JP5734154B2 - General purpose combine - Google Patents

Description

  The present invention relates to a general-purpose combine in which a reaping portion in which a reel is supported so as to be movable up and down is connected to a traveling machine body so as to be movable up and down.

  A mowing unit lifting / lowering actuator that moves the mowing unit up and down relative to the traveling machine body, a reel lifting / lowering actuator that lifts and lowers the reel that is rotationally driven to scrape the crop, and a mowing unit that moves up and down relative to the traveling machine body A manual operation means for raising / lowering the cutting unit and a manual operation unit for raising / lowering the reel with respect to the harvesting unit are provided, and the reel is automatically moved by the reel raising / lowering actuator as the cutting unit is lifted through the lifting / lowering actuator. A general-purpose combine shown in Patent Document 1 in which an autolift control for lowering is provided in a control unit and an autolift operating means for executing autolift control is known.

JP 2009-213383 A

  However, when the general-purpose combine of the above-mentioned document performs auto-lift control while the reel is in a high position, the lifting speed of the cutting part is too fast, so that the reel is not driven in time, and before the reel acts on the cereal. There was a risk that the cutting part would rise and spill the grain without scraping the cereal.

  In the present invention, a reel is supported so that it can be moved up and down and connected to a traveling machine body so that it can be driven up and down. It is an object of the present invention to provide a general-purpose combine that prevents spillage caused by raising the cutting part before acting on the squeeze, and that automatically drives the cutting part to raise while the grain culm is properly scraped.

  In order to solve the above-mentioned problem, firstly, a cutting unit lifting / lowering actuator 16 that moves the cutting unit 3 up and down with respect to the traveling machine body 2 and a reel 4 that is rotationally driven to scrape the crop are moved up and down with respect to the cutting unit 3. A reel lifting / lowering actuator 41 to be moved, a cutting unit lifting / lowering manual operation means 66 for lifting / lowering the cutting part 3 relative to the traveling machine body 2, and reel lifting / lowering manual operating means 74A and 74B for lifting / lowering the reel 4 relative to the cutting part 3. The control unit 83 is provided with an autolift control that automatically raises the cutting unit 3 via the cutting unit lifting / lowering actuator 16 and automatically lowers the reel 4 by the reel lifting / lowering actuator 41, and performs autolift control. A general purpose combiner provided with a lift operating means 73 for detecting the relative height of the reel 4 with respect to the cutting part 3 A step 91 is provided, and the control unit 83 is configured to execute the reel 4 when the reel height detected by the height detection unit 91 is not less than a predetermined height when the autolift control unit 73 performs the autolift control. Is driven to move downward with respect to the cutting unit 3 and the cutting unit 3 is driven to rise at a low speed, while the reel 4 detected by the height detecting means 91 is below the predetermined height, the reel 4 is cut off. It is characterized in that the part 3 is driven downward and the cutting part 3 is driven upward at high speed.

  Secondly, the vehicle speed detecting means 97 is provided, and the control unit 83 is less than or equal to the predetermined speed when the vehicle speed detected by the vehicle speed detecting means 97 is higher than a predetermined speed when the autolift control is executed. The reaping part 3 is driven to move up at a higher speed than in the above case.

  Thirdly, a reel speed change device 54 that changes the rotation speed of the reel 4 by the reel speed change actuator 62 and a reel speed change manual operation means 81 that changes the rotation speed of the reel 4 are provided. Through 62, the speed-up drive is automatically performed so that the rotation speed of the reel 4 becomes equal to or higher than a predetermined speed from the start of auto-lift control until a predetermined time elapses.

  Fourth, a threshing unit 22 for threshing and selecting the harvested crop is provided, and a fin 33a for selecting a processed product that has been threshed and a fin opening / closing actuator 34 for opening and closing the fin 33a to change the selection performance. It is provided in the threshing unit 22 and is characterized in that the fin 33a is closed by the fin opening / closing actuator 34 when the automatic lift control is executed.

  When performing the autolift control by the autolift operating means, if the reel height is not less than a predetermined height, the reel is driven to move downward with respect to the cutting part and the cutting part is driven to rise at a low speed. The reaping part rises before it acts on the cereal, so that the reaping part can be automatically driven up while being properly squeezed, without causing spillage. Therefore, the mowing operation can be performed easily, and the mowing operation can be performed quickly.

  In addition, vehicle speed detection means is provided, and the control unit switches the drive for raising the cutting unit to a low speed when the vehicle speed detected by the vehicle speed detection means is higher than a predetermined speed during execution of the autolift control. Without automatically driving the reaping part at high speed as usual, the speed of the cereals does not decrease because the vehicle speed is high, and the reaping part rises at high speed. It is also possible to prevent a problem that the cutting part is pushed into the ridge.

  In addition, a reel speed change device that shifts the rotation speed of the reel by a reel speed change actuator and a reel speed change manual operation means that changes the speed of the reel rotation speed, and the control unit performs auto lift control via the reel speed change actuator. From the start to the elapse of a predetermined time, automatically increasing the speed of the reel so that the reel rotation speed is equal to or higher than the predetermined speed, so that when the vehicle speed is low, the ascending speed of the reaper is switched to a low speed. In combination with this, the scraping ability of the reel is increased, and crop spillage can be more efficiently prevented during the auto list control of the cutting unit.

  Further, the threshing unit is provided with a threshing unit for threshing and selecting the harvested crop, and a fin opening / closing actuator that opens and closes the fin to change the sorting performance is provided in the threshing unit. When lift control is performed, if the fins are closed by the fin opening / closing actuator, the sorts inside the threshing decrease and the layer thickness of the sorts on the fins becomes thin, so that It is possible to prevent foreign substances from entering as much as possible.

It is a top view of the general purpose combine to which the present invention is applied. It is a left view of the general purpose combine which applied this invention. It is a right view of the general purpose combine to which the present invention is applied. It is a side view of a cutting part and a reel. It is a side view of the general purpose combine which shows the state which lowered the cutting part with respect to the traveling body and raised the reel with respect to the cutting part. It is a side view of the general purpose combine which shows the state which raised the cutting part with respect to the traveling body and lowered the reel with respect to the cutting part. It is a power transmission system diagram of this general purpose combine. It is a perspective view of a control part. It is a rear view of a multi steering lever. It is a top view of a switch panel. It is a block diagram of a control part. It is a main flow figure of a control part. It is a processing flow figure of a subroutine for performing reel manual control. It is a processing flow figure of the subroutine for performing header automatic raising / lowering control. It is a processing flowchart of a subroutine for automatic lifting output setting. It is a processing flow figure of a subroutine of autolift reel rotation setting. It is a processing flowchart of the subroutine of an autolift setting. It is a processing flow figure of a subroutine for execution of lodging trimming control. It is a processing flow figure of a subroutine of reel fall output setting. It is a processing flowchart of the subroutine of meander control setting. It is a processing flowchart of the subroutine of meandering output control. It is a processing flow figure of the subroutine for performing forced scratch control. FIG. 10 is a processing flowchart of a subroutine for setting a reeling-in output. It is a processing flow figure of the subroutine of a take-in fin opening degree setting. It is a processing flow diagram of a subroutine showing another example of meander control setting.

  1 to 3 are a plan view, a left side view, and a right side view of a general-purpose combine to which the present invention is applied, and FIG. 4 is a side view of a cutting part and a reel. The general-purpose combine shown in the figure is for harvesting crops such as rice, wheat, and beans. The general-purpose combine includes a traveling machine body 2 having a pair of left and right crawler type traveling devices 1L and 1R, and a front of the traveling machine body 2. And a movable reel 6 that supports the reel 4 on the side of the cutting unit 3 so as to be movable up and down and back and forth.

  The cutting unit 3 is integrally provided with a feeder 7 in the rear half and a cutting frame 8 in the front half, and a weeding body 9 projects forward from the left and right side walls of the cutting frame 8. A columnar scooping auger 11 extending in the left-right direction is supported on the lower part and the rear part between the left and right side walls of the left and right side walls so as to be rotatable about an axis. A cutting blade 12 is installed. Incidentally, the reel 4 is located between the left and right side walls of the plan view mowing frame 8.

  The feeder 7 includes a feeder conveyor 13 in the front-rear direction for conveying the harvested crop culm backward, and the feeder 7 is located on the side of the control unit 14 on the traveling machine body 2 side, which will be described later. In addition to being supported by the front part of the traveling machine body 2, the cutting frame 8 is formed in a left-right range extending from the front side of the control part 14 to the front side of the feeder 7.

