JP6419001B2 - Combine - Google Patents

Description

The present invention relates to a combine that includes a traveling machine body and a pre-cutting processing unit that is mounted on the front part of the traveling machine body so as to be movable up and down around the horizontal axis of the machine body.

The combine by patent document 1 equips the front part of a traveling body with the cutting pre-processing part which can be raised / lowered around the body horizontal axis center. In the pre-cutting processing part, a plurality of right and left weed frames extending forward,
A weeding tool for weeding the planted cereals at the front end of each of the plurality of right and left weeding frames, and a plurality of raising devices for raising the planting cereals at the rear of the weeding tool, A harvesting device that harvests the raised planted culm and a conveying device that conveys the harvested culm are provided. The weeding frame is provided with a cutting height detection device that detects the cutting height of the pre-cutting processing unit. Based on the detection result of the cutting height detection device, the control means detects the ground level of the pre-cutting processing unit. Perform cutting height control to change the height. The cutting height detection device is configured as a cutting height sensor having a lever that contacts the ground as a contact. In order to increase the detection reliability, a plurality of cutting height sensors are prepared. At that time, one of the cutting height detection devices (first grounding sensor) is arranged in front of the pulling device due to the installation space, and the other one of the cutting height detection devices (second grounding sensor). Is raised behind the first ground sensor in the front-rear direction of the machine body and arranged behind the device.

JP 2011-92096 A

When the first grounding sensor and the second grounding sensor are attached to the pre-cutting processing unit with a distance in the longitudinal direction of the machine body, and the second grounding sensor is raised and positioned on the rear side of the device, it is caused by the pulling device. There is a problem that the planted cereals fall down by the lever portion for ground detection in the second grounding sensor, and in the fallen state, cutting is performed by the reaping device and the cutting trace is disturbed. For this reason, in a combine in which the first grounding sensor and the second grounding sensor are attached to the pre-cutting processing unit with a distance in the front-rear direction of the machine body, the second grounding sensor is raised and the cutting is performed at the rear side of the device. There is a need to avoid performance degradation.

The combine according to the present invention includes a traveling machine body, a weeding frame unit that is a basic structure of a pre-cutting processing unit disposed at a front portion of the traveling machine body so as to be movable up and down around a horizontal axis of the machine body, and the weeding frame unit A weeding tool group which is provided at the front end of the weeding cereal, and a pulling device which is supported by the weeding frame unit behind the weeding tool group and causes the planting cereal to be raised, A cutting device supported by the weed frame unit at the rear of the pulling device to reap the planted cereal grains, and a cutting height of the pre-cutting processing unit supported by the weed frame unit at the front of the pulling device. comprising a first ground sensor for detecting a second ground sensor which detects the cutting height of the component a is supported by the grass frame unit reaper preprocessing section at the rear of the cutting device, the a is the fraction grass frame Uni The left edge weed frame located at the left edge in the cross-machine direction, the right edge weed frame located at the right edge, and the right edge of the left edge weed frame between the left edge weed frame and the right edge weed frame. An inner left weed frame located adjacent to the right end weed frame between the left end weed frame and the right end weed frame; A cross beam, wherein the first ground sensor is attached to the inner left weed frame, and the second ground sensor is between the inner right weed frame and the right end weed frame. And is attached to the cross beam.

In this configuration, since the second ground sensor is arranged behind the reaping device, the planted culm raised by the pulling device is reaped by the reaping device before reaching the second ground sensor. That is, the planted culm is not laid down by the second ground sensor, and the planted culm raised by the pulling device is smoothly cut by the reaping device. Even if the second grounding sensor is arranged behind the raising device, it does not interfere with the planted culm raised by the raising device, and the cutting performance of the cutting device is maintained well.

