RU2758615C2 - Mulching apparatus for processing the stover standing in the field, with an adjustable position and/or force of pressing to the soil - Google Patents

Abstract

FIELD: agricultural machines.

SUBSTANCE: group of inventions relates to agriculture, namely to a mulching apparatus for installation on the harvesting attachment of a self-propelled harvesting machine, a harvesting attachment of a self-propelled harvesting machine with such a mulching apparatus, and a self-propelling harvesting machine with such a harvesting attachment. The mulching apparatus for installation on the harvesting attachment of a self-propelling harvesting machine includes at least one processing implement driven by a drive for crushing stover, the fastening mechanism of the processing tool configured for adjusting the position thereof, installable or installed on the harvesting attachment, and means of controlling the position of the fastening mechanism relative to the harvesting attachment and/or the force of pressing the fastening mechanism to the soil in the harvesting mode. The means of controlling the position and/or the force of pressing the fastening mechanism to the soil include a power-driven actuating element configured to be connected, or connected, with the control in order to control the actuating element. The control is configured to supply and actuate by signals from the control of the height of the harvesting attachment and/or control of the advance of the harvesting machine whereon the harvesting attachment is installed, and/or the speed sensor for recording the advancing speed of the harvesting machine whereon the harvesting attachment is installed, so as to automatically force the actuating element to bring the mulching apparatus relative to the harvesting attachment to a non-working position lifted relative to the working position taken in the harvesting mode, and/or send the command to lift the harvesting console to the control of the height of the harvesting attachment, if the harvesting attachment is lifted off the ground and/or the harvesting machine is moving backwards and/or the harvesting machine does not reach the set minimum advancing speed.

EFFECT: variation in the pressing force in order to adapt to the corresponding conditions of the soil and the harvested crops, setting of the pressing force greater than as set by the force of the weight of the mulching apparatus, as well as exclusion of unnecessary processing of the headland by the mulching apparatus and exclusion of damage to the mulching apparatus, are provided.

9 cl, 6 dwg

Description

The invention relates to a mulching device for installation on a harvesting attachment, including:

at least one drive-driven stubble chopping tool,

mounted or mounted on the harvesting attachment with the possibility of adjusting the position of the fastening of the processing tool and

means for monitoring the position and / or force of pressing the attachment to the ground during the cleaning mode.

State of the art

In many cases, mulching devices are installed under the maize harvesters to grind and / or scuttle the stubble remaining in the field after harvesting, whether it is to protect the tires of vehicles moving in the field, to improve the destruction of plant residues or to destroy the space for overwintering corn. moth ( Ostrinia nubilalis ).

DE 35 15 295 A1 shows a maize picker having such a mulching device, which has knives located on a horizontal drive shaft. The shaft is located inside the housing, which is pivotally connected to the snapper frame from the front side with the possibility of rotation around an axis parallel to the shaft and rests on the ground with runners. The downward movement of the housing rotation relative to the snapper is limited by a chain mounted on the rear side of the housing and snapper.

DE 39 34 862 A1 shows another maize picker having stalk choppers downstream of the row-crop units, which include a rotor that rotates about a vertical axis and has knives attached to it for chopping the stalks. The rotors are built into one common housing, which by its front side is pivotally connected to the snapper frame with the possibility of free rotation around a horizontal axis passing transversely to the forward movement direction, and by its rear side is connected to the snapper frame by means of a chain and tension spring. The maximum downward movement of the stalk chopper is limited to the other part of the chain.

DE 10 2004 020 447 A1 shows a mower attachment for harvesting whole corn plants, on the underside of which a mulching device is installed, having knives rotating around a vertical axis. The mulching device is installed on the mower attachment with the ability to adjust the height using a parallelogram mechanism and rests on the earthen ground with runners. The area of vertical movement of the mulching device from below and from above is limited by a bar having an oblong hole.