  Between the cutting part 3 and the front part of the traveling machine body 2, a hydraulic lift cylinder (cutting part lifting actuator) 16 is provided that raises and lowers the cutting part 3 relative to the traveling machine body 2 by expansion and contraction. Yes. By operating the lift cylinder 16 to extend, the cutting unit 3 rises with respect to the traveling machine body 2, while by operating the lift cylinder 16 to reduce, the cutting unit 3 descends with respect to the traveling machine body 2.

  The reel 4 has a rotating shaft 17 that is driven to rotate about its own axis by power transmitted by means to be described later, and a polygonal shape in a side view that rotates integrally with the rotating shaft 17 (in the illustrated example, a hexagonal shape). ) And a pair of left and right side frames 18, 18 arranged in parallel and opposed to each other in a state of being separated from each other by a lateral frame 19 in the left-right direction. Therefore, it is formed in a prismatic shape in which the periphery and both left and right sides communicate with each other inside and outside and the inside is a cavity. In addition, a plurality of reel tines 21 that protrude downward are arranged at predetermined intervals on each horizontal frame 19 arranged at predetermined intervals around the axis of the rotating shaft 17.

  The crop culm in the field that has been picked up by the rotating reel 4 is cut by the cutting blade 12 that is driven to slide back and forth in the left and right direction, and is picked up by the picking auger 11 to the feeder 7 side. The crop culm introduced on the feeder 7 side is conveyed rearward to the traveling machine body 2 side by the feeder conveyor 13.

  In the left half of the traveling machine body 2, a threshing unit 22 for performing threshing processing of cereals such as harvested rice and wheat and sorting grains such as cocoons from the processed product threshed is installed. A Glen tank 23 that stores grains from the threshing unit 22 is disposed in the right half of the traveling machine body 2, and the control unit 14 into which an operator gets is installed in front of the Glen tank 23.

  The threshing unit 22 includes a handling chamber 24 into which crop culm from the feeder conveyor 13 is introduced, and a sorting chamber 26 formed immediately below the handling chamber 24. An extending cylindrical handling cylinder 27 is rotatably supported around its own axis, and a swinging sorter 28 that moves back and forth is installed in the upper part of the sorting chamber 26. A tang fan 29 for raising the sorting air obliquely upward at the rear is arranged, and the first spiral 31 and the second spiral 32 are arranged in the front and rear in the middle in the front-rear direction in the lower part of the sorting chamber 26.

  The cereals introduced from the feeder 7 to the threshing unit 22 are threshed while being conveyed backward by the rotating barrel 27 in the handling chamber 24, and the processed product falls into the sorting chamber 26. The processed material that has fallen into the sorting chamber 26 is swayed and sorted by the swaying sorter 28 and sorted (wind-selected) by the sorting wind. Specifically, the first thing that falls on the first spiral 31 on the front side without being affected by the sorting wind, and the second thing that falls on the second spiral 32 on the rear side slightly affected by the sorting wind, Sorted into waste such as sawdust blown upward and rearward under the influence of the sorting wind. By the way, the first thing is conveyed as grain in the Glen tank 23, the second thing is reintroduced into the sorting chamber 26 and wind-selected, and the discharged matter is discharged from the rear end side of the traveling machine body 2 to the outside of the machine. The

  A chaff sheave 33 made up of a plurality of fins 33a arranged in parallel in the front-rear direction is installed in the latter half of the swing sorter 28. When the fin 33a is rotated by the fin opening / closing actuator 34 (see FIG. 11) made of an electric motor or the like so that the fin 33a is rotated downward, the opening degree is increased and the upper side of the swing sorter 28 is moved upward. While the air volume of the sorting wind that blows through increases, the opening degree decreases during the closing operation in which the fin 33a is rotated so as to face the horizontal direction by the fin opening / closing actuator 34, and the upper side of the swing sorting body 28 The volume of the sorting wind that blows through is reduced. By adjusting the air volume by opening and closing the fins 33a as described above, it is possible to perform the optimum air selection according to the amount of processed material.

  The grain in the Glen tank 23 is discharged out of the machine by the discharge auger 36 supported at the rear end of the traveling machine body 2. Specifically, the base end portion of the discharge auger 36 is supported by the traveling machine body 2 so that the whole can swing up and down and can be horizontally rotated, and the discharge portion that discharges the grain at the tip portion of the discharge auger 36 36a is provided, and the grain can be discharged on the spot by moving the discharge portion 36a of the discharge auger 36 to a predetermined position by swinging up and down or horizontally.

  The movable mechanism 6 includes a pair of left and right advance / retreat arms 37, 37 supported by the feeder 7 so as to be swingable back and forth, a lift arm 38 supported by each advance / retreat arm 37 so as to be swingable up and down, and each advance / retreat arm 37. A hydraulic advance / retreat cylinder (reel back-and-forth movement actuator) 39 that is disposed between the feeder 7 and swings the advance / retreat arm 37 up and down by an expansion / contraction operation, and is disposed between each lifting arm 38 and the cutting frame 8 to expand and contract. A hydraulic lifting cylinder (reel lifting actuator) 41 that drives the lifting arm 38 to swing up and down by operation is provided.

  Each advance / retreat arm 37 is a support end supported at the lower end side on the feeder 7 side, and each elevating arm 38 is a support end supported at the upper end side of the advance / retreat arm 37. , 38 is rotatably supported by a rotating shaft 17 between left and right reels 4.

  Then, the forward / backward arm 37 is swung forward by the extension operation of the forward / backward cylinder 39, so that the reel 4 moves forward with respect to the cutting portion 3, while the forward / backward arm 37 is swung backward by the reduction operation of the forward / backward cylinder 39. As a result, the reel 4 is moved backward with respect to the cutting portion 3, and the lifting arm 38 is swung upward by the extension operation of the lifting cylinder 41, whereby the reel 4 is raised with respect to the cutting portion 3, while the lifting cylinder By causing the lifting arm 38 to swing downward by the reduction operation of 41, the reel 4 is lowered with respect to the cutting portion 3.

  FIG. 5 is a side view of the general-purpose combiner showing a state in which the cutting part is lowered with respect to the traveling machine body and the reel is raised with respect to the cutting part, and FIG. It is a side view of the general purpose combine which shows the state which lowered | hung with respect to the cutting part. By the lift cylinder 16 and the lift cylinder 41 described above, the general-purpose combiner moves only the reel 4 to the highest position relative to the cutting part 3 while keeping the cutting part 3 lowered to the lowest position with respect to the traveling machine body 2. (See FIG. 5), and further, the cutting unit 3 is raised to the highest position with respect to the traveling machine body 2 while the reel 4 is lowered to the lowest position with respect to the cutting unit 3. (See FIG. 6).

  FIG. 7 is a power transmission system diagram of the present general-purpose combiner. The power generated by the engine 42 is branched into the power of the traveling system and the power of the work system on the most upstream side of the transmission. The power of the traveling system is transmitted in the order of traveling HST43 → traveling transmission 44 to drive the left and right crawler traveling devices 1L, 1R to travel. On the other hand, the power of the work system is intermittently transmitted to the threshing portion 22 via the threshing clutch 46, and the power on the threshing portion 22 side is intermittently transmitted to the reaping portion 3 and the reel 4 via the reaping clutch 47.

  The traveling HST 43 performs forward / reverse switching of power from the engine 42 side and continuously variable transmission, and transmits the output power to the traveling transmission 44. The traveling transmission 44 has a function of transmitting the power from the traveling HST 43 to the left and right crawler type traveling devices 1L and 1R at a constant speed and a function of transmitting the power from the traveling HST 43 at different rotational speeds. A left side clutch 48L that intermittently transmits to the traveling device 1L, and a right side clutch 48R that intermittently transmits power from the traveling HST 43 to the right crawler traveling device 1R are provided. For this reason, when one of the left and right side clutches 48L and 48R is disconnected and the other is connected, the traveling machine body 2 is turned to the disconnected side. Incidentally, if the left and right crawler type traveling devices 1L and 1R are driven at the same speed, the traveling machine body 2 travels straight.

  The power transmitted to the cutting unit 3 side is chain-transmitted to the feeder drive shaft 49 to convey and drive the feeder conveyor 13, and the power of the feeder drive shaft 49 is transmitted to the branch shaft 51. The power of the branch shaft 51 is transmitted to the take-up auger drive shaft 52 by a chain and drives the take-up auger 11 to be driven, and is also driven by the belt to the cutting blade drive shaft 53 to drive the cutting blade 12 by cutting.