Further , the weed frame unit includes a left end weed frame positioned at the left end in the transverse direction of the fuselage, a right end weed frame positioned at the right end, and the fuselage between the left end weed frame and the right end weed frame. An inner left weed frame and an inner right weed frame that are juxtaposed in the transverse direction, and a cross beam that supports the reaping device are included, and the second ground sensor is attached to the cross beam. In order to support a cutting device having a length corresponding to the width of the body in the transverse direction of the body, the weeding frame unit is provided with a cross beam over the width of the body. Since the cross beam has high rigidity and is stable, the detection of the second ground sensor attached to the cross beam is also stable. Further, since the cross beam extends in the transverse direction of the aircraft, the mounting position of the second ground sensor in the transverse direction of the aircraft can be freely selected. Particularly, since a relatively free space is formed between the inner right weed frame and the right end weed frame, it is convenient to arrange the second ground sensor. When the second ground sensor is attached to the cross beam, it is advantageous to interpose a sensor bracket that functions as an adapter that adapts the shape of the cross beam and the shape of the second ground sensor. By using this sensor bracket, the degree of freedom in mounting the second ground sensor is improved.

  In particular, in a conventional combine with three-row cutting, the weeding tool provided at the front end of the inner left weed frame is smaller than the weeding tool provided at the front end of the inner right weed frame. Therefore, it is easy to secure a space suitable for arranging the grounding sensor around the small weeding tool. Accordingly, in one preferred embodiment of the present invention, the weeding tool provided at the front end of the inner left weed frame is smaller than the weeding tool provided at the front end of the inner right weed frame. The first ground sensor is provided on the inner left weed frame.

  In a configuration in which the first grounding sensor and the second grounding sensor are attached to the pre-cutting processing unit with a distance in the longitudinal direction of the body, the first grounding is performed when the pre-cutting processing unit swings up and swings around the horizontal axis of the body. A sensor leaves | separates ahead from the ground (farm scene) rather than a 2nd earthing | grounding sensor (non-grounding). Further, when the pre-cutting processing unit swings downward, the second grounding sensor reaches (grounds) the ground (farm scene) earlier than the first grounding sensor. That is, the first ground sensor has a higher detection resolution than the second ground sensor. For this reason, it is preferable that the first ground sensor is used preferentially over the second ground sensor. Accordingly, in one of the preferred embodiments according to the present invention, the ground height of the pre-cutting processing unit is controlled based on the detection result of the first ground sensor or the second ground sensor. When the ground sensor becomes ground free, the second ground sensor is used, and when the first ground sensor is grounded again, the first ground sensor is used in place of the second ground sensor.

It is a schematic diagram which shows basic arrangement | positioning of the 1st ground sensor and 2nd ground sensor in this invention. It is a side view which shows the whole combine. It is a top view which shows the whole combine. It is a front view of a combine. It is a top view which shows arrangement | positioning of the weeding tool of a pre-cutting process part, a raising apparatus, and a conveying apparatus. It is a schematic diagram which shows arrangement | positioning of a 1st ground sensor and a 2nd ground sensor. It is a control block diagram of cutting height control. It is a side view which shows arrangement | positioning of a 1st ground sensor and a 2nd ground sensor. It is a side view of a 1st grounding sensor. It is a side view of a cutting device and a 2nd grounding sensor. It is a perspective view from the lower part which shows arrangement | positioning of a 1st ground sensor and a 2nd ground sensor. It is a schematic diagram which shows the basic control flow of cutting height control by artificial control and automatic control.

  Before describing a specific embodiment of a combine according to the present invention, the basic features of the present invention will be briefly described with reference to FIG. The combine which is the premise of the present invention is provided with a pre-cutting processing unit 8 at the front part of the traveling machine body, and the cereals harvested by the pre-cutting processing unit 8 are sent to the threshing device, and the grain taken out by the threshing device Grains are stored in a grain tank. In the cutting operation, the pre-cutting processing unit 8 is maintained at a certain height from the farm scene by the control of the control unit. The basic structure of the pre-cutting processing unit 8 is a weed frame unit. The weeding frame unit is supported on the front part of the traveling machine body of the combine so that the ground height can be changed by swinging around the horizontal axis, that is, it can be raised and lowered. The weeding frame unit is provided with a weeding tool group for weeding the planted cereals, a pulling device 26 for raising the planted stalks, and a reaping device 29 for harvesting the planted cereals. The weeding tool group is provided at the front end of the weeding frame unit. The pulling device 26 is provided behind the group of weeding tools. The mowing device 29 is provided behind the pulling device 26. Further, a first ground sensor 36 and a second ground sensor 37 that detect the cutting height of the pre-cutting processing unit 8 are provided to control the pre-cutting processing unit 8 to move up and down. Since the space for mounting the grounding sensor is limited, the first grounding sensor 36 is supported by the weeding frame unit in front of the pulling device 26, and the second grounding sensor 37 is behind the mowing device 29. It is supported by the weed frame unit.

