is The shaft 30 is pivotally supported by the left side wall of the platform 30 and protrudes outward. Since the right shaft end of the middle support shaft 40C is cut off from the right support shaft 40R, the right support shaft 40R and the middle support shaft 40C can be rotated independently.

  Further, the left support shaft 40L is formed in a hollow pipe shape and is installed in a state of surrounding the outer periphery of the middle support shaft 40C with the same axis as the center support shaft 40C, and the right end projects from the inner wall surface of the platform 30. The bracket 192 is pivotally supported via a boss 112 so that the left end protrudes from the left side wall of the platform 30. Further, the left side wall of the platform 30 has a pipe-like left support shaft 40L. In addition, an intermediate support shaft 40C is provided which penetrates the left support shaft 40L and protrudes outward.

  The front end edge 363 of the ground height detection sled body 36L is overlapped on the ceiling of a bracket 213 having a substantially U-shaped cross section projecting from the outer peripheral surface of the left support shaft 40L, and both are fixed by bolts 86 and nuts 186. By doing so, the ground height detection sled body 36L is integrally connected to the left support shaft 40L. Similarly, the front end edge portion 362 of the ground height detecting sled body 36C is overlapped on the ceiling portion of the bracket 212 having a substantially U-shaped cross section projecting from the right outer peripheral surface of the center support shaft 40C, and both are secured by bolts 89 and nuts 189. Is fixed to the middle support shaft 40C integrally with the ground height detecting sled body 36C.

  Therefore, if the left ground height detection sled body 36L swings corresponding to the unevenness of the field scene, the turning torque is transmitted to the left support shaft 40L, and the left support shaft 40L is left side ground height. The swing of the detection sled body 36L is detected. Similarly, if the center ground height detection sled body 36C swings corresponding to the unevenness of the field scene, the rotational torque is transmitted to the middle support shaft 40C, and the middle support shaft 40C is moved to the center ground height. Thus, the swing of the warp detecting body 36C is detected.

  The left end of the hollow pipe-like left support shaft 40L and the left end of the center support shaft 40C as the inner shaft are both protruded outward from the left wall 83L of the platform 30 while being loosely fitted as a concentric shaft. ing. In addition, the protruding shaft ends are interlocked and connected to potentiometers 52C and 52L (described later) as detection units via the interlocking link mechanisms 75C and 75L (described later), respectively.

  By configuring as described above, each of the ground height detecting sled bodies 36L, 36C, 36R can swing independently, and the middle support shaft 40C and the left support shaft 40L are the same in the inner and outer layers. Since it has a core shaft configuration, the strength is improved, and as a result, it can endure an unexpected load during cutting. Further, since the front end edges of the three ground height detection sled bodies 36L, 36C, 36R are arranged on the same axis in the width direction, space saving can be achieved.

[1-3. Specific configuration of interlocking link mechanism]
Next, each interlocking link mechanism for transmitting the swing of each ground height detecting sled body transmitted to each spindle to each potentiometer via a sled body support shaft 360 will be described in detail with reference to the drawings. Explained.
In the present embodiment, as shown in FIG. 4, the interlocking link mechanisms 75L and 75C of the left and center ground height detection sled bodies 36L and 36C are arranged on the left wall 83L side, respectively, and the right ground height. By disposing the right interlocking link mechanism 75R of the detection sled body 36R on the right side wall 83R side, the three interlocking link mechanisms of the ground height detection sled bodies 36L, 36C, 36R are arranged on the left and right sides of the cutting unit 4. They are distributed.

First, the center interlocking link mechanism 75C of the center ground height detecting sled body 36C will be described.
As shown in FIGS. 5 and 6, the central interlocking link mechanism 75 </ b> C protrudes from the operating arm 42 a having a base end connected to the shaft end of the center support shaft 40 </ b> C, the spring 70 a, and the left side wall 83 </ b> L of the platform 30. A central sensor arm 46 pivotally attached to the sensor arm pivot shaft 48, an adjustment plate 51 pivotally attached to the sensor arm pivot shaft 48 and having potentiometers 52C and 52L attached to both ends, and an adjustment plate 51, and a sensor arm holder for making the structure in which the central sensor arm 46 is brought into contact with a part of the adjustment plate 51 to interlock with the counterclockwise rotation of the adjustment plate 51. The body 55 is configured.

  As shown in FIG. 6, the operating arm 42a connected to the end of the middle support shaft 40C rotates up and down according to the rotation of the middle support shaft 40C, and the rotation is a spring 70a as a pressing stress or a tensile stress. The center sensor arm 46 is rotated via In addition, a torque spring 221 is interposed in a connecting portion between the middle support shaft 40C and the operating arm 42a, and the center ground height detection sled body 36C is urged to rotate toward the grounding side.

  Therefore, when the aircraft is moved backward, the ground height detection sled body 36C is caught in the field scene, and the ground height detection sled body 36C is rotated below the specified level, or is rotated below the specified level by the torque spring 221. As a result, even if the operating arm 42a rotates excessively and pulls the spring 70a greatly downward, the spring 70a only extends downward, so that a large load is not applied to the central sensor arm 46.

  Further, as shown in FIG. 8, the sensor arm pivot shaft 48 protrudes outward from the left side wall 83 </ b> L of the platform 30, and the sensor arm pivot shaft 48 is connected to the central sensor arm 46. The front end boss 232, the central boss 234 for connecting the left sensor arm 66, and the plate boss 233 for connecting the adjusting plate 51 are loosely fitted in parallel.

  Further, as shown in FIG. 6, the adjustment plate 51 has a substantially rectangular shape, and the potentiometers 52C and 52L are provided at both ends on the diagonal line as described above, and the center is the base end of the pivot shaft 48 for the sensor arm. A plate boss 233 that is loosely fitted to the portion is provided continuously, and the sensor arm pivot shaft 48 is pivotally displaced through the boss. The adjustment plate 51 is rotated by operating a ground height switching lever 98 described later.