  Further, the power of the branch shaft 51 is transmitted to the reel transmission device 54. The reel transmission 54 includes an input shaft 56 to which the power of the branch shaft 51 is transmitted in a chain, an input pulley 57 that rotates integrally with the input shaft 56, an output shaft 58, and an output pulley that rotates integrally with the output shaft 58. 59 and a V-belt 61 wound around an input pulley 57 and an output pulley 59. The power of the input shaft 56 is steplessly changed and transmitted to the output shaft 58 by the operation of the input pulley 57, the output pulley 59, and the V belt 61 via the reel speed change actuator 62 (see FIG. 11). The power of the output shaft 58 is transmitted to the rotary shaft 17 to drive the reel 4 to rotate.

  That is, the reel transmission device 54 is configured to change the rotation speed of the reel 4 steplessly by the reel transmission actuator 62. Further, the reel transmission device 54 is housed in a transmission case 38 </ b> A that constitutes one of the left and right lifting arms 38, 38.

Next, the configuration of the control unit will be described with reference to FIGS.
FIG. 8 is a perspective view of the control unit. The control unit 14 includes a seat 63 on which an operator is seated (see FIGS. 1 to 3), a shift lever 64 disposed on the side of the seat 63, a multi-steer lever 66 disposed in front of the seat 63, A switch panel 67 disposed behind the lever 64 and a cutting height setting dial 68 disposed in front of the transmission lever 64 and on the side of the multi-steering lever 66 are provided.

  The shift lever 64 can swing forward from the neutral position by swinging the traveling HST 43 in the neutral state from the front / rear neutral position to the left / right side, while moving from the neutral position to the left / right other side. By swinging, it is possible to swing backward from the neutral position. The speed increasing operation to the forward travel side through the traveling HST 43 is performed by swinging forward from the neutral position of the transmission lever 64, while the traveling HST 43 is performed by swinging backward from the neutral position of the transmission lever 64. The speed increasing operation to the reverse traveling side is performed.

  A grip 64a is formed at the upper end portion of the speed change lever 64, and a momentary type take-up switch (forced take-up operation means) 69 that can be pushed while gripping the grip 64a is formed at the side of the grip 64a. An alternate type lodging switch (overlay cutting operation means) 71 is provided on the back side of the grip 64a.

  The cutting height setting dial 68 is configured to be pushable and dialable. When the cutting height setting dial 68 is pressed, a cutting height automatic switch 72 (see FIG. 11) described later is turned on. While the cutting height automatic switch 72 is turned off by the pushing operation again, the lifting height (cutting height) of the cutting unit 3 during the cutting operation is set by the dial operation of the cutting height setting dial 68.

  FIG. 9 is a rear view of the multi-steer lever. The multi-steer lever 66 swings up and down to manually move the cutting unit 3 through the lift cylinder 16 and also swings left and right to operate the vehicle body.

  Specifically, the multi-steer lever 66 is swung forward from the front-rear neutral position to perform the lowering operation of the cutting unit 3 for reducing the lift cylinder 16 to swing the multi-steer lever 66 rearward from the front-rear neutral position. As a result, the lifting operation of the cutting part 3 for extending the lift cylinder 16 is performed, while the multi-steering lever 66 is swung from the left / right neutral position to the left side, whereby the right side of the left / right crawler type traveling devices 1L, 1R is moved. The left side of the left and right crawler type travel devices 1L and 1R is moved to the right side by performing a left turn operation to drive the vehicle body to the left side by driving at high speed to the left side and swinging the multi-steer lever 66 from the neutral position to the right side. In response to this, a right turn operation is performed to drive the vehicle at a high speed and turn the vehicle body to the right.

  That is, the multi-steering lever 66 is a cutting unit lifting / lowering manual operation unit that moves the cutting unit 3 up and down with respect to the traveling machine body 2 and also a steering operation unit of the traveling machine body 2.

  In addition, a reel up / down manual operation means 74 is provided on one of the left and right sides of the upper end of the multi-steer lever 66, and a reel front / rear movement manual operation means 76 is provided on the left and right sides. A momentary trigger switch 73 is installed on the front side of the upper end.

  Specifically, as the reel raising / lowering manual operation means 74, a momentary reel raising switch 74 </ b> A that raises the reel 4 with respect to the cutting unit 3 and a momentary reel that lowers the reel 4 with respect to the cutting unit 3. A lowering switch 74B is provided above and below, and as a reel forward / reverse movement manual operation means 76, a momentary reel advance switch 76A for operating the reel 4 forward with respect to the reaper 3 and a reel 4 retracted relative to the reaper 3 A momentary reel retraction switch 76B to be operated is provided up and down.

  FIG. 10 is a plan view of the switch panel. The switch panel 67 includes a selection dial (selection means) 77 that can select a crop from at least two types of beans and rice, and a predetermined height (a cutting stop position) that the cutting unit 3 determines with respect to the traveling machine body 2. A lift shut switch 78 and a seesaw switch for switching whether or not to perform lift shut control for stopping the driving of the reel 4 and the mowing unit 3 when the mowing clutch 46 and the threshing clutch 47 are disconnected when raised. A threshing / reaping clutch switch 79 and a reel rotation setting dial (reel shift manual operation means) 81 for setting (shift operation) the rotation speed of the reel 4 via the reel shift actuator 62 are provided.

  The selection dial 77 is used to select a harvested crop according to the dial operation position. Specifically, the selection dial 77 is the fifth to seventh operation among the nine operation positions from No. 1 to No. 9. When the dial is operated to the position, the rice is selected as a crop, and when the dial is operated to the ninth operation position, the bean is selected as the crop. The lift shut switch 78 is switched between execution and stop of the lift shut control every time the push operation is performed. The threshing / reaping clutch switch 79 is a cutting that disconnects both the threshing clutch 46 and the reaping clutch 47 by switching between a state inclined to the left and right side, a state horizontal to the left and right, and a state inclined to the other side. The state is configured to switch between a threshing state in which only the threshing clutch 46 is connected and the cutting clutch 47 is disconnected, and a connected state in which both the threshing clutch 46 and the cutting clutch 47 are connected.

  The reel rotation setting dial 81 is configured to be pushable and dialable. When the reel rotation setting dial 81 is pressed, a reel rotation automatic switch 82 (see FIG. 11), which will be described later, is turned on. As a result, the cutting height automatic switch 82 is turned off, while the cutting speed setting dial 81 is operated to set the rotational speed of the reel 4 via the reel speed change actuator 62.

  The operation and control of each unit using the various operation tools on the control unit 14 side as described above are performed by the control unit 83 (see FIG. 11) including a microcomputer or the like.

Next, the configuration of the control unit 83 will be described with reference to FIGS.
FIG. 11 is a block diagram of the control unit. On the output side of the control unit 83, in addition to the lift cylinder 16, the lift cylinder 41, the advance / retreat cylinder 39, the reel speed change actuator 62, and the fin opening / closing actuator 34, a left side clutch actuator 84L for intermittently operating the left side clutch 48L is provided. A right side clutch actuator 84R that intermittently operates the right side clutch 48R and a threshing / cutting clutch actuator 86 that intermittently operates the threshing clutch 46 and the cutting clutch 47 are connected.

  On the input side of the control unit 83, the above-described trigger switch 73, reel up switch 74A, reel down switch 74B, reel forward switch 76A, reel reverse switch 76B, lodging switch 71, take-in switch 69, sorting dial 77, cutting height In addition to automatic switch 72, cutting height setting dial 68, reel rotation automatic switch 82, reel rotation setting dial 81, threshing / cutting clutch switch 79, lift shut switch 78, the left / right swing position of multi-steer lever 66 is detected. A multi-lever steering sensor 87, which is a potentiometer, a multi-lever lift sensor 88, which is a potentiometer that detects the forward / backward swing position of the multi-lever 66, and a potentiometer that detects the relative lifting height of the cutting unit 3 relative to the traveling machine body. Lift lift A reel lift sensor (height detecting means) 91 that is a potentiometer for detecting a relative lift height of the reel 4 with respect to the cutting portion 3 of the reel 4 and a relative front and back position of the reel 4 with respect to the cutting portion 3 are detected. A reel front / rear sensor 92 that is a potentiometer, a reel rotation sensor 93 that detects the rotation speed of the reel 4, a threshing / cutting clutch sensor 94 that detects the on / off state of the threshing clutch 46 and the cutting clutch 47, and the rotational position of the fin 33a. The fin opening sensor 96, which is a potentiometer that detects the opening of the chaff sheave 33 by detecting this, and a vehicle speed sensor (vehicle speed detecting means) 97 that detects the traveling speed (vehicle speed) of the traveling machine body are connected.

  The control unit 83 having the above input / output drives the mowing unit 3 up and down with respect to the traveling machine body via the lift cylinder 16 based on the detection value from the multi-lever lift sensor 88. Incidentally, the control part 83 is comprised so that the raising / lowering speed with respect to the traveling body 2 of the cutting part 83 may be controlled by adjusting the expansion-contraction speed of the lift cylinder 16 via the proportional control valve which is not shown in figure.