  As schematically shown in FIG. 1, since the ground contact sensor is located near the farm scene, when passing through the planted culm, the planted culm is bent from the root and laid down. . However, if the raising device 26 is arranged behind the ground sensor, the fallen planted culm is triggered again and is cut well by the reaping device 29. For this reason, it is preferable to raise the second ground sensor 37 in the same manner as the first ground sensor 36, but it is arranged in front of the device 26. However, the space for mounting the front device 26 in front is limited. In the present invention, since the second ground sensor 37 is disposed behind the reaping device 29, the inconvenience that the second ground sensor 37 comes into contact with the planted culm and bends it is eliminated. The fact that the second grounding sensor 37 is located rearward also shortens the distance from the swing axis for raising and lowering the pre-cutting processing unit 8 compared to the first grounding sensor 36. This means that the detection resolution of the second ground sensor 37 is lower than that of the first ground sensor 36. Therefore, in the elevation control by the control unit, it is preferable to minimize the influence by using the first ground sensor 36 as a main sensor and the second ground sensor 37 as a sub sensor.

Next, the combine which mounts the cutting height control system by this invention is demonstrated using drawing. FIG. 2 is a side view showing the entire combine. FIG. 3 is a plan view showing the entire combine. FIG. 4 is a front view showing the combine. As shown in these figures, this combine is for harvesting rice, wheat and the like. The combine includes a traveling machine body equipped with a pair of left and right crawler traveling devices 11, and includes a pre-cutting processing unit 8 in which a pre-processing unit frame 10 is connected to a front part of the body frame 1 of the traveling machine body. A threshing device 2 and a grain tank 3 provided side by side in the lateral direction of the traveling machine body are provided on the rear side of the machine body frame 1.

  The traveling machine body includes a driving unit equipped with an engine E provided at the right end portion on the front end side of the machine body frame 1, and drives the pair of left and right crawler traveling devices 11 by the driving force of the engine E to self-run. The traveling machine body includes a driving unit 5 equipped with a driving seat 5 a provided above the engine E.

  As shown in FIG. 2, the left and right crawler travel devices 11 include a track frame 12 connected to a body frame 1 of a traveling body, and a crawler drive that is supported by a transmission case TM provided at a front end portion of the body frame 1. A ring 13, a grounding wheel 14 provided side by side in the longitudinal direction of the traveling body on the track frame 12, a crawler tension ring 15 provided rotatably at the rear end of the track frame 12, and wound around each of the wheels 13, 14, 15. A rotated rubber crawler belt 16 is provided.

The pre-processing unit frame 10 of the pre-cutting processing unit 8 is connected to the body frame 1 so as to be movable up and down around the body horizontal axis P. The pre-cutting processing unit 8 is configured so that the main frame 9 of the pre-processing unit frame 10 is swung up and down with respect to the machine body frame 1 by the elevating cylinder 7, so The four weeding tools 22 to 25 arranged side by side are moved up and down to a working state where the four weeding tools 22 to 25 are lowered near the farm scene and a non-working state in which the four weeding tools 22 to 25 are elevated from the farm scene.

  The driver 5 in front of the driver's seat 5a is provided with an operation lever 35 as an artificial operation tool. By operating this operation lever 35 in the front-rear direction, the pre-cutting processing unit 8 can be moved up and down. When operated, the crawler traveling device 11 in the operation direction can be decelerated or stopped, and the traveling machine body can be turned left or right. When the operation state determination unit described below determines that the cutting operation is not being performed, operating the operation lever 35 in the front-rear direction gives priority to cutting height control by automatic lifting control. The preprocessing unit 8 can be moved up and down. That is, when the operating lever 35 is swung forward while the pre-cutting processing unit 8 is in the raised position, the pre-cutting processing unit 8 is lowered, and the control lever 35 is swung back when the cutting height control is being performed. When the moving operation is performed, the pre-cutting processing unit 8 can be raised.