  Further, as shown in FIG. 6, the center sensor arm 46 for the center ground detecting sled body 36C has a rectangular shape, and a tip boss loosely fitted to the tip of the sensor arm pivot shaft 48 in the center. 232 is continuously provided, and can be freely rotated and displaced about the sensor arm pivot shaft 48 via the boss. Then, the center sensor arm 46 performs a rotational motion around the sensor arm pivot shaft 48 via the spring 70a in accordance with the rotation of the operating arm 42a linked to the ground height detection sled body 36C.

  A pin 54a projecting from the left end of the central sensor arm 46 abuts on the detection arm 53a of the potentiometer 52C for the central ground height detection sled body 36C, and the central ground height detection sled body 36C. When the central sensor arm 46 pivots in conjunction with the swing motion of the pin, the pin 54a acts on the detection arm 53a in proportion to the descending distance of the ground height detection sled body 36C.

  Further, the potentiometer 52C detects the swing distance of the center ground height detecting sled body 36C based on the amount of movement from the initial setting position, and the controller 100 detects the center ground height detecting sled as will be described later. The swinging of the body 36C is detected, and the cutting height of the body is controlled.

  A sensor arm receiver 55 projects from the front upper edge of the adjustment plate 51, and the upper edge of the central sensor arm 46 that rotates about the sensor arm pivot 48 is the sensor arm receiver. By contacting the lower end of 55, the rotation range of the central sensor arm 46, that is, the descending distance (swing range) of the ground height detecting sled body 36C is regulated. In addition, an elastic body may be provided at a contact portion with the central sensor arm 46 so that the sensor arm receiver 55 and the central sensor arm 46 are not in direct contact with each other, so that noise and impact may be reduced.

Next, the left interlocking link mechanism 75L of the left ground height detection sled body 36L will be described.
As shown in FIG. 7, the left interlocking link mechanism 75L is similar to the central interlocking link mechanism 75C in that the operating arm 42b whose base end is connected to the shaft end of the left support shaft 40L, the spring 70b, and the left side of the platform 30. Adjustment with left sensor arm 66 pivotally attached to pivot arm 48 for sensor arm projecting on wall 83L, and potentiometers 52C and 52L attached to pivot arm 48 for sensor arm and pivoted at both ends. A plate 51, a ground height switching lever 98 provided continuously with the adjustment plate 51, and a structure in which the central sensor arm 46 is brought into contact with a part of the adjustment plate 51 to interlock with the counterclockwise rotation of the adjustment plate 51. And a sensor arm receiver 55 for the purpose.

Further, the adjustment plate 51, the ground height switching lever 98 and the sensor arm receiver 55 are shared with the above-described central interlocking link mechanism 75C, thereby simplifying the structure.
That is, the adjustment plate 51 that operates and rotates the ground height switching lever 98 that is operated to perform the initial setting of the swing range of each sled body is the same plate in both the central interlocking link mechanism 75C and the left interlocking link mechanism 75L. Furthermore, the sensor arm receiver 55 fixed to the adjustment plate 51 is also the same receiver. In the central interlocking link mechanism 75C and the left interlocking link mechanism 75L, the adjustment plate 51, the ground height switching lever 98, and the sensor arm are provided. The structure is simplified by sharing the receiving body 55.

  The operation of the left interlocking link mechanism 75L is basically the same as that of the above-described central interlocking link mechanism 75C, and thus the description thereof is omitted.

Next, the height adjustment mechanism of the left and center ground height detecting sled bodies 36L and 36C will be described.
As shown in FIG. 5 and the like, the base end portion of the ground height switching lever 98 is connected to the front portion of the adjustment plate 51. The adjustment plate 51 can be rotated by operating the ground height switching lever 98. When the adjustment plate 51 rotates downward, the sensor arm receiver 55 contacts the central sensor arm 46 and the left sensor arm 66, so that the central sensor arms 46 and 66 also rotate downward. Further, if the adjustment plate 51 is rotated upward, the torque spring 221 is provided at the pivotally mounted portion between the middle support shaft 40C and the operating arm 42a, and the pivoted portion between the left support shaft 40L and the operating arm 42b is interposed. The central sensor arm 46 and the left sensor arm 66 are also rotated upward by each action of the torque spring 222 provided.
With this configuration, it is possible to change the swing range of the ground height detection sled bodies 36L and 36C and to switch between the working state and the storage state of the ground height detection sled bodies 36L and 36C. Two ground height switching levers 98 can be used simultaneously.

  That is, as shown in FIG. 5, the ground height switching lever 98 includes a support cylinder 98b provided continuously with the adjustment plate 51, a lever shaft 98c inserted into the cylinder of the support cylinder 98b and removably inserted, and a lever. A stopper 98d is fixed to the middle of the shaft 98c, and a spring 99 is interposed between the stopper 98d and the end of the support cylinder 98b.

  The lever shaft 98c passes through an operation groove 97a formed in the guide plate 97, and a plurality of engagement grooves 97b are formed laterally at predetermined positions in the operation groove 97a, along the operation groove 97a. Thus, the ground height switching lever 98 is moved and engaged and fixed in the engagement groove 97b. When the ground height switching lever 98 is operated, the lever is pushed and slid into the operation groove 97a against the spring 99, and the stopper 98d is engaged with the engagement groove 97b at a predetermined position. Do. The position of the engagement groove 97b is a storage position 200N in which the rear end portions of the ground height detection sled bodies 36C and 36L are raised to a storage state in a non-reaping work state in which the combine 150 moves and the like. Three points of a work high state fixed position 200H and a work low state fixed position 200L when the ground height is detected by lowering the rear end portions of the ground height detection sled bodies 36R and 36L during the cutting operation. And position.