  Further, the control unit 83 controls the left and right side clutches 48L and 48R via the side clutch actuators 84L and 84R based on the detection value from the multi-lever steering sensor 87, thereby steering the traveling machine body 2. Let

  Further, the control unit 83 raises and lowers the reel 4 with respect to the cutting unit 3 via the elevating cylinder 41 based on the detection values from the reel up switch 74A and the reel down switch 74B, and the reel forward switch 76A and reel reverse switch. Based on the detection value from 76B, the reel manual control for moving the reel 4 back and forth with respect to the cutting unit 3 via the advance / retreat cylinder 39 is executed.

  Furthermore, every time the lift shut switch 78 is pressed, the control unit 83 switches the lift shut control between execution and stop.

  In addition, the control unit 83 performs automatic lifting control (header automatic lifting control) of the reaping unit 3 and the reel 4 described later (header automatic lifting control), lodging trimming control described later, and forced scraping control described later according to various conditions. Perform as appropriate.

  In addition, while the reel rotation automatic switch 82 is in the on state, the control unit 83 performs reel rotation automatic control that links the rotation speed of the reel 4 with the vehicle speed detected by the vehicle speed sensor 97 in principle. Specifically, when the vehicle speed is increased, the rotation speed of the reel 4 is increased according to the increase amount, while when the vehicle speed is decreased, the rotation speed of the reel 4 is decreased according to the decrease amount. However, under predetermined conditions described later, even if the reel rotation automatic switch 82 is in the on state, the reel rotation automatic control is not performed. The following description will be made on the assumption that the reel rotation automatic switch 82 is in the on state.

  FIG. 12 is a main flowchart of the control unit. When the process is started, the controller 83 starts the main routine and proceeds to step S1. In step S1, it is detected whether or not the reel manual operation by the reel raising / lowering manual operation means 74 or the reel back-and-forth movement manual operation means 76 has been performed. If it has been performed, the process proceeds to step S2.

  In step S2, the automatic raising / lowering flag is set to OFF, and the process proceeds to step S3. In step S3, the lodging flag is set to OFF, and the process proceeds to step S4. In step S4, the scratch flag is set to OFF, and the process proceeds to step S5. In step S5, a subroutine process for executing reel manual control is performed, and the process returns to step S1.

  If it is determined in step S1 that the reel manual operation is not performed via the reel lifting / lowering manual operation means 74 or the reel back-and-forth movement manual operation means 76, the process proceeds to step S6. In step S6, a subroutine process for executing the header automatic lifting control is performed, and the process proceeds to step S7. In step S7, a subroutine process for executing the lodging trimming control is performed, and the process proceeds to step S8. In step S8, a subroutine process for executing forced scraping control is performed, and the process returns to step S1.

  According to the processing flow shown in FIG. 12, the reel manual control is performed in preference to the execution of the header automatic raising / lowering control, the lodging trimming control, and the forced scraping control.

  FIG. 13 is a processing flowchart of a subroutine for executing reel manual control. When the process is started, the process proceeds to step S11. In step S11, it is detected whether or not the reel raising switch 74A is turned on by a pressing operation. If the reel raising switch 74A is in the ON state, the process proceeds to step S12. In step S12, the elevating cylinder 41 is extended to raise the reel 4 relative to the cutting unit 3, and the process proceeds to step S13. In step S13, the elevation height of the reel 4 with respect to the cutting unit 3 at that time is stored as the storage reel height in the storage device 83a of the control unit 83, and the process proceeds to step S14.

  If the reel up switch 74A is in the OFF state in step S11, the process proceeds to step S15. In step S15, it is detected whether or not the reel lowering switch 74B is turned ON by a pressing operation. If the reel lowering switch 74B is in the ON state, the process proceeds to step S16, while if the reel lowering switch 74B is in the OFF state, step is performed. Proceed to S13. In step S16, the elevating cylinder 41 is contracted to lower the reel 4 with respect to the cutting unit 3, and the process proceeds to step S13.

  In step S14, it is detected whether or not the reel advance switch 76A is turned on by a pressing operation. If the reel advance switch 76A is in an ON state, the process proceeds to step S17. In step S17, the advancing / retreating cylinder 39 is extended to advance the reel 4 relative to the cutting unit 3, and the process proceeds to step S18. In step S18, the front / rear position of the reel 4 with respect to the cutting unit 3 at that time is stored in the storage device 83a of the control unit 83 as the storage reel front / rear position, and the process returns to the main flow shown in FIG.

  If the reel advance switch 76A is in the OFF state in step S14, the process proceeds to step S19. In step S19, it is detected whether or not the reel retract switch 76B is turned ON by a pressing operation. If the reel retract switch 76B is in the ON state, the process proceeds to step S20, while if the reel retract switch 76B is in the OFF state, step S19 is performed. Proceed to S18. In step S20, the advancing / retreating cylinder 39 is contracted to retract the reel 4 with respect to the cutting unit 3, and the process proceeds to step S18.

  According to the above processing, the front / rear position and the vertical position of the reel 4 with respect to the cutting unit 3 are changed by reel manual control that is preferentially executed during manual operation of the reel, and the position is stored in the storage device 83a each time it is executed. Is done.

  FIG. 14 is a processing flowchart of a subroutine for executing the header automatic raising / lowering control. When the process is started, the process proceeds to step S21. In step S21, on / off detection of the cutting height automatic switch 72 is performed. If the cutting height automatic switch 72 is in the on state, the process proceeds to step S22. In step S22, the threshing / cutting clutch sensor 94 detects the intermittent state of the threshing clutch 46. If the threshing clutch 46 is in the connected state, the process proceeds to step S23.

  In step S23, it is detected whether or not the trigger switch 73 is pressed to enter the on state. If the trigger switch 73 is in the on state, the process proceeds to step S24. In step S24, the multi-lever lift sensor 88 detects the back-and-forth swing position of the multi-steer lever 66, and when the lifting operation of the cutting unit 3 is performed, the process proceeds to step S25 and the lowering operation of the cutting unit 3 is performed. If it is performed, the process proceeds to step S26, and if the raising / lowering operation of the cutting unit 3 is not performed, the process proceeds to step S27.

  In step S25, the control mode determination is set to “increase” and the process proceeds to step S28. In step S26, the control mode determination is set to “decrease” and the process proceeds to step S28. In step S27, the control mode determination is performed. “None” is set and the process proceeds to step S28. In step S28, it is confirmed what the control mode determination is set, and if it is set to "up" or "down", the process proceeds to step S29. In step S29, the control mode determination set value is input to the automatic lift flag in the automatic lift flag, and the process proceeds to step S30. Further, when the cutting height automatic switch 72 is in the cut state in step S21, the threshing clutch 46 is in the disconnected state in step S22, the trigger switch 73 is in the cut state in step S23, and the control mode determination is “ If “none” is set, the process proceeds to step S30.

  That is, when the lifting operation of the cutting unit 3 is performed once by the multi-steering lever 66 while pushing the trigger switch 73 while the automatic cutting height switch 72 is in the on state and the threshing clutch 46 is in the connected state. Depending on the operation direction, the automatic raising / lowering flag is set to “up” or “down”, and after that, even if the operation of the multi-steering lever 66 or the trigger switch 73 is canceled by the processing of step S28 → step S30, The set value of the automatic raising / lowering flag is held. Then, when the automatic lift flag is set to “up” as described above, auto lift control is performed in which the reel 4 automatically descends with respect to the cutting unit 3 as the cutting unit 3 rises. Further, when the automatic raising / lowering flag is set to “down” as described above, the reel 4 is automatically raised with respect to the cutting unit 3 and returned to the original position as the cutting unit 3 is lowered. Auto set control is performed. As described above, the automatic header lift control (automatic lift control) includes auto lift control and auto set control, and the trigger switch 73 performs automatic lift control operation means (auto lift operation means, auto set) for executing automatic lift control. It functions as an operation means).

  In step S30, the set state of the automatic raising / lowering flag is checked, and if it is set to "up", the process proceeds to step S31, if it is set to "down", the process proceeds to step S32; Proceed to S35.