Finally, DE 10 2015 217 852 A1 describes a harvesting attachment having mulching devices that are pivotally connected to the harvesting attachment with their front side pivotally around a transverse axis, and when the side part of the harvesting attachment is pivoted by means of a chain, they are forcibly attracted to the harvesting attachment.

Task

In the state of the art, the pressing force (mounted on the harvester attachment with the ability to rotate or displaceable and resting on the ground with runners) of the mulching devices against the ground during stubble cultivation, respectively, is set only by gravity, while DE 39 34 862 A1 also offers the possibility of reducing this pressing force by means of a tension spring pulling the mulching device upwards. However, it would be desirable to vary this pressing force to adapt to the respective soil and crop conditions and, if necessary, also be able to set it more than is given by the weight force of the mulching device.

Another disadvantage of the previous suspensions of mulching devices is that with the usual vertical displacement or pivoting around the transverse axis of the suspension at the front end and the limitation of the swing movement from below by a chain or an oblong hole, it cannot be avoided that the mulching device will remain in contact with the ground. also when the header is raised in the headland. Because of this, on the one hand, the headland is unnecessarily processed by the mulching device, on the other hand, damage to the mulching device can occur when the harvester travels backwards, because the mulching device will then be forced to bury itself in the ground and break the chain.

The present invention has set itself the goal of providing an improved mulching device in comparison with the prior art, equipped with a harvesting attachment, and also equipped with a harvesting machine.

Solution

This problem in accordance with the invention is solved with the help of the technical solution according to claims 1, 6 and 9 of the claims, while the other claims contain features that advantageously improve this solution.

The mulching device for installation on the harvesting attachment includes at least one drive-driven processing tool for chopping stubble, mounted or mounted on the harvesting attachment with the possibility of adjusting the position of the attachment of the processing tool and acting during the harvesting mode for monitoring the position of the attachment relative to the harvesting attachments and / or pressing forces of the anchorage to the ground, including a power-driven actuator that can be coupled or connected to a control to control the actuator.

In this way, the pressing force against the ground during the harvesting mode can be adapted to the current working conditions, without the operator having to leave his workplace on the harvesting machine (as in DE 39 34 862 A1). The attachment together with the processing tool can be lifted off the ground by means of an actuator, or the height of the processing tool can be adjusted in relation to the harvesting attachment or, respectively, the ground soil (and at the same time the length of the stubble remaining in the soil). The processing tool in a manner known per se can be in the form of a blunt, impacting and / or cutting processing tool.

The mount can be pivotally connected or be able to be pivotally connected to the harvesting attachment around an axis oriented transversely to the direction of forward movement, rest on the ground behind this axis with the help of guide means, the pressing force to the ground of which is set by the actuator, and the actuator is to control the angle of rotation of the mount around axis. With such an embodiment, the drive of the processing tool can be carried out by means of a driving shaft, which is also supported for free rotation about an axis extending transversely to the direction of forward movement and horizontally (relative to the harvesting attachment). In this case, the mount and the shaft supported on the mount with the possibility of rotation are oriented by the guiding means relative to the ground in its working position. As an alternative to said rotation about the transverse axis, the attachment, together with the processing tool, can be vertically displaceable, in particular by means of a parallelogram suspension. In this embodiment, the actuator also determines the vertical position and / or the pressing force of the attachment.

The control can be connected or connected to an operator interface, by means of which the force acting from the side of the actuator on the holder can be set. The control can be operated to activate the actuator so that the actuator acts on the holder with a predetermined force.

In addition, the control may be supplied with signals from the height control of the harvester and / or the advance control of the harvester on which the harvester is mounted and / or a speed sensor to register the advancing speed of the harvester on which the harvester is installed and be actuated to when the harvester is lifted off the ground and / or the harvester is moving backward and / or the set minimum advance speed of the harvester is not reached, the actuator is automatically forced to bring the mulching device to an inoperative position relative to the harvester and / or give height control header lift command. Accordingly, the mulcher is automatically lifted off the ground as soon as the height control raises the header (e.g. on the headland by automatic headland control or manual input by the driver) and / or the harvester is traveling backwards or slower than the minimum advance speed. Alternatively or additionally, at least with a harvester traveling backward or slower than the minimum advance speed, the harvester head can be lifted off the ground. This prevents the mulching device from getting stuck in the ground.