  Note that the positions of the engagement grooves 97b are not limited to the three positions.

By operating the ground height switching lever 98 downward, the central sensor arm 46 and the sensor arm pivot shaft 48 are centered together with the adjusting plate 51 by the contact structure of the sensor arm receiver 55 and the central sensor arm 46. Rotate counterclockwise to. At the same time, the left sensor arm 66 is rotated counterclockwise about the sensor arm pivot shaft 48.
This operation is performed when the center and left ground height detecting sled bodies 36C and 36L are stored.

  On the other hand, by operating the ground height switching lever 98 from the lower position, that is, from the stowed position to the upper work low state fixed position, the central sensor arm 46 is provided with a torque spring 221 provided at the base end of the operating arm 42a. Due to the force, the sensor arm pivot shaft 48 is rotated in the clockwise direction, and is displaced from the storage position of the center ground height detection sled body 36C to the work low state fixed position. At the same time, the left sensor arm 66 also rotates clockwise about the sensor arm pivot shaft 48 by the biasing force of the torque spring 222 provided at the base end of the operating arm 42b, and detects the left ground height. The sled body 36L is displaced from the storage position to the work low state fixed position.

  Further, by operating the ground height switching lever 98 from the lower position, that is, from the work low state fixed position to the work high state fixed position, the central sensor arm 46 is pivoted for the sensor arm by further biasing of the torque spring 221. Further rotation about the shaft 48 results in a working high state fixed position. At the same time, the left sensor arm 66 is further rotated around the sensor arm pivot shaft 48 by the further urging of the torque spring 222 and becomes the working high state fixed position.

  As described above, the sensor arm receiver 55 provided on the adjustment plate 51 has a structure capable of contacting the center and left sensor arms 46 and 66. That is, by rotating the adjusting plate 51 by operating one ground height switching lever 98, the central sensor arm 46 and the left sensor arm 66 are rotated via the sensor arm receiver 55 fixed to the adjusting plate 51. Determine the initial position setting position.

  Selection of the initial setting positions of the central sensor arm 46 and the left sensor arm 66 by the ground height switching lever 98 is based on the operating range of the potentiometers 51C and 51L attached to the left and right ends of the adjustment plate 51 to the detection arms 53a and 53b. The respective rocking ranges of the ground height detecting sled bodies 36C and 36L from the reference setting positions of the initial settings of the center and left ground height detecting sled bodies 36C and 36L are linked to each other. It is detected by the link mechanisms 75C and 75L and used to control the cutting height and the left / right tilt of the aircraft.

  The operation of the above three patterns of the ground height switching lever 98 will be specifically described as follows.

  When the ground height detecting sled bodies 36C and 36L are switched from the working state to the retracted state, the lever shaft 98c of the ground height switching lever 98 is pushed toward the support cylinder 98b against the bias of the spring 99, and the slit The locking state of the locking portion and the stopper 98d at the storage position 200N is released, and the ground height switching lever 98 is moved downward along the operation groove 97a as it is, so that the ground height switching lever 98 is moved to the storage position. Move to 200N and hold.

  When the ground height detecting sled bodies 36R and 36L are switched from the housed state to the working state, the lever shaft 98c of the ground height switching lever 98 is pushed toward the support cylinder 98b against the bias of the spring 99. Then, the locking state of the locking portion and the stopper 98d at the slit storage position 200N is released, and the ground height switching lever 98 is moved upward along the operation groove 97a as it is, so that the work low state fixing position 200L or This is done by locking the stopper 98d to the locking portion provided at the working high state fixing position 200H.

  Here, when the ground height switching lever 98 is at the working height state fixed position 200H, the swing range of the ground height detecting sled bodies 36L and 36C can be maximized. That is, since the descending distance of the rear end portions of the ground height detection sled bodies 36L and 36C can be maximized, it is possible to cope with the ground height control of the reaping portion 4 on the ground surface with large unevenness. Furthermore, since the descending distance of the rear end portions of the ground height detection sled bodies 36L and 36C is large, it is possible to control to maintain a large distance between the cutting portion 4 and the ground surface, and the cutting portion 4 is excessively lowered. It is possible to prevent mud from entering the harvesting part 4 and prevent mud from adhering to the grain of the harvested cereal.

  When the ground height switching lever 98 is held at the work low state fixed position 200L that is lower than the work height state fixed position 200H, the swing range of the ground height detection sled bodies 36R and 36L is reduced. . That is, since the descending distance of the rear ends of the ground height detecting sled bodies 36L and 36C is reduced, the ground height of the cutting unit 4 can be controlled in a lower range.

Next, the right interlocking link mechanism 75R of the right ground height detection sled body 36R will be described.
As shown in FIG. 4, the right interlocking link mechanism 75 </ b> R of the right ground height detection sled body 36 </ b> R is disposed outside the right side wall 83 </ b> R of the platform 30.

  Also, as shown in FIGS. 9 and 10, the right interlocking link mechanism 75R of the right ground height detecting sled body includes an operating arm 42c having a base end connected to the shaft end of the right support shaft 40R, and a spring 70c. A right sensor arm 146 having a central portion pivotally attached to a pivot arm 148 for sensor arm projecting from the right side wall 83R of the platform 30, and a potentiometer 52R pivotally attached to a central portion of the pivot shaft 148 for sensor arm. The adjustment plate 151 to which the adjustment plate 151 is attached, the ground height switching lever 198 connected to the adjustment plate 151, and the right sensor arm 146 is brought into contact with a part of the adjustment plate 151 to interlock with the clockwise rotation of the adjustment plate 151. It is comprised from the sensor arm receptacle 56 for setting it as the structure to do.