  In the cutting operation, the traveling machine body is caused to travel while operating the pre-cutting processing unit 8. As a result, the pre-cutting processing unit 8 raises the planted culm and cuts it, and supplies the chopped cereal to the starting end of the threshing feed chain 2a of the threshing device 2. The threshing device 2 sandwiches the stock side of the harvested cereal mash by the threshing feed chain 2a and conveys the traveling machine body backward, thereby supplying the tip side of the harvested cereal mash to the handling room (not shown). To process. The grain tank 3 collects and stores the threshed grains conveyed from the threshing apparatus 2.

The pre-cutting processing unit 8 will be described in detail.
As shown in FIGS. 2 and 3, the pre-processing unit frame 10 of the pre-cutting processing unit 8 extends from the machine frame 1 of the traveling machine body so as to be movable up and down around the machine body horizontal axis P in the forward direction of the traveling machine body. A weeding frame unit is provided on the frame 9 and the extended end side of the main frame 9. As shown in FIG. 5, the weeding frame unit includes four weaving frames 17 to 20 facing in the front-rear direction of the traveling machine body connected in an arrangement arranged at a predetermined interval in the lateral direction of the traveling machine body. The rear ends of these weed frames 17 to 20 are connected by a cross beam 10a extending in the transverse direction of the aircraft. Hereinafter, when individually calling the four weeding frames 17 to 20,
The right end weed frame 17, the inner right weed frame 18, the inner left weed frame 19, and the left end weed frame 20 from the right side.

  The pre-harvest processing unit 8 includes four weeding tools 22 to 25 and three pulling devices 26, 27, and 28 arranged in the lateral direction of the traveling machine body on the rear side of the traveling machine body of the weeding tools 22 to 25. I have. Further, the pre-cutting processing unit 8 includes one clipper-type cutting device 29 and a transport device 30 provided from above the cutting device 29 to the front of the starting end of the threshing feed chain 2a. The mowing device 29 is attached to the cross beam 10a of the pretreatment unit frame 10 connected to the base ends of the weed frames 17 to 20. As is clear from FIG. 4, it is necessary to distribute the planted cereals to the two pulling devices 27 and 28, and in order to secure the distribution path, the inner left weed tool 24 is provided with other weeds. Compared to the tools 22, 23 and 25, the shape is small. Therefore, the attachment structure of the inner left weed tool 24 to the inner left weed frame 19 is also simpler than the others.

  As shown in FIGS. 4 and 5, the right end weeding tool 22, the inner right weeding tool 23 and the left end weeding tool 25 are connected to the pulling devices 26, 27, 28 located rearward from the front end side thereof. The guide rods 22a, 23a, 25a extending toward the front are provided, and the guide rods 22a, 23a, 25a guide the stocker side of the planted cereal to the pulling devices 26, 27, 28 located rearward. .

  As shown in FIGS. 2, 3, and 4, each pulling device 26, 27, 28 includes a pulling case 26 a, 27 a, 28 a supported by the preprocessing unit frame 10, and the pulling case 26 a, 27a, 28a is provided with an endless rotation type raising chain 31 provided inside. The raising cases 26a, 27a, 28a of the raising devices 26, 27, 28 are supported in an inclined posture in which the upper end side is located slightly on the rear side of the traveling machine body from the lower end side.

  The pull-up chain 31 is drivably positioned on the lower end side of the pulling cases 26a, 27a, 28a and the ring body 32 that is drivably positioned on the upper end side of the pulling cases 26a, 27a, 28a. It is wound around the ring body 33 and driven by the upper ring body 32 to raise and move up one end side of the traveling machine body in the lateral direction of the cases 26a, 27a, 28a, and raise the cases 26a, 27a, 28a. The other end side of the traveling machine body in the lateral direction is moved downward. The pull-up chain 31 includes pull-up claws 34 attached at predetermined intervals in the longitudinal direction thereof. Each raising claw 34 is raised when the raising chain 31 is raised and moves up one end side in the lateral direction of the traveling body of the cases 26a, 27a, 28a, and the leading end side of the raising claw 34 is raised to raise the case 26a, 27a, 28a. It moves upward as a mounting posture projecting sideways from the traveling machine body, causing it to act on the planted cereal.