The actuator can be a pneumatic or hydraulic cylinder.

In one possible embodiment, one or more processing tools are mounted on a holder so that they can rotate about an approximately vertical or horizontal spread during use (e.g., in the forward direction or transverse to the forward direction) or around an axis inclined backward and upward and can be driven. in rotation by means of a drive. The upward and backward tilted axis of rotation has the advantage that the first stubble cultivation with the processing tool is carried out at the first impact with the stubble at a first height, which is determined by the angle of inclination of the axis of rotation backward, the height of the axis of rotation above the ground, the diameter of the processing tool and lateral displacement between the axis of rotation and stubble. Accordingly, the stubble is cultivated for the first time. If, however, the mulching device continues to move across the field in the forward direction, the stubble can be worked with the cutting tool at least one more second time when it comes into contact with the cutting tool behind the axis of rotation. This process, due to the inclination of the axis of rotation, occurs at a second height, which is less than the first height. When the processing tool can work stubble not only with its outer end, but also between the axis of rotation and the outer end (for example, it is designed as a lawn mower knife, i.e. with a radial cutting edge, or includes several holders of different lengths with fixed at the ends strikers), it can interact with the stubble even more than two times.

The harvesting attachment can have several harvesting units, for each of which there is a mulching device separately adjustable in position and equipped with its own executive element. The harvester head can be a picker or a mower head for harvesting whole corn plants. Coarse adjustment of the header height can be carried out by means of a sensor-based height control per se, with which the header, together with the suction channel, is rotated relative to the harvester about a laterally extending axis.

The side parts of the harvesting attachment can be brought into the transport position by means of the adjusting drive, and the control can be supplied with signals from the adjusting drive and can be used to automatically force the actuating elements to bring their mulching devices to the inoperative position when the side parts of the harvesting attachment are brought into the transport position regarding the harvester attachment.

Implementation example

The drawings show two examples of implementation, described in more detail below. Shown:

Fig. 1 is a side view of a harvester having a harvester mounted thereon, on which mulching devices are installed;

Fig. 2 is a side view of a harvester head during harvesting;

Fig. 3 is a perspective view of a mulching device;

Fig. 4 is a plan view of a harvesting attachment;

Fig. 5 is a diagram of a first embodiment of the control of the actuators of the mulching devices, and

6 is a schematic diagram of a second embodiment of the control of the actuators of the mulching devices.

Shown in figure 1 agricultural harvester 10 in the form of a self-propelled forage harvester consists of a frame 12, which is mounted on the front and rear wheels 14 and 16. The front wheels 14 serve as the main drive wheels, while the rear wheels 16 are steerable. The harvester 10 is serviced from the driver's cab 18, from which the harvester 20 can be viewed. By means of the harvester 20, the material taken from the ground, for example corn, is fed through the suction housing 30 into a chopping drum, not shown in the drawing, inside the harvester 10, which crushes it into small pieces and loads it into a transport device (also not shown in the drawing). The material exits the harvester 10 into a nearby trailer through a vertically rotatable and height-adjustable discharge tube 28. A re-grinding device, not shown, may be located between the chopping drum and the transport device. Although the invention is described here with the example of a forage harvester, it can also find application in combines having corresponding harvesting attachments in the form of maize pickers. Further, directional data such as “ahead”, “behind”, “sideways” and “above” refer to the forward direction of the harvester 10 and the harvester 20, which in FIG. 1 extends to the left.