  Further, the sensor arm pivot shaft 148 protrudes outward from the right side wall 83R of the platform 30, and the sensor arm pivot shaft 148 is adjusted with the tip boss 236 for connecting the right sensor arm 146. Plate bosses 235 for connecting the plates 151 are loosely fitted in parallel.

  The operation of the right interlocking link mechanism 75R configured as described above is basically the same as that of the above-described central interlocking link mechanism 75C and the like, and thus the description thereof is omitted.

Further, as shown in FIG. 9, the ground height switching lever 198 includes a support cylinder 198b provided continuously with the adjustment plate 151, a lever shaft 198c inserted into the cylinder of the support cylinder 198b and freely inserted and retracted, and a lever. The stopper 198d is fixed to the middle of the shaft 198c, and the spring 199 is interposed between the stopper 198d and the end of the support cylinder 198b.
The operation of the ground height switching lever 198 is basically the same as the ground height switching lever 98 of each of the above-described center and left interlocking link mechanisms 75C and 75L, and thus description thereof is omitted.

  According to the first embodiment of the present invention described above, since the interlocking link mechanisms provided at the respective shaft ends of the support shaft are distributed and arranged on the left and right sides of the cutting portion, each ground height detecting sled body and It is possible to simplify the structure of a plurality of interlocking link mechanisms that interlockly connect each detection unit. In the above-described first embodiment, the interlocking link mechanisms 75L and 75C are arranged on the left side of the machine body, and the right interlocking link mechanism 75R is arranged on the right side.

[2. Second Embodiment]
The second embodiment of the present invention will be specifically described below with reference to the drawings. In the second embodiment, the configuration of the sled body support shaft 360 for pivotally supporting each ground height detecting sled body is basically the same as that of the first embodiment described above. A connecting shaft 277 is installed between the left and right side walls 83L and 83R of the platform 30 in parallel with the sled body support shaft 360, separately from the body support shaft 360, and the right-side ground height detection sled body 36R is swung. The right side wall 83R is configured to bypass and transmit to the outside of the left side wall 83L of the platform 30 via the connecting shaft 277.
With this configuration, the interlocking link mechanisms 175L, 175R, and 175C for detecting the swing of the three ground height detection sled bodies 36L, 36R, and 36C on the left side, the right side, and the center are provided on the platform 30. It can be disposed only outside the left side wall 83L.

11 and 12, a parallel link mechanism 279 is interposed between the right shaft end of the right support shaft 40R and the right shaft end of the connecting shaft 277 outside the right wall 83R of the platform 30. The rotation of the right support shaft 40R is configured to be transmitted to the connecting shaft 277.
The parallel link mechanism 279 is configured to have a substantially parallelogram by pivotally supporting the operating link piece 272, the floating link piece 273, and the passive link piece 275, respectively.
With such a configuration, the swing of the right-side ground height detection sled body 36R can be transmitted to the left side wall 83L side.

  Next, three support shafts projecting outward from the left side wall 83L of the platform 30, that is, the center support shaft 40C, the pipe-like left support shaft 40L loosely fitted on the outer periphery of the center support shaft 40C, and the platform 30 are provided. The interlocking link mechanisms 375C, 375L, and 375R for interlockingly connecting the potentiometers 52C, 52L, and 52R to the respective shaft ends of the connecting shaft 277 detoured from the right side wall 83R will be specifically described with reference to the drawings.

First, the center interlocking link mechanism 375C of the center ground height detecting sled body 36C will be described.
As shown in FIGS. 13 and 14, the central interlocking link mechanism 375C is similar to the central interlocking link mechanism 75C of the first embodiment described above, and includes an operation arm 142a having a base end connected to the shaft end of the middle support shaft 40C. , A spring 170a, a central sensor arm 246 pivotally attached to the pivot arm 248 for the sensor arm projecting from the left side wall of the platform 30, and a central portion pivotally attached to the pivot shaft 248 for the sensor arm. The adjustment plate 251 with the potentiometer 52C attached thereto, the ground height switching lever 298 connected to the adjustment plate 251 and the central sensor arm 246 in contact with a part of the adjustment plate 51 to rotate the adjustment plate 251 counterclockwise. It is comprised from the sensor arm receptacle 255 for setting it as the structure linked with a motion.

  As shown in FIG. 17, the sensor arm pivot shaft 248 protrudes outward from the left side wall 83L of the platform 30, and the sensor arm pivot shaft 248 is connected to the central sensor arm. The front end boss 332, the central plate connecting boss 333, the right sensor connecting boss 334, the left sensor connecting boss 335, and the left and right plate connecting boss 336 are loosely fitted in parallel. .

  Since the operation of the central interlocking link mechanism 375C is basically the same as the central interlocking link mechanism 75C of the first embodiment described above, the description thereof is omitted. The structure and operation of the ground height switching lever 298 are basically the same as the ground height switching lever 98 and the like of the first embodiment described above, and a description thereof will be omitted.

Next, the interlocking link mechanisms 375R and 375L of the right and left ground height detection sled bodies 36R and 36L will be described.
As shown in FIG. 15, the right interlocking link mechanism 375R includes an operating arm 142c having a base end connected to the shaft end of the connecting shaft 277 and a spring 170c, similarly to the right interlocking link mechanism 75R of the first embodiment described above. A right sensor arm 266 having a central portion pivotally attached to a pivot arm 248 for sensor arm projecting from the left side wall 83L of the platform 30, and a potentiometer 52R at both ends pivotally attached to the pivot shaft 248 for sensor arm. , 52L, an adjustment plate 351 connected to the adjustment plate 351, and a ground height switching lever 398 provided on the adjustment plate 351. The right sensor arm 266 is brought into contact with a part of the adjustment plate 351 so that the adjustment plate 351 rotates counterclockwise. It is comprised from the sensor arm receptacle 355 for setting it as the structure linked with a motion.