  In step S31, the front / rear swing position of the multi-steer lever 66 is detected by the multi-lever lift sensor 88. If the lowering operation of the cutting unit 3 is being performed, the process proceeds to step S33. The process proceeds to step S35. In step 33, the automatic raising / lowering flag is set to OFF, and the process proceeds to step S35. That is, when the lowering operation of the cutting unit 3 is performed by the multi-steering lever 66 while the automatic lifting flag is set to “up”, the automatic lifting flag is set to OFF and the execution of the auto lift control is cancelled. The

  In step S32, the multi-lever lift sensor 88 detects the forward / backward swing position of the multi-steer lever 66. If the lifting operation of the mowing unit 3 is performed, the process proceeds to step S34. The process proceeds to step S35. In step 34, the automatic raising / lowering flag is set to OFF, and the process proceeds to step S35. That is, when the raising / lowering operation of the cutting unit 3 is performed by the multi-steering lever 66 while the automatic raising / lowering flag is set to “down”, the automatic raising / lowering flag is set to OFF, and execution of the automatic setting control is cancelled. The

  In step S35, an automatic lift output setting subroutine is executed, and the process returns to the main routine shown in FIG.

  FIG. 15 is a processing flowchart of an automatic elevation output setting subroutine. When the process is started, the process proceeds to step S41. In step S41, the set state of the automatic raising / lowering flag is confirmed. If the flag is set to “up”, the automatic lift control is started, and the process proceeds to step S42. In step S42, an auto lift reel rotation setting subroutine is executed, and the process proceeds to step S43.

  FIG. 16 is a processing flowchart of the subroutine for setting the auto lift reel rotation. When the process is started, the process proceeds to step S61. In step S61, it is confirmed whether or not a predetermined time has elapsed since the execution of the auto lift control was started. If the upper predetermined time has not elapsed, the process proceeds to step S62, and the predetermined time has elapsed. If so, the process proceeds to step S63.

  In step S62, the execution of the reel rotation automatic control described above is temporarily stopped, the reel 4 is rotated at the maximum speed via the reel speed change actuator 62, and the process returns to the flow shown in FIG. Then, the reel rotation automatic control for linking the rotation speed of the reel 4 to the vehicle speed is resumed or continued, and the process returns to the flow shown in FIG.

  That is, when the execution of the auto lift control for raising the mowing unit 3 is started, the reel 4 is rotated at the maximum speed within the predetermined time from the start, and when the predetermined time elapses, the reel 4 is linked to the vehicle speed. The reel rotation automatic control to be resumed is resumed.

  According to this configuration, the high-speed rotation driving of the reel 4 within a predetermined time from the start of execution of the automatic lift control increases the scraping performance of the reel 4 and the culm is scraped all at once. It is possible to efficiently prevent the omission of the resulting cereal.

  As shown in FIG. 15, in step 43, it is confirmed by the reel lift sensor 91 whether or not the reel 4 is lowered to the lowest position. If the reel is not lowered to the lowest position, step S44 is performed. If it is lowered to the lowest position, the process proceeds to step S45. In step S44, the reel 4 is lowered with respect to the cutting unit 3 by the reduction operation of the elevating cylinder 41, and the process proceeds to step S45. In step S45, an auto lift setting subroutine is performed, and the process proceeds to step S46.

  FIG. 17 is a processing flowchart of an autolift setting subroutine. When the process is started, the process proceeds to step S66. In step S66, it is confirmed by the reel lift sensor 91 whether or not the reel 4 is lowered to the lowest position with respect to the cutting unit 3. If the reel 4 is not lowered to the lowest position, the process proceeds to step S67. In step S67, it is confirmed by the vehicle speed sensor 97 whether or not the vehicle speed at that time is higher than a predetermined set speed. If the detected vehicle speed is equal to or lower than the set speed, the process proceeds to step S68. In step S68, the lift cylinder 16 is controlled so that the rising speed of the cutting unit 3 with respect to the traveling machine body 2 is low, and the process returns to the flow shown in FIG.

  In step S66, when it is confirmed that the reel 4 is lowered to the lowest position with respect to the cutting unit 3, the process proceeds to step S69. In addition, when the detected vehicle speed is higher than the set speed in step S67, the process proceeds to step S69. In step S69, the lift cylinder 16 is controlled so that the rising speed of the cutting unit 3 with respect to the traveling machine body 2 becomes the maximum speed, and the process returns to the flow shown in FIG.

  That is, when auto-lifting is executed with the automatic lift flag set to “up” by the trigger switch 73, if the reel 4 is below a predetermined height (lowermost position) with respect to the cutting unit 3, this is not the case. In addition to driving the mowing unit 3 up at a higher speed, when performing an autolift set to “up”, if the vehicle speed is higher than a set speed, which is a predetermined speed, the speed is higher than otherwise. Then, the cutting unit 3 is driven to rise.

  According to this configuration, when auto-lifting is performed, the reel 4 is positioned at a predetermined height or higher with respect to the cutting unit 3, and the cutting unit 3 is operated at a high speed when the reel 4 is in an inactive state with respect to the culm of the crop. If it is raised, the spillage of the cereal spilling from the reaping part 3 may occur. In such a state, the reaping part 3 is removed by the process of step S66 →... → step S68. Since it raises at low speed, the above-mentioned spillage can be prevented efficiently. On the other hand, if the reel 4 is lower than the predetermined height with respect to the reaping portion 3 and acts on the culm, the culm is appropriately scraped by the reel 4, so that even if the reaping portion 3 is raised at high speed, The above spills are unlikely to occur. For this reason, in such a case, the cutting unit 3 is driven to rise at a high speed by the processing from step S66 to step S69.

  Also, when the vehicle speed is high, the reel 4 is rotated at high speed by the automatic reel rotation control, so that the scraping performance is high. In other words, even when the cutting unit 3 is raised at high speed during high speed running While the possibility of occurrence of the above-mentioned spilling is low, there is a possibility that the above-mentioned spilling may occur when the cutting unit 3 is raised at a high speed during low-speed traveling. For this reason, when driving at low speed, the reel 4 is driven to rise at a low speed by the process from step S67 to step S68, while at high speed driving, the reel 4 is driven to rise at a high speed by the process from step S67 to step S69.

  In addition, it is possible to prevent the leakage of harvested crops due to the rise of the cutting unit 3 by performing the automatic lift with the automatic raising / lowering flag set to “rise”, but if the rising speed of the cutting unit 3 is controlled as described above, Furthermore, it becomes possible to prevent leakage of harvested crops efficiently.

  As shown in FIG. 15, in step S <b> 46, the lift raising / lowering sensor 89 confirms whether or not the cutting unit 3 has moved up to the cutting stop position with respect to the traveling machine body 2, and the cutting unit 3 is still below the cutting stop position. In the case of the height, the process proceeds to step S47, and in the case where the cutting unit 3 is raised to a height equal to or higher than the cutting stop position, the process proceeds to step S48.

  In step S47, the lift cylinder 16 is extended to drive the mowing unit 3 upward, and the process returns to the flow shown in FIG. On the other hand, in step S48, the automatic raising / lowering flag is set to OFF, and the process proceeds to step S49. In step S49, it is considered that the cutting operation has been completed, the fin opening / closing actuator 34 is used to close the fin 33a, and the process returns to the flow shown in FIG. Incidentally, this also ends the execution of the autolift control.

  According to the process of this step S49, when the cutting operation is terminated by executing the auto lift control, the thickness of the selection on the chaff sheave 33 (fin 33a) due to the reduction of the selection in the threshing unit 22 It is possible to prevent foreign matter such as cuttings from entering the Glen tank 23.

  In step S41, when the automatic raising / lowering flag is set to “down”, the automatic setting control when the cutting unit 3 is lowered is started, and the process proceeds to step S50. In step S50, it is confirmed by the reel lift sensor 91 whether or not the reel 4 has been raised to the storage reel height stored in the storage device 83a, and when the reel 4 has not yet been raised to the storage reel height. Advances to step S51, and if the reel 4 has already been raised to the storage reel height, advances to step S52. In step S51, the reel 4 is driven to rise with respect to the cutting unit 3 by the extension operation of the elevating cylinder 41, and the process proceeds to step S52.

  In step S52, the lift raising / lowering sensor 89 checks whether or not the cutting unit 3 has been lowered to the cutting height set in advance by the cutting height setting dial 68, and if it has been lowered to the cutting height, the process proceeds to step S53. If not, the process proceeds to step S54. In step S53, the cutting unit 3 is driven downward by the reduction operation of the lift cylinder 16, and the process returns to the flow shown in FIG. 14, while in step S54, the automatic lift flag is set to OFF, The processing is returned to the flow shown in FIG. Incidentally, the execution of auto-set control is also terminated by the processing of step S54.

  As described above, at the time of executing the auto-set control in which the automatic raising / lowering flag is set to “down”, the cutting unit 3 is lowered to the cutting height and the reel 4 is raised to the original height stored in the storage device 83a.