For picking up the material to be harvested, a harvesting attachment 20 is used, which is fixed on the front side of the harvester 10 in the forward direction. The harvester 20 in the illustrated embodiment is a per se known corn cutter head which includes a middle portion 38 and two side portions 40 located (with respect to the forward direction of the harvester 10) on the left and right sides next to the middle portion 38. Lateral portions the road transport portions 40 are pivotably upwardly attached to the middle portion 38 and can be hydraulically pivoted downward for harvesting operations so that they run parallel to the middle portion 38 during harvesting. They can then pivot upward again. In Fig. 1, the side portions 40 are shown in an upwardly turned state, while in Fig. 4 they are shown in a downward-turned cleaning position. On the middle part 38 in the present embodiment, four harvesting units 32 are installed having lower cutting discs for cutting plants and upper transporting circles for removing plants, while on two side parts 40 there are two harvesting assemblies 32. Harvesting attachment 20 is known per se. is equipped with crop dividers 36, harvesting units 32, divider socks 34, flat covers and transport means for feeding the collected material into the chopping drum of the harvesting machine 10. The harvesting attachment 20, during operation, draws in the stalks of the cut material in a standing position, cuts them and guides them (cf. 4) through the transverse transport drums 82 and the discharge transport drums 84 into the suction housing 30 equipped with the suction rollers 86 and thereafter into the chopping drum of the harvester 10.

The header 20 includes a base frame that has a lower cross member 42 and a head cross member 44. The lower cross member 42 extends down the rear of the header 20 and includes three segments, one for the middle section 38 and one for each side. parts 40. On the front side of the lower cross member 42 are screwed transmission housings 46, which serve to drive one harvesting unit 32 each. The drive shaft 48 for driving the harvesting units 32 through a transmission located in the transmission housings 46, which also serves to drive other transport means of the harvesting attachment 20 and is driven by the power take-off shaft of the harvester 10, extends laterally inside the hollow cross member 42.

The head rail 44 extends laterally over the inlet of the retractor body 30 across its width. It is connected to hook-shaped support elements, which are partially enclosed by the complementary support elements of the retractor body 30 and serve to attach the harvesting attachment 20 to the harvesting machine 10. It is connected by vertically extending beams and connecting plates to the lower cross member 42. In this case, the support frame together with cross members 42, 44 and vertically extending beams and connecting plates forms the skeleton of the harvester 20, on which all other elements of the harvester 20 are mounted.

FIG. 2 shows the harvesting attachment 20 in the position it assumes during cleaning, for which purpose the retractor body 30 is lowered by means of an actuator 116 controlled by height control 118 around the rotation axis of the chopping drum from the transport position shown in FIG. 1. This actuator also monitors the height of the harvesting attachment 20 above the ground based on sensors in a manner known per se. The speed sensor 114, which in particular can be made in the form of a radar sensor, registers the speed of advancement of the harvester 10.

A mulching device 50 is installed behind each harvesting unit 32. The mulching device 50 is located with its axis of rotation in the lateral direction behind the axis of rotation of the corresponding harvesting unit 32. Plants enter there during normal harvesting. In the event that a single harvesting unit 32 harvests several rows of plants, several mulching devices 50 may be assigned to it, the axes of rotation of which are located behind the expected places of entry of the rows of plants. It would also be possible to distribute the mulching devices 50 without or at small intervals over the entire working width of the harvester 20.

Referring now to Figs. 2 and 3. The mulching device 50 includes two diametrically opposed machining tools 54, which are rigidly connected by radial carriers 52 to the middle shaft 56. Instead of rigid carriers 52, the machining tools could also be connected to the shaft 56 by chains or other flexible items. The machining tools 54 are made in the form of blunt strikers, i. E. made in the form of balls or cigars. As processing tools 54, knives could alternatively or additionally be used, which are usually built under the maize pickers. These knives can be connected to the shaft 56 in a rigid or rocking manner.

The shaft 56 is connected with its lower end to the holders 52, and its upper end is supported in the gear 66. The drive shaft 48 extends through the hollow shaft 68 of the gear 66 and is positively connected to the hexagonal hollow shaft 68. The gear 66 contains drive elements (not shown), which for the drive connect the hollow shaft 68 to the shaft 56, for example, bevel gears. The transmission 66 is supported with the possibility of free rotation relative to the drive shaft 48 and the lower cross member 42 about the axis of the drive shaft 48.