  On the other hand, as shown in FIG. 16, the left interlocking link mechanism 375L is similar to the left interlocking link mechanism 75L of the first embodiment described above, and the operation arm 142b whose base end is connected to the shaft end of the connecting shaft 277; A spring 170b, a left sensor arm 346 pivotally attached to the sensor arm pivot shaft 248 projecting from the left side wall of the platform 30, and a center portion pivotally attached to the sensor arm pivot shaft 248 with potentiometers at both ends. The adjustment plate 351 with the 52R and 52L attached thereto, the ground height switching lever 398 continuously provided on the adjustment plate 351, and the left sensor arm 346 abuts on a part of the adjustment plate 351 so that the adjustment plate 351 rotates counterclockwise. It is comprised from the sensor arm receptacle 355 for setting it as the structure interlock | cooperated with rotation.

Here, the interlocking link mechanism 375R and the interlocking link mechanism 375L share the adjustment plate 351, the ground height switching lever 398, and the sensor arm receiver 355. Accordingly, the sensor arm receiver 355 provided on the adjustment plate 351 has a structure capable of contacting both the left and right sensor arms 266 and 346.
That is, the adjustment plate 351 for operating and rotating the ground height switching lever 398 operated to perform the initial setting of the swing range of each sled body is the same plate for both the central interlocking link mechanism 375C and the left interlocking link mechanism 375L. Furthermore, the sensor arm receiver 355 fixed to the adjustment plate 351 is also the same receiver. In the central interlocking link mechanism 375C and the left interlocking link mechanism 375L, the adjustment plate 351, the ground height switching lever 398, and the sensor arm are provided. The structure is simplified by sharing the receiving body 355.

  The operations of the right interlocking link mechanism 375R and the left interlocking link mechanism 375L are basically the same as those of the right interlocking link mechanism 75R of the first embodiment described above, and thus the description thereof is omitted.

As shown in FIGS. 15 and 16, the ground height switching lever 398 includes a support cylinder 398b provided continuously with the adjustment plate 351, and a lever shaft 398c inserted into the cylinder of the support cylinder 398b so as to be freely advanced and retracted. And a stopper 398d fixed to the middle part of the lever shaft 398c, and a spring 399 interposed between the stopper 398d and the end of the support cylinder 398b.
The operation of the ground height switching lever 398 is basically the same as that of the above-described ground height switching lever 98 and the like in the first embodiment, and a description thereof will be omitted.

  According to the second embodiment of the present invention described above, since the interlocking link mechanism provided at each shaft end of the support shaft is disposed only on one side of the cutting part, the shaft of the support shaft provided continuously with each sled body. Since the link mechanism linked to the end can be centrally managed and maintained on one side of the cutting unit, workability is improved. Further, since the number of members that can be shared in each interlocking link mechanism of each ground detecting sled body is large, the structure can be simplified and the interlocking link mechanism itself can be made compact. In the second embodiment described above, the interlocking link mechanism 375 is disposed on the left side of the aircraft, but may be disposed on the right side.

[3. Third Embodiment]
Hereinafter, a third embodiment of the present invention will be specifically described with reference to the drawings. In the third embodiment, similar to the second embodiment described above, the three interlocking link mechanisms are provided only on one side of the machine body, but the sled body for pivotally supporting each ground height detection sled body. The shaft configuration of the support shaft is different. In the third embodiment, the ground height detection sled bodies 36L, 36C, 36R are arranged on the left side wall 83L side by the three-axis coaxial configuration of the core shaft 140R, the middle shaft 140C, and the outer shaft 140L. Are transmitted to the respective interlocking link mechanisms 475L, 475C, 475R.

  As shown in FIG. 18, a core shaft 140R that functions as a right support shaft is mounted between the left and right side walls 83L and 83R of the platform 30, and the right shaft end of the core shaft 140R is connected to the right side of the platform 30 via a boss 84. The wall 83R is pivotally supported.

  In addition, a pipe-shaped center shaft 140C that functions as a center support shaft is loosely fitted to the outer peripheral surface of the left and center portions of the core shaft 140R. Note that the right shaft end of the middle shaft 140 </ b> C is pivotally supported by a bracket 191 protruding from the inner wall surface of the platform 30 via a boss 111. Further, a pipe-shaped outer shaft 140L functioning as a left support shaft is loosely fitted on the outer peripheral surface of the left portion of the middle shaft 140C.

  The right shaft end of the outer shaft 140L is pivotally supported by a bracket 192 protruding from the inner wall surface of the platform 30 via a boss 112, and the left shaft end of the outer shaft 140L is supported by a boss 88. The left side wall 83L of the platform 30 is pivotally supported.

  Therefore, if the left-side ground height detection sled bodies 36L, 36C, and 36R swing corresponding to the unevenness of the field scene, the rotation torque is transmitted to the outer shaft 140L, the middle shaft 140C, and the core shaft 140R, respectively. Thus, the outer shaft 140L, the middle shaft 140C, and the core shaft 140R detect the swing of the left, center, and right ground height detecting sled bodies 36L through the respective interlocking link mechanisms 475R, 475C, and 475L.

  That is, each of the ground height detection sled bodies 36L, 36C, 36R can swing independently, and the core shaft 140R, the middle shaft 140C, and the outer shaft 140L are coaxially configured (in a three-axis configuration). Therefore, the strength is improved, and as a result, it can endure an unexpected load at the time of cutting. Further, since the three ground height detection sled bodies 36L, 36C, 36R are arranged on the same line in the width direction of the machine body, space saving can be achieved.