  According to this configuration, by performing processing in the order of autolift control → autoset control, the cutting unit 3 automatically descends to the set cutting height, and the reel 4 has a height before the autolift control is performed. Since it automatically rises, the cutting operation can be resumed immediately after the auto-lift is executed, and a quick operation can be performed.

  If the automatic lift flag is set OFF in step S41, the process proceeds to step S55 without executing automatic lift control (auto lift control or auto set control). In step S55, it is detected whether or not the trigger switch 73 is pressed to enter the on state. If the trigger switch 73 is in the on state, the process proceeds to step S56. In step S56, it is confirmed whether or not the reel 4 is lowered to the lowest position with respect to the cutting unit 3 by the reel lifting / lowering sensor 91. If the reel 4 is not lowered to the lowest position, the process proceeds to step S57. If it is lowered to the position, the process is returned to the flow shown in FIG. In step S57, the reel 4 is lowered by the reduction operation of the elevating cylinder 41, and the process returns to the flow shown in FIG.

  That is, the control unit 83 is provided with a reel compulsory lowering control for driving the reel 4 to the lowermost position with respect to the cutting unit 3, and the trigger switch 73 is pushed when the multi-steering lever 66 is operated to the front / rear neutral position. During the operation, the reel forced lowering control is executed by the process of step S41 → step S55 → step S56 → step S57. In other words, the trigger switch 73 also functions as a reel forced lowering operation unit that executes reel forced lowering control.

  According to this configuration, forcible lowering control of the reel is executed during the pressing operation by the trigger switch 73, and the crop is efficiently scraped by the reel 4 that is lowered with respect to the cutting unit 3, so that, for example, the cutting unit 3 is raised. When the trigger switch 73 is pushed during the operation, the spillage when the reel 4 is raised can be efficiently prevented.

  If it is confirmed in step S55 that the trigger switch 73 is in the OFF state, the process proceeds to step S58. In step S58, it is confirmed whether or not the reel 4 has been raised to the storage reel height stored in the storage device 83a by the reel lift sensor 91, and when the reel 4 has not yet been raised to the storage reel height. Advances to step S59, and if the reel 4 has already been raised to the storage reel height, the process returns to the flow shown in FIG. In step S59, the reel 4 is driven upward with respect to the cutting unit 3 by the extension operation of the elevating cylinder 41, and the process returns to the flow shown in FIG.

  That is, when the pushing operation of the trigger switch 73 functioning as the reel forced lowering operation means is released and the reel switch 4 is turned off, the reel 4 automatically returns to the original lifting height with respect to the cutting unit 3.

  According to this configuration, even when the reel 4 is temporarily lowered for the purpose of preventing the above-described spilling or the like, the reel 4 is automatically adjusted to the original lifting height only by releasing the pushing operation by the trigger switch 73. Therefore, the manual operation for raising the reel 4 to the original height again becomes unnecessary, and the convenience is high.

  In addition, when the lifting / lowering operation of the cutting unit 3 is performed by the multi-steering lever 66 during the pressing operation of the trigger switch 73 functioning as the reel forced lowering operation means, the automatic lifting flag is set to “up” or “down”. Then, the automatic elevation control described above is executed.

  FIG. 18 is a processing flow diagram of a subroutine for executing the lodging trimming control. When the processing of this subroutine is started, the process proceeds to step S71. In step S71, the value of the above-described automatic raising / lowering flag is confirmed. If it is set to OFF, the process proceeds to step S72. If it is not set to OFF, the process is performed in the main flow shown in FIG. return.

  In step S72, the threshing / reaping clutch sensor 94 confirms whether the reaping clutch 47 is connected. If it is connected, the process proceeds to step S73, while if the reaping clutch 47 is in the disconnected state, the process proceeds to FIG. Return processing to the main flow shown.

  In step S73, it is confirmed whether or not the reel 4 is manually operated by the reel lifting / lowering manual operation means 74 or the reel back-and-forth movement manual operation means 76. If the manual operation is not performed, the process proceeds to step S74. If the manual operation is performed, the process returns to the main flow shown in FIG.

  That is, the automatic lift flag is set to the ON state consisting of “up” or “down” and auto lift control or auto set control is being executed, or the cutting clutch 47 is disconnected and the cutting unit 3 and the reel 4 are disconnected. While the drive is stopped or during manual operation of the reel 4, the overturn control is not executed.

  In step S74, on / off detection of the lodging switch 71 is performed. If it is not in the on-operation state, the process proceeds to step S75. If it is in the on-operation state, the process proceeds to step S76. In step S75, the lodging flag is set to OFF, and the processing is returned to the main flow shown in FIG. 12 without executing the lodging control.

  In step S76, the lodging flag is set to ON, and the process proceeds to step S77. In step S77, a reel fall output setting subroutine is performed to execute the fall control, and the process proceeds to step S78. In step S78, the process of the meander control setting subroutine is performed, and the process returns to the main flow shown in FIG. That is, the lodging trimming control is executed by the processing of step S74 → step S76 → step S77, and the lodging switch 71 functions as a lodging operation means for executing the lodging trimming control.

  FIG. 19 is a processing flowchart of the subroutine for setting the reel fall output. When the processing of this subroutine is started, the processing proceeds to step S81. In step S81, the reel lifting / lowering sensor 91 detects the relative lifting height of the reel 4 with respect to the cutting unit 3, and confirms whether the reel 4 is positioned at the lowest position with respect to the cutting unit 3. If it is not located at the lowest position, the process proceeds to step S82, and if it is located at the lowest position, the process proceeds to step S83. In step S82, the reel 4 is driven downward with respect to the cutting unit 3 by the elevating cylinder 41, and the process proceeds to step S83.

  In step S83, the front / rear position of the reel 4 with respect to the cutting unit 3 is detected by the reel front / rear sensor 92. If the reel 4 is not positioned at the foremost position with respect to the cutting unit 3, the process proceeds to step S84 while the reel 4 is at the foremost position. If so, the process proceeds to step S85. In step S84, the reel 4 is driven forward relative to the cutting unit 3 by the advance / retreat cylinder 39, and the process proceeds to step S85.

  In step S85, the crop selected by the sorting dial 85 is confirmed. If the rice is selected as a harvested crop, the process proceeds to step S86, while if the bean is selected as the harvested crop, Proceed to step S87.

  In step S86, the reel 4 is rotated at the maximum speed by the reel speed change actuator 62, and the process returns to the flow shown in FIG. 18, while in step S87, the reel 4 is moved by the reel speed change actuator 62. The process is returned to the flow shown in FIG. 18 so as to be rotationally driven at a high speed.

  That is, when rice is selected as a crop, the reel 4 is driven to rotate at a higher speed than when beans are selected. Incidentally, even when the reel 4 is rotationally driven at a medium speed, the reel 4 is rotationally driven at a higher speed depending on the execution of the automatic reel rotation control. In other words, the reel 4 is driven to rotate at a higher speed than when the reel rotation control is performed when the lodging trimming control is executed. Incidentally, the rotation speed of the reel 4 at the time of execution of the lodging trimming control may be linked to the vehicle speed, or may be constant regardless of the vehicle speed.

  According to this configuration, since the rotation speed of the reel 4 is automatically changed according to the type of crop, efficient cutting work can be performed. In particular, it is possible to set an appropriate rotation speed of the reel 4 for crops that are easily damaged such as soybeans, and the reel 4 is driven to rotate at a high speed so as to be suitable for lodging cutting. Mowing work can be performed.

  Further, during the execution of the fall trimming control, the reel 4 is automatically lowered to the lowermost position with respect to the cutting unit 3 via the lifting cylinder 41 by the processing of step S81 → step S82, and step S83 → step. By the process of S84, the reel 4 is automatically advanced to the foremost position with respect to the cutting unit 3 via the elevating cylinder 41.

  The reel 4 is automatically moved and driven to a position suitable for lodging trimming by the above-described processing at the time of execution of lodging trimming control, so that crops in the lying field can be efficiently harvested.

  FIG. 20 is a processing flowchart of a subroutine for setting meandering control. When this subroutine process is started, the process starts from step S91. In step S91, on / off detection of the pick-up switch 69 is performed. If the pick-up switch 69 is in the on state by the push operation, the process proceeds to step S92, and the push operation of the pick-up switch 69 is released and the cut-off switch 69 is in the off state. If it is, the process returns to the flow shown in FIG. In step S92, in order to execute meandering control that meanders the traveling machine body 2 (vehicle body) during traveling, a subroutine of meandering output control is performed, and the process returns to the flow shown in FIG.

  That is, the meandering control is performed while the turning switch 69 is being turned on during the execution of the overturning control.