In addition, the console 70, which embraces the gear 66 on both sides, is rigidly connected to the lower cross member 42. The lower plate connecting the two plates of the console 70 adjoining laterally to the gear 66 is connected with its lower side to the thrust element 72, which in cooperation with the sheet cover 60 serves to limit the range of motion of the shaft 56, and thus the processing tools 54, and to prevent collisions with other parts of the harvesting attachment 20.

A hollow axle 64 is mounted on the gear housing 66, which encloses the shaft 56 between the gear 66 and the lower end lying slightly above the holders 52. The hollow axle 64 can freely rotate with the gear 66 and the shaft 56 about the lower cross member 42 about the longitudinal axis of the drive shaft 48. At its lower end, the hollow shaft 64 has a flange 78, on which a longitudinal support 76 is mounted. The longitudinal support 76 is rigidly connected to the sheet cover 60. The sheet cover 60 extends along the width of the mulching device 50 and is somewhat wider than the diameter of the envelope circle described by the processing tools 54 The sheet cover 60 extends in the forward direction V from the middle of the hollow shaft 64 and from there back and down to the rear runner 62 which rests on the ground. To adapt to evenness of the ground, the skid 62 may be adjustable relative to the cover plate 60 (and / or the cover plate 60 relative to the hollow axis 64) to place the cutting tools 54 in their rear position on smoother ground less than on more uneven ground.

The actuator 74 with its rear end is pivotally connected about a transversely extending axis with a bracket 88 that extends from the lower cross member 42 to the rear. The front movable part 90 of the actuating element 74 is also pivotally connected about a transversely extending axis with the sheet cover 60. The actuating element 74, which can be made in the form of a pneumatic or hydraulic cylinder, respectively determines the pivot position of the hollow axis 64, which together with the holders 52, shaft 56, gear 66, flange 78, longitudinal support 76 and sheet cover 60 can be considered to hold the machining tool 54 around the center axis of the drive shaft 48 and thus the position of the machining tool 54 relative to the ground. In addition, the actuator 74 determines the pressing force with which the runner 62 rests on the ground. The skid 62 serves here as a guide means by which the anchorage (indirectly) rests on the ground.

Accordingly, the following operating principle is obtained: the actuator 74, when pressure is applied to its piston chamber, pushes against the sheet cover 60 and thus also the runner 62 downward until it comes into contact with the ground. The sheet cover 60, through the longitudinal support 76, the flange 78 and the hollow shaft 64, also rotates the gear 66 about the longitudinal axis of the drive shaft 48. This rotation is also transmitted through the gear 66, the shaft 56 and the holders 52 to the machining tools 54. The axis of rotation determined by the shaft 56 around which the processing tools 54 rotate in use, as shown in FIG. 2, is tilted back and up. As a result, the stubble 80 of the harvested plants 58, the height of which is first set by the height of the cutter wheels of the harvesting units 32 above the ground, is first grasped by the processing tool 54 in the front region of the mulching device 50. Thereafter, still remaining in the ground, already processed and shortened (knocked down ) the stubble 80 'is processed a second time by the processing tools 54 in the rear area of the mulching device 50 and is knocked down close to the ground. Accordingly, the processing quality of the stubble 80 'is significantly improved. To further improve the effect, the forward-moving edges of the holders 52 could be equipped with blades. The described adaptation to the soil is carried out for each mulching device 50 of the harvesting attachment 20 separately.

Another advantage of the free-swinging suspension of the shaft 56 and the working tools 54 and their following position control ground contour by the skid 62 is that the working tools 54 in the proper direction of rotation of the shaft 56 when they are unintentionally buried in the ground or pile of earth , due to the resulting torque, with which the processing tools 54 act on the ground due to the drive by means of the shaft 56, the shaft 56 rotates about the longitudinal axis of the drive shaft 47 backwards and upwards and is automatically released from the ground. Proper direction of rotation with forward and downward tilted direction of rotation of shaft 56 as viewed from above in a clockwise direction. In the event that the stubble 80 is not planned to be worked, the mulching device 50 can be removed from the header 20, or the shaft 56 by means of a clutch or the like. is separated from the drive shaft 48, or the holders 52 are removed from the shaft 56.