  As shown in FIGS. 18 and 19, the left ends of the core shaft 140R functioning as the right support shaft, the center shaft 140C functioning as the center support shaft, and the outer shaft 140L functioning as the left support shaft are all coaxial. It protrudes outward from the left side wall 83L of the platform 30 in a loosely fitted state. Moreover, the protruding shaft ends are interlocked and connected to the potentiometers 52R, 52C, and 52L via the interlocking link mechanisms 475R, 475C, and 475L, respectively.

  Then, as shown in FIG. 19, by operating a ground height switching lever (not shown) that is operated to perform initial setting of the swing range of the ground height detecting sled bodies 36C and 36L at the center and the left side. The adjusting plate 351 to be rotated is the same plate for the central interlocking link mechanism 475C and the left interlocking link mechanism 475L, and the sensor arm receiver (not shown) fixed to the adjusting plate is also the same receiver. In the interlocking link mechanism 475C and the left interlocking link mechanism 475L, the adjustment plate, the ground height switching lever, and the sensor arm receiver are commonly used to simplify the structure.

  Note that the operation of each interlocking link mechanism 475R, 475C, 475L is basically the same as that of each interlocking link mechanism of the second embodiment described above, and a description thereof will be omitted.

  According to the third embodiment of the present invention described above, since the interlocking link mechanism provided at each shaft end of the support shaft is disposed only on one side of the cutting part, the shaft of the support shaft provided continuously with each sled body. Since the link mechanism linked to the end can be centrally managed and maintained on one side of the cutting unit, workability is improved. Furthermore, since the number of members that can be shared in each interlocking link mechanism of each ground detection sled body is large, the structure can be simplified and the interlocking link mechanism itself can be made compact. Furthermore, since the three shafts have a coaxial configuration, the structure is simple and the strength is improved, so that it is possible to withstand unexpected loads during cutting. In the third embodiment described above, the interlocking link mechanism 475 is disposed on the left side of the aircraft, but may be disposed on the right side.

[4. Combine height control process]
Next, the combine height control process will be described in detail. The ground height control process of the combine 150 according to the present embodiment is performed by the controller 100 arranged inside the combine 150. The ground height control process can be realized in any of the first to third embodiments described above.

  As shown in FIG. 20, the controller 100 includes a CPU (Central Processing Unit) 101, a working RAM (Random Access Memory) 102, and a ROM 103 that records various programs. The controller 100 stores the CPU 101 in the ROM 103. By reading and executing the various programs, the overall operation of the combine 150 is controlled and functions as a horizontal control means for performing ground parallel control and a cutting height control means for controlling the raising and lowering of the cutting unit 4.

  The voltage value detected by each potentiometer (corresponding to the rotation amount of each detection arm) is written in the RAM 102 via a predetermined interface. The controller 100 can detect the ground height on the left side, the center, and the right side of the aircraft based on the voltage value.

  The controller 100 is connected with control solenoid valves 25a and 25b via a predetermined interface. The controller 100 controls the control solenoid valves 25a and 25b to control the expansion and contraction amounts of the hydraulic cylinders 25L and 25R.

  Hereinafter, the ground height control process will be described with reference to the flowchart of FIG. In the following description, it is assumed that the desired ground height has already been set, and the desired ground height is “hd”.

In S101, the controller 100 detects the ground height “h0” of the center bag based on the voltage value detected by the potentiometer 52C.
In S <b> 102, the controller 100 determines whether or not the height of the center fence to the ground is equal to or higher than an appropriate height “hm” that the cutting unit 4 is assumed not to take in soil. In this process, when it is determined that the ground height “h0” of the center ridge is equal to or higher than the appropriate ground height “hm” (S102: YES), the controller 100 shifts the process to S103.
In S103, the controller 100 executes a first control process.

Hereinafter, the first control process will be described with reference to the flowchart of FIG.
In S111, the controller 100 detects the ground height of the left ridge based on the voltage value detected by the potentiometer 52L.
In S112, the controller 100 detects the height of the right side to the ground based on the voltage value detected by the potentiometer 52R.
In S113, the controller 100 outputs a control signal to the control solenoid valves 25a and 25b for the horizontal control of the combine 150 while maintaining a state in which the ground height of the central kite is equal to or higher than the appropriate height “hm”. . Thereby, the combine 150 is horizontally controlled so that the ground heights of the left and right ridges are equal.

At this time, as shown in FIG. 23 (A), the ground height “h0” of the center ridge when the ground height of the left and right ridges is a desired ground height “hd” is the appropriate height “hm”. In the above case, the horizontal control of the combine 150 is performed so that the ground height of the left and right ridges is “hd”.
However, as shown in FIG. 23B, the ground height “h0” of the center ridge when the ground height of the left and right ridges is the desired ground height “hd” is the appropriate height “hm”. If smaller, the horizontal control of the combine 150 is performed under the constraint that the ground height “h0” of the center ridge is equal to “hm”. Therefore, since the ground height of the left and right reeds is “h1”, the left and right reeds are cut higher than the set height “hd”. Can be prevented.

Returning to FIG.
In S102, when it is not determined that the ground height “h0” of the center fence is equal to or higher than the appropriate ground height “hm” (S102: NO), the controller 100 shifts the process to S104.
In S104, the controller 100 executes a second control process.

Hereinafter, the second control process will be described with reference to the flowchart of FIG.
In S121, a control signal is output to the control solenoid valves 25a and 25b for raising and lowering the combine 150 so that the height of the center fence to the ground is the appropriate height “hm”. As a result, the combine 150 is controlled to move up and down until the height of the center fence to the ground becomes the appropriate height “hm” (see FIG. 25A).
As described above, the ground height control based on the center ground height detection sled body 36C is performed in preference to the ground height control based on the left and right ground height detection sled bodies 36L, 36R. The cutting unit 4 can be prevented from taking in the soil of the central fence.