  FIG. 21 is a processing flowchart of a subroutine for meandering output control. In this subroutine, a right output flag indicating that the traveling machine body 2 is turned to the right, a right cycle, and a left cycle are prepared. When the right output flag is ON, it means that the traveling machine body 2 is turned to the right, and when the right output flag is OFF, this means that the traveling machine body 2 is turned to the left. The left and right cycles are composed of “left cycle = ON time + OFF time” and “right cycle = ON time + OFF time”. During the ON time, the traveling machine body 2 is turned to the left and right, and during the OFF time, the traveling machine body. Go straight on 2.

  Then, when this subroutine process is started, the process proceeds to step S101. In step S101, the multi-lever steering sensor 87 detects whether or not a manual steering operation is being performed by the multi-steering lever 66, and if the manual steering operation is being performed, If the process is returned to the flow shown, but the manual steering operation is not performed, the process proceeds to step S102. That is, manual steering operation is performed with priority over meandering control.

  In step S102, it is confirmed whether the right output flag is ON / OFF. If the right output flag is ON, the process proceeds to step S103. In step S103, the right cycle count status is confirmed. If the countdown is not smaller than the OFF time, the process proceeds to step S104 to turn the traveling body 2 to the right, and if it is smaller than the OFF time. If nothing is done and the process is returned to the flow shown in FIG. 20 and the countdown is 0 and the process ends, the process proceeds to step S105 to start a left turn.

  In step S104, the left and right side clutch actuators 84L and 84R control the on / off of the side clutches 48L and 48R, thereby turning the traveling machine body 3 to the right and returning the processing to the flow shown in FIG.

  In step S105, the right output flag is set to OFF, and the process proceeds to step S106. In step S106, the countdown of the left cycle is started, and the process proceeds to step S107. In step S107, the left and right side clutch actuators 84L and 84R control the on / off of the left and right side clutches 48L and 48R, thereby turning the traveling machine body 3 to the left and returning the processing to the flow shown in FIG.

  If the right output flag is OFF in step S102, the process proceeds to step S108. In step S108, the count condition of the left cycle is confirmed, and if the countdown is not smaller than the OFF time, the process proceeds to step S109 to turn the traveling body 2 to the left, and if it is smaller than the OFF time, If nothing is done and the process is returned to the flow shown in FIG. 20 and the countdown is 0 and the process ends, the process proceeds to step S110 to start the left turn.

  In step S109, the left and right side clutch actuators 84L and 84R control the on / off of the left and right side clutches 48L and 48R, thereby turning the traveling machine body 3 to the left and returning the processing to the flow shown in FIG.

  In step S110, the right output flag is set to ON, and the process proceeds to step S111. In step S111, the countdown of the right cycle is started, and the process proceeds to step S112. In step S112, the right and left side clutches 48L and 48R are controlled by the left and right side clutch actuators 84L and 84R to turn the traveling machine body 3 to the right, and the process returns to the flow shown in FIG.

As described above, according to the subroutine shown in FIG. 21, when executing the lodging trimming control, the left turn and the right turn of the vehicle body are alternately performed at predetermined intervals under the predetermined conditions described above, and the vehicle body is meandered. .
Note that the meandering control direction of the vehicle body is not limited to the present embodiment, and any vehicle body may meander as long as the rotation of the pair of left and right crawler type traveling devices 1L and 1R is alternately increased and decreased.

  According to this configuration, it is possible to reliably scrape the culm even in a situation where the scraping action of the reel 4 is small depending on the lying direction of the culm, and a dedicated operation for executing this meandering control There is no need to provide additional tools.

  FIG. 22 is a process flow diagram of a subroutine for executing the forced scraping control. When the processing of this subroutine is started, the process proceeds to step S121. In step S121, the state of the automatic raising / lowering flag is confirmed. If the automatic raising / lowering flag is not set to OFF, the process proceeds to step S122. In step S122, the scratch flag is set to OFF, and the process proceeds to step S123. In step S123, the set increase flag is set to OFF, and the process proceeds to step S124. In step S124, the release delay timer is reset, and the process returns to the main flow shown in FIG.

  If the automatic lift flag is set OFF in step S121, the process proceeds to step S125. In step S125, the state of the lodging flag is confirmed. If the flag is not set to OFF, the process proceeds to step S122. If the flag is set to OFF, the process proceeds to step S126.

  That is, when the automatic lift flag is set to ON (“up” or “down”) and auto lift control is being executed, or when the fall flag is set to ON, the process proceeds to step S122. Forced control is not executed.

  In step S126, the on / off state of the pick-up switch 69 is detected, and if the pick-up switch 69 is pushed and turned on, the process proceeds to step S127. In step S127, the scraping flag is set to ON, and the process proceeds to step S128. In step S128, the release delay timer is set, the countdown from the initial stage is started, and the process proceeds to step S129.

  In step S129, ON / OFF detection of the scratch flag is confirmed. If the scratch flag is ON, the process proceeds to step S130. In step S130, it is confirmed whether or not the countdown of the release delay timer has been completed. If the countdown has not been completed, the process proceeds to step S131. In step S131, a reel scoring output setting subroutine is performed, and the process proceeds to step S132. In step S132, a subroutine for setting the take-up fin opening is performed, and the process returns to the main flow shown in FIG.

  If it is determined in step S126 that the push operation has been released and the take-in switch 69 has been turned off, the process proceeds to step S129.

  If the countdown of the release delay timer has been completed in step S130, the process proceeds to step S133. In step S133, the set increase flag is set to ON, and the process proceeds to step S134. In step S134, the scratch flag is set to OFF, and the process proceeds to step S135. In step S135, the release delay timer is reset, and the process proceeds to step S131.

  According to this configuration, while the automatic raising / lowering flag and the lodging flag are set to OFF, the step S121 → step S125 → step S126 → step while the push-in switch 69 is pressed and turned on. It is in the state where the control of S127 → step S128 → step S129 → step S130 → step S131 → step S132 is executed.

  If the push-in operation of the take-in switch 69 is released during the take-up control execution state and becomes the OFF state, step S121 → step S125 → step S126 → step S129 → step S130 → step during the count-down of the release delay timer. A time elapse waiting state in which the process of S131 → step S132 is executed is entered.

  Further, when the countdown of the release delay timer is completed from this waiting state, the process of step S121 → step S125 → step S126 → step S129 → step S130 → step S133 → step S134 → step S135 → step S131 → step S132 is performed. Enters post-processing state to be executed.

  In an initial state in which the automatic raising / lowering flag and the lodging flag are set to OFF and the take-in switch 69 is OFF, Step S121 → Step S125 → Step S126 → Step S129 → Step S130 → Step S131 → The process of step S132 is executed. Incidentally, in this initial state, the set increase flag is also set to OFF.

  FIG. 23 is a processing flowchart of the subroutine for setting the reeling-in output. When the processing of this subroutine is started, the process proceeds to step S141. In step S141, the state of the set increase flag is confirmed. If it is OFF, the process proceeds to step S142. In step S142, the state of the take-in flag is confirmed. If it is ON, the process proceeds to step S143.

  In step S143, the reel lift sensor 91 detects whether or not the reel 4 is lowered to the lowest position with respect to the cutting unit 3, and the reel 4 is not lowered to the lowest position with respect to the cutting unit 3. In this case, the process proceeds to step S144. On the other hand, if the reel 4 is lowered to the lowest position with respect to the cutting unit 3, the process proceeds to step S145. In step S144, the reel 4 is lowered with respect to the cutting unit 3 by the reduction operation of the elevating cylinder 41, and the process proceeds to step S145.

  In step S145, the crop selected by the selection dial 77 is confirmed. If the rice is selected as a harvested crop, the process proceeds to step S146, while if the bean is selected as the harvested crop, Proceed to step S147.

  In step S146, the reel 4 is rotated by the reel speed change actuator 62 at the highest speed which is a predetermined constant speed regardless of the vehicle speed detected by the vehicle speed sensor 97, and the flow shown in FIG. On the other hand, in step S147, the reel speed change actuator 62 drives the reel 4 to rotate at a medium speed that is a predetermined constant speed regardless of the vehicle speed detected by the vehicle speed sensor 97. The processing is returned to the flow shown in FIG. That is, at the time of execution of forced scratch control, when rice is selected as a crop, the reel 4 is driven to rotate at a higher speed than when beans are selected.

  If the set increase flag is set to ON in step S141, the process proceeds to step S148. In step S148, whether or not the reel 4 has been raised to the storage reel height stored in the storage device 83a is confirmed by the reel lift sensor 91, and when the reel 4 has not yet been raised to the storage reel height. Advances to step S149, and if the reel 4 has already been raised to the storage reel height, advances to step S150.