Figure 5 shows a schematic diagram of a first embodiment of a possible interconnection of pneumatic actuators 74. A pressure source 110 in the form of a compressor provides pressurized air which, through an electromechanically controlled pressure reducer 100, enters the first reserve tank 98 and the first electromechanical valve 96. The first valve 96 on the downstream side is connected to the piston chambers of all actuators 74. The pressurized air from the pressure source 110 is also supplied to the second reserve container 102 and to the second electromechanical valve 94. The second valve 94 on the downstream side is connected to the piston flow chambers of all actuators 74. is connected to the piston chambers of all actuators 74. Control 92 controls valves 94, 96 and pressure reducer 100 and is connected to the operator interface 112. In addition, control 92 receives signals from the first pipeline 104, the second pipeline 106 and third pipeline 108. The components shown in FIG. 5 may be located on the header side or (with the exception of the actuators 74 and conduits leading thereto) on the header side, or partially on the header side and partially on the header side.

Connected to the advance control of the sweeper 10, the first conduit 104 signals to the control 92 whether the operator of the sweeper 10 has made an input to propel the sweeper backward. Connected to the control of the adjuster drive of the side portions 40, the second conduit 106 signals to the control 92 whether the operator of the harvester 10 has made an input to bring the side portions 40 into the raised transport position. Connected to the height control of the header 20, the third conduit 108 signals to the control 92 whether the operator of the header 10 (or headland automation) has made an input to lift the header 20 off the ground at the headland. If, accordingly, there is a signal on one or more of the said lines 104-108 indicating that the sweeper 10 should go backwards and / or the side parts 40 should be lifted and / or the sweeping attachment 20 should be lifted off the ground and / or the sweeping mode switch / transport is in the road travel position, control 92 will close the first valve 96 and open the second valve 94 to induce the actuators 74 to raise the mulching devices 50. If, by contrast, the control 92 does not have such a signal and the cleaning mode switch / transport is in the cleaning mode position, control 92 will open the first valve 96 and close the second valve 94 to induce the actuators 74 to force the mulching devices 50 to move on the ground with the pressing force set by the operator interface 112 controlled by the control 92 through the pressure reducer 100 against soil and cultivate stubble 80. If, in contrast to this, about stubble 80 is undesirable, the operator can, through the operator interface 112, cause the control 92 to close the first valve 96 and open the second valve 94 to raise the mulchers 50.

6 shows a schematic diagram of a second embodiment of a possible interconnection of pneumatic actuators 74. Elements the same as the first embodiment of FIG. 5 are denoted with the same reference numerals. In contrast to the first embodiment of FIG. 5, control 92 is coupled to speed sensor 114 and programmed to initiate lifting of mulchers 50 by actuators 74 when signals from speed sensor 114 indicate that harvesting machine 10 is traveling with advancing speed below a certain predefined minimum speed, eg 1 km / h, or standing or driving backward. Likewise, control 92 can be programmed to lower the mulchers 50 in harvest mode only when the signals from the speed sensor 114 indicate that the harvester 10 is traveling at a forward speed that is above this predetermined minimum speed (and the operator via the operator interface 112 has selected the mulching mode and the cleaning / transport mode switch is in the cleaning mode position and the sides 40 are lowered), or lowering is performed directly when the harvester 10 is moving forward, whether based on signals from speed sensors 114 or signals on the first pipeline 104 of the previous embodiment when they indicate the forward mode. The control 92, as in the first embodiment of FIG. 5, is also connected to the pipelines 106 and 108 and uses their signals also to raise the mulching devices 50 by means of the actuators 74, when the pipeline 106 has a signal to raise the side portions 40 and / or when on the line 108 has a signal for lifting the header by means of the actuator 116 and / or the cleaning / transport mode switch is in the road mode position.