In S122, the controller 100 detects the ground height of the left eyelid based on the voltage value detected by the potentiometer 52L.
In S123, the controller 100 detects the height of the right saddle based on the voltage value detected by the potentiometer 52R.
In S124, the controller 100 outputs a control signal to the control solenoid valves 25a and 25b for the horizontal control of the combine 150 while maintaining a state in which the ground height of the central kite is equal to or higher than the appropriate height “hm”. . Thereby, the combine 150 is horizontally controlled so that the ground heights of the left and right ridges are equal.

At this time, as shown in FIG. 25 (B), the ground height “h0” of the center kite when the ground height of the left and right kites is the desired ground height “hd” is the appropriate height “hm”. In the above case, the horizontal control of the combine 150 is performed so that the ground height of the left and right ridges is “hd”.
However, as shown in FIG. 25C, the ground height “h0” of the center ridge when the ground height of the left and right ridges is a desired ground height “hd” is the appropriate height “hm”. If smaller, the horizontal control of the combine 150 is performed under the constraint that the ground height “h0” of the center ridge is equal to “hm”. Therefore, since the ground height of the left and right reeds is “h1”, the left and right reeds are cut higher than the set height “hd”. Can be prevented.

  According to the above-described ground height control processing, horizontal control and elevation control according to the height relationship between the left, center, and right side can be performed, so that the cutting unit 4 can take in the soil from the side. Can be effectively prevented.

[5. Other forms of ground height control processing]
Next, another form of the ground height control process will be described with reference to the flowchart of FIG. In the following description, it is assumed that the desired ground height has already been set, and the desired ground height is “hd”.

In S201, the controller 100 detects the ground height of the left ridge based on the voltage value detected by the potentiometer 52L.
In S202, the controller 100 detects the height of the center ridge to the ground based on the voltage value detected by the potentiometer 52C.
In S203, the controller 100 detects the height of the right saddle based on the voltage value detected by the potentiometer 52R.
Note that the order of the processes of S201 to S203 is merely an example, and the order of these processes (that is, the order of detecting the ground height) can be changed as appropriate.

In S204, the controller 100 determines whether or not the height of the center ridge to the ground is the smallest (that is, whether the middle ridge is the highest). In this process, when it is determined that the center wrinkle is the highest (S204: YES), the controller 100 shifts the process to S205.
In S205, the controller 100 performs a third control process.

Hereinafter, the third control process will be described with reference to the flowchart of FIG.
In S211, the controller 100 calculates the assumed ground height “h0” at the center when the left and right are set to the set height “hd”.

  In S212, the controller 100 determines whether or not the assumed ground height “h0” at the center is equal to or higher than the appropriate ground height “hm” that is assumed that the cutting unit does not take in the soil. In this process, when it is determined that the assumed ground height “h0” is equal to or greater than the appropriate ground height “hm” (S212: YES), the controller 100 shifts the process to S213. FIG. 28A shows a state where the assumed height “h0” is larger than the appropriate ground height “hm”.

  In S213, the controller 100 outputs a control signal to the control solenoid valves 25a and 25b so that the ground height with respect to the left and right saddles is “hd”. Thereby, while the cutting height with respect to the right and left cocoons becomes equal, the cutting portion 4 can be prevented from taking in the soil of the central cocoon.

  On the other hand, in S212, when it is determined that the assumed ground height “h0” is not equal to or greater than the appropriate ground height “hm” (S212: NO), the controller 100 shifts the process to S214. FIG. 28B shows a state where the assumed height “h0” is smaller than the appropriate ground height “hm”. In FIG. 28 (B), since the center ridge is higher than in FIG. 28 (A), the assumed height “h0” is smaller than the appropriate ground height “hm”.

  In S214, the controller 100 outputs a control signal to the control solenoid valves 25a and 25b so that the ground height with respect to the central saddle becomes the appropriate ground height “hm”. As a result, the combine 150 is controlled to move up and down to a height at which the mowing unit does not take in the soil with respect to the central basket.

  In S215, the controller 100 sends control signals to the control solenoid valves 25a and 25b so that the ground height with respect to the left and right saddles is “hd + (hm−h0)” (hereinafter referred to as “h1”). The data is output (see FIG. 28C). Thereby, although it cuts higher than setting height with respect to the right and left cocoons, it can prevent that the cutting part 4 takes in the soil of the center cocoon.

  In addition, you may comprise so that the process of above-mentioned S214 and S215 may be performed simultaneously.

  As described above, the ground height control based on the center ground height detection sled body 36C is performed in preference to the ground height control based on the left and right ground height detection sled bodies 36L, 36R. The cutting unit 4 can be prevented from taking in the soil of the central fence.

Returning to FIG.
In S204, when it is not determined that the center wrinkle is the highest (S204: NO), the controller 100 shifts the process to S206.
In S206, the controller 100 determines whether or not the center ground height is the largest (that is, the center ridge is the lowest). In this process, when it is determined that the center wrinkle is the lowest (S205: YES), the controller 100 shifts the process to S207.

  In S207, the controller 100 performs a fourth control process and outputs a control signal to the control solenoid valves 25a and 25b so that the height to the ground with respect to the left and right saddles becomes “hd”. Thereby, the cutting height with respect to the left and right reeds becomes the set height, and the ground height of the central reed becomes h3 (> hm), so there is no possibility that the reclaiming part 4 takes in the soil of the reed at the center (FIG. 29). reference).

Returning to FIG. In S206, when it is not determined that the center wrinkle is the lowest (S206: NO), the controller 100 shifts the process to S208.
In S208, the controller 100 performs a fifth control process.

Hereinafter, the fifth control process will be described with reference to the flowchart of FIG.
In S <b> 221, the controller 100 obtains the center assumed ground height h <b> 0 when the left and right are set to the set height “hd”.