  In step S149, the reel 4 is lifted with respect to the cutting unit 3 by the extension operation of the elevating cylinder 41, and the process proceeds to step S151. In step S150, the set increase flag is set to OFF, and the process proceeds to step S151. In step S151, the reel rotation automatic control for linking the rotation speed of the reel 4 to the vehicle speed is resumed or continued, and the process returns to the flow shown in FIG.

  In the initial state, the process proceeds in the order of step S141 → step S142 → step S151.

  Further, when the scraping control execution state and the time lapse waiting state, until the reel 4 is lowered to the lowest position, step S141 → step S142 → step S143 → step S144 → step S145 → step S146 or step After the process proceeds in the order of S147 and the reel 4 is lowered to the lowest position, the process proceeds in the order of step S141 → step S142 → step S143 → step S145 → step S146 or step S147.

  Further, in the post-processing state, until the reel 4 is raised to the storage reel height, the process proceeds in the order of step S141 → step S148 → step S149 → step S151, and the reel 4 is raised to the storage reel height. After that, the process proceeds in the order of step S141 → step S148 → step S150 → step S151, the set increase flag is set to OFFF, and switching to the initial state is performed.

  That is, while the operation of turning on the take-in switch 69 is being performed, the reel rotation automatic control is released, and the forced take-up control for rotating the reel 4 at a predetermined speed regardless of the vehicle speed is performed. While lowering to the lowest position, the forced pick-up control is canceled after a predetermined time (the time from when the release delay timer is set until the countdown is completed) elapses after the entry operation of the take-in switch 69 is released. Thus, the reel rotation automatic control is restored, and the reel 4 is raised and restored to the height (storage reel height) before execution of the forced scraping control.

  According to this configuration, in a general-purpose combine that performs automatic reel rotation control that controls the rotation speed of the reel 4 in conjunction with the vehicle speed, the reel 4 Since the rotation speed is forcibly shifted to a high speed rotation, it is possible to sufficiently secure the necessary scavenging performance even during low-speed cutting, and by releasing the push-in switch 69. Thus, it is possible to smoothly return to the reel rotation automatic control and to immediately resume the normal cutting operation.

  At this time, since the reel 4 is automatically controlled to an optimum height according to the work situation, it is not necessary to raise and lower the reel 4 manually, which is highly convenient.

  In addition, the control part 83 is the cutting clutch 47, when execution of forced picking control is started by pushing operation of the picking switch 69 when the threshing clutch 46 is connected and the cutting clutch 47 is disconnected. Are automatically connected, and when the forced scratching control is terminated by releasing the pushing operation of the scraping switch 69, the cutting clutch 47 is automatically disconnected. Incidentally, as an example in which the threshing clutch 46 is in the connected state and the reaping clutch 47 is in the disconnected state, for example, a case where the traveling machine body 2 has stopped traveling can be cited.

  According to the above configuration, when the traveling machine body 2 is stopped during the harvesting operation, such as when the Glen tank 23 is full or when it reaches the edge by forward traveling, the grain harvested halfway Usually, there is a risk of spilling without being squeezed into the reel 4, but if the forced switch control is executed by turning on the rake switch 69 at this time, the reaping clutch 47 is automatically connected. Thus, the spillage of the cereal can be efficiently prevented.

  FIG. 24 is a processing flowchart of a subroutine for setting the take-up fin opening. When the processing of this subroutine is started, the process proceeds to step S161. In step S161, the lift raising / lowering sensor 89 confirms whether or not the cutting unit 3 is raised above the cutting stop position with respect to the traveling machine body 2, and the cutting unit 3 is not raised above the cutting stop position. On the other hand, when the process returns to the flow shown in FIG. 22 and the cutting unit 3 is raised to the cutting stop position or higher, the process proceeds to step S162.

  In step S162, it is detected whether or not the vehicle speed detected by the vehicle speed sensor 97 is equal to or lower than a cutting end speed that is a predetermined low speed traveling speed. If the vehicle speed is not equal to or lower than the cutting end speed, If the process returns to the flow shown in FIG. 22 while the vehicle speed is equal to or lower than the cutting end speed, it is determined that the cutting operation has been completed, and the process proceeds to step S163. In step S163, the fin opening / closing actuator 34 closes the fin 33a, and the process returns to the flow shown in FIG.

  According to this configuration, when the cutting operation is finished, the layer thickness of the selected material on the chaff sheave 33 (fin 33a) due to the reduction of the selected material in the threshing unit 22 causes a cutout such as cuttings in the Glen tank 23. Foreign matter can be prevented from entering.

Next, with respect to another example of the meander control setting subroutine, differences from the above-described example will be described with reference to FIG.
FIG. 25 is a processing flowchart of a subroutine showing another example of meander control setting. In the example shown in the figure, the process starts from step S171 when the subroutine for meander control setting is executed. In step S171, it is confirmed whether or not the vehicle speed detected by the vehicle speed sensor 97 is lower than a predetermined meandering speed limit. If it is low, the process proceeds to step S172, while the vehicle speed is equal to or higher than the meandering speed limit. In the case, the process is returned to the flow shown in FIG. In step S172, in order to execute meandering control for meandering the traveling machine body 2 (vehicle body) during traveling, the subroutine of meandering control output control shown in FIG. 21 is performed, and the process returns to the flow shown in FIG.

  In other words, the control unit 83 performs meandering control in principle during the fall trimming control, and cancels the meandering control when the vehicle speed is higher than the meandering limit speed. To do.

  This process prevents the meandering control from being performed during high-speed running, which is inconvenient for meandering the vehicle body. Therefore, the safety is high, and the meandering control is automatically performed during low-speed running during the lodging trimming control. Since it is executed automatically, it is highly convenient.

2 traveling machine body 3 cutting part 4 reel 16 lift cylinder (reaching actuator for cutting part)
22 Threshing part 33a Fin 34 Fin open / close actuator 41 Lift cylinder (reel lift actuator)
54 Reel transmission device 62 Reel transmission actuator 66 Multi-steering lever (reaching manual raising / lowering manual operation means)
73 Trigger switch (auto lift operating means)
74 Reel raising / lowering manual operation means 81 Reel rotation setting dial (reel shift manual operation means)
83 Control unit 91 Reel lift sensor (height detection means)
97 Vehicle speed sensor (vehicle speed detection means)

Claims (4)

  The mowing unit lifting / lowering actuator (16) for moving the mowing unit (3) up and down with respect to the traveling machine body (2) and the reel (4) that is rotationally driven to scrape the crop are moved up and down with respect to the mowing unit (3). Reel raising / lowering actuator (41), reaping part raising / lowering manual operation means (66) for raising / lowering the reaping part (3) relative to the traveling machine body (2), and raising / lowering the reel (4) relative to the reaping part (3). Reel raising / lowering manual operation means (74A) and (74B) are provided, and the cutting part (3) is automatically raised via the cutting part raising / lowering actuator (16) and the reel (4) is moved by the reel raising / lowering actuator (41). A general-purpose combiner provided with an autolift control means (73) for automatically lowering the autolift control and an autolift operating means (73) for executing the autolift control, ) Is provided with a height detection means (91) for detecting the relative height of the cutting part (3) with respect to the cutting part (3), and the control part (83) is a height detection means during execution of autolift control by the autolift operation means (73). If the reel height detected by (91) is not less than or equal to a predetermined height, the reel (4) is driven downward with respect to the cutting part (3) and the cutting part (3) is driven at low speed. On the other hand, when the reel height detected by the height detecting means (91) is equal to or less than the predetermined height, the reel (4) is driven downward with respect to the harvesting part (3) and the harvesting part (3 ) General-purpose combine to drive up at high speed.   A vehicle speed detecting means (97) is provided, and the control unit (83) is configured to perform the above-described predetermined operation when the vehicle speed detected by the vehicle speed detecting means (97) is higher than a predetermined speed when the autolift control is executed. The general-purpose combine according to claim 1, wherein the harvesting part (3) is driven to rise at a higher speed than in the case of the speed or less.   A reel transmission device (54) for shifting the rotation speed of the reel (4) by a reel transmission actuator (62); and a reel transmission manual operation means (81) for shifting the rotation speed of the reel (4). (83) is automatically increased via the reel speed change actuator (62) so that the rotation speed of the reel (4) becomes equal to or higher than a predetermined speed from the start of the auto lift control until a predetermined time elapses. The general purpose combine according to any one of claims 1 and 2, which is driven at a high speed.   A threshing unit (22) for threshing and selecting the harvested crop, and a fin (33a) for selecting the threshed processed product and a fin opening and closing actuator (for opening and closing the fin (33a) to change the selection performance) 34) is provided in the threshing section (22), and the fin (33a) is closed by the fin opening / closing actuator (34) when the autolift control is executed.

Images