In addition, the control 92 is connected to the height control 118 and (a hitherto accepted method of redirecting the automatic or manual input to the height control) initiates the lifting of the harvester 20 relative to the harvester 10 by means of the actuator 116 whenever the mulchers 50 are lowered and the signals speed sensors 114 indicate that the harvester 10 is traveling at a forward speed that is below some predetermined minimum speed. This prevents the mulching devices from getting stuck in the ground when the harvesting machine 10 is standing.

If the pneumatic actuators 74 shown in FIGS. 5 and 6 were replaced by hydraulic cylinders, the remaining pneumatic components would have to be replaced by hydraulic components.

Claims (14)

1. Mulching device (50) for installation on the harvester attachment (20) of a self-propelled harvester, including: at least one drive-driven processing tool (54) for chopping up stubble (80), mounted or mounted on the harvesting attachment (20) with the possibility of adjusting the position of the fastening of the processing tool (54) and means for monitoring the position of the attachment relative to the harvesting attachment (20) and / or the force of pressing against the ground of the attachment during the harvesting mode, characterized in that the means for monitoring the position and / or pressing force against the ground of the fastening include an actuator (74) actuated by a power drive, which is configured to be connected or connected to the control (92) to control the actuator (74), moreover, the control (92) is configured to supply and activate signals from the control (118) of the height of the harvester (20) and / or the control of the advancement of the harvester (10), on which the harvester (20) is installed, and / or the sensor ( 114) speed to register the speed of advancement of the harvester (10), on which the harvester (20) is installed, so that when the harvester (20) is lifted off the ground and / or the harvester (10) moves back and / or the set minimum advance speed is not reached of the harvesting machine (10) automatically cause the actuator (74) to bring the mulching device (50) relative to the harvesting attachment (20) to an inoperative position, raised relative to the working position adopted during the harvesting mode, and / or to give the control (118) the height of the harvesting attachment (20 ) the command to lift the harvesting attachment (20). 2. Mulching device (50) according to claim 1, in which the attachment is pivotally connected or made with the possibility of pivot connection with the harvesting attachment (20) around an axis oriented transversely to the direction of forward movement of the harvesting attachment, rests on the ground behind said axis by means of guiding means and the actuator (74) controls the angle of rotation of the attachment around the specified axis. 3. Mulching device (50) according to claim 1 or 2, in which the control (92) is made with the possibility of connection or is connected to the operator interface (112), with the help of which it is possible to set the force acting on the part of the actuator (74) on the fastener, and actuate the control (92) to activate the actuating element (74) so that the actuating element (74) acts on the fastener with a predetermined force. 4. Mulching device (50) according to one of claims 1 to 3, wherein the actuator (74) is a pneumatic or hydraulic cylinder. 5. A mulching device (50) according to one of the preceding claims, wherein one or more processing tools (54) are mounted on the holder so that they can rotate about an axis that runs vertically or horizontally during operation, or about an axis that is inclined backwards and upwards, and are made with the possibility of being driven into rotation by means of a drive. 6. Harvesting attachment (20) of a self-propelled harvester, having a mulching device (50) according to one of the previous paragraphs. 7. Harvesting attachment (20) according to claim 6, in which the harvesting attachment has a plurality of harvesting units (32), each of which is provided with a mulching device (50) separately adjustable in position and equipped with its own executive element (74). 8. Harvesting attachment (20) according to claim 7, in which the side parts (40) of the harvesting attachment (20) are adapted to be brought into the transport position by means of an adjusting drive, and the control (92) is adapted to supply and activate signals for the adjusting drive, so that when activating the adjusting drive in the sense of bringing the side parts (40) of the harvesting attachment (20) into the transport position, automatically force the actuating elements (74) to bring their mulching devices to a non-working position relative to the harvesting attachment (20). 9. Self-propelled harvesting machine (10), having a harvesting attachment (20) according to one of claims 6-8.

Images