  In S222, the controller 100 determines whether or not the assumed ground height “h0” at the center is equal to or higher than the appropriate ground height “hm” that is assumed that the cutting unit does not take in the soil. In this process, when it is determined that the assumed ground height “h0” is equal to or greater than the appropriate ground height “hm” (S222: YES), the controller 100 shifts the process to S223. FIG. 31A shows a state where the assumed height “h0” is larger than the appropriate ground height “hm”.

  In S223, the controller 100 outputs a control signal to the control solenoid valves 25a and 25b so that the ground height with respect to the left and right saddles is “hd”. Thereby, while the cutting height with respect to the left and right reeds becomes equal, it is possible to prevent the reeding part from taking in the soil of the reeds in the center.

  On the other hand, in S222, when it is determined that the assumed ground height “h0” is not equal to or greater than the appropriate ground height “hm” (S222: NO), the controller 100 shifts the process to S224. FIG. 31B shows a state where the assumed height “h0” is smaller than the appropriate ground height “hm”. In FIG. 31 (B), since the center ridge is higher than in FIG. 31 (A), the assumed height “h0” is smaller than the appropriate ground height “hm”.

  In S224, the controller 100 outputs a control signal to the control electromagnetic valves 25a and 25b so that the cutting height at the center becomes the appropriate ground height “hm”. As a result, the combine 150 is controlled to move up and down to a height at which the mowing unit does not take in the soil with respect to the central basket.

  In S225, the controller 100 sends control signals to the control solenoid valves 25a and 25b so that the ground height with respect to the left and right ridges is “hd + (hm−h4)” (hereinafter referred to as “h5”). Output (see FIG. 31C). Thereby, although it cuts higher than setting height with respect to the right and left cocoons, it can prevent that the cutting part 4 takes in the soil of the center cocoon.

  In addition, you may comprise so that the process of above-mentioned S224 and S225 may be performed simultaneously.

  As described above, the ground height control based on the center ground height detection sled body 36C is performed in preference to the ground height control based on the left and right ground height detection sled bodies 36L, 36R. The cutting unit 4 can be prevented from taking in the soil of the central fence.

According to the above-described ground height control processing, horizontal control and elevation control according to the height relationship between the left, center, and right side can be performed, so that the cutting unit 4 can take in the soil from the side. Can be effectively prevented.
Since the contents of the third control process and the fifth control process are basically the same, they may be configured as one process.

  As described above, according to the combine 150 of the present invention, at least three or more ground height detection sled bodies are separately disposed, and each independently detects the ground height. The ground height detection sled body located at the left and right ends has a horizontal control means for the heel, and the ground height detection sled body located at the center has a cutting height control means. Further, the horizontal control means performs ground parallel control based on the detection values of the maximum height and the minimum height of the left and right ridges, and the cutting height control means is configured to control the maximum height of the three ridges. The raising / lowering control of the cutting unit is performed based on the detected value. Thereby, it is possible to control the combine in a posture parallel to the field scene, and it is possible to prevent the soil from being taken up by the cutting unit.

Although one embodiment according to the present invention has been specifically described, the present invention is not limited to the above-described embodiment, and various modifications based on the technical idea of the present invention are possible. For example, in the above-described embodiment, the number of ground height detection sled bodies is three, but may be four or more.
Further, each flowchart described above is merely an example, and the processing may be realized by another flowchart as long as a result equivalent to the processing of each flowchart can be obtained.

DESCRIPTION OF SYMBOLS 1 Crawler type traveling device 4 Cutting part 30 Platform 36L Ground height detection sled body 36C Ground height detection sled body 36R Ground height detection sled body 40L Left support shaft 40C Middle support shaft 40R Right support shaft 140L Outer shaft 140C Middle shaft 140R Core shaft 52L Potentiometer 52C Potentiometer 52R Potentiometer 100 Controller 150 Combine

Claims (2)

A cutting part provided at the front of the aircraft,
A plurality of ground height detection sled bodies mounted below the cutting part and functioning as a grounding body,
A plurality of detection units functioning as detecting means linked to the plurality of ground height detecting sled bodies, respectively;
In a combine having a setting means for setting the height to the ground by performing up-and-down control of the left and right traveling mechanisms of the airframe by signals from the plurality of detection units,
The plurality of ground height detection sled bodies are arranged separately in the left-right direction of the cutting part, separately, three pieces,
The ground height detection sled body located at the left and right ends of the plurality of ground height detection sled bodies has a horizontal control means for the saddle,
Among the plurality of ground height detection sled bodies, a center ground height detection sled body has a cutting height control means,
The horizontal control means performs ground parallel control based on the detected value of each ground height in the left and right ridges,
The mowing height control means, a detection value of the ground height in the center of ridge based on, performs elevation control of the reaper in preference to ground parallel control, the ground height in the center of ridge When the detected value is smaller than the detected value of each ground height in the left and right ridges, the elevation control is performed so that the ground height for the left and right ridges becomes a desired ground height .
Combine that is characterized by that. In a ground height control program for controlling the ground height of a combine body,
Each of the ground heights of the ground height detecting sled body mounted below the cutting part provided in the front part of the fuselage body and separately provided in the left and right direction of the cutting part. An acquisition means for acquiring a detection value;
Horizontal control means for performing parallel control on the ground of the traveling mechanism based on the detected values of the height of the ground on the left and right ridges,
Based on the detection value of the ground height at the center ridge, the lifting control of the cutting part is given priority over the ground parallel control, and the detection value of the ground height at the center ridge is When it is smaller than the detected value of the ground height, a cutting height control means that performs the ground height with respect to the left and right ridges to a desired ground height ,
Ground height control program to function as.

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