  As shown in FIG. 5, the conveyance device 30 has a conveyance start end located behind the right outer pulling device 26 and above the reaping device 29, and a conveyance termination end of the conveyance start end of the threshing feed chain 2 a. The transport start end is located behind the first transport device 30a located near the front, the left outer pulling device 28 and the intermediate pulling device 27, and above the reaping device 29, and the transport end side is the first transport. And a second transfer device 30b connected in the middle of the device 30a.

  The conveying device 30 conveys the harvested cereal that has been raised and processed by the right outer pulling device 26 and also cut by the reaping device 29 by the first conveying device 30a, and supplies the threshing feed chain 2a. The conveying device 30 is a first conveying device 30a by a second conveying device 30b, and a first conveying device 30a by a second conveying device 30b, which is caused by the left outer raising device 28 and the intermediate raising device 27 and is also harvested by the reaping device 29. Is fed to the threshing feed chain 2a by being joined to the harvested cereal mash that has been transported from the transport start end by the first transport device 30a.

  As shown in FIGS. 6 and 7, the pre-cutting processing unit 8 is provided with a first ground sensor 36 and a second ground sensor 37 as a cutting height detection device. The detection results of the first ground sensor 36 and the second ground sensor 37 are input to a control unit 80 that constructs an automatic lifting control unit 85 that changes the ground height of the pre-cutting processing unit 8. The automatic lifting / lowering control unit 85 maintains the ground height of the pre-cutting processing unit 8 at a predetermined value set by the cutting height setting unit 41 based on the detection results of the first ground sensor 36 and the second ground sensor 37. The control valve 40 for the lifting cylinder 7 is controlled.

  As shown in FIGS. 8 and 9, the first ground sensor 36 constituting the cutting height detection device is attached to the inner left weed frame 19 in front of the pulling devices 27 and 28. In this embodiment, the first ground sensor 36 is located in the lower space S1 of the curved frame portion 19a in which the inner left weed frame 19 is bent upward at a portion located in the vicinity of the back surface of the inner left weed tool 24. ing. The first grounding sensor 36 includes a grounding lever 42 and a detection unit 38 that is linked to the grounding lever 42, and the grounding lever 42 makes a grounding action on the ground, whereby the ground height of the pre-cutting processing unit 8 is increased. The detection information is converted into an electrical signal by the detection unit 38 and output to the control unit 80.

The mounting structure of the first ground sensor 36 is as follows.
A pin support boss 71 is supported on the rear portion of the mounting bracket 24 a of the inner left weed tool 24, and a rotation pin (not shown) protruding forward from the support body 70 is rotatable on the pin support boss 71. Is retained. A gear case 74, a detection unit 38, and a grounding lever 42 are attached to the support 70.

  A winding spring 72 is held by the pin support boss 71, and a swing pin 73 fixed to the support body 70 and a mounting bracket 24 a of the inner left weed tool 24 are positioned between both ends 72 a and 72 a of the winding spring 72. Is configured to do. The swing pin 73 is spring-biased so that the swing pin 73 is positioned at the center while both ends of the mounting bracket 24b are sandwiched between both ends 72a and 72a of the winding spring 72. As a result, the first ground sensor 36 is biased to the center so as to be able to swing left and right around the longitudinal axis Q of a rotation pin (not shown).

  The grounding lever 42 is configured by a strip spring that is bent and formed so as to include a mounting piece 42a on the front end side and a grounding action part 42b that protrudes downward from the machine body. The attachment piece 42a is connected to the input shaft 75 of the gear case 74 facing the machine body so as to be integrally rotatable. As a result, the grounding lever 42 swings with respect to the support 70 around the input shaft 75. Thereby, the grounding action part 42b of the grounding lever 42 can follow the concavo-convex shape of the field scene in a state where it can swing left and right and up and down.

  As shown in FIG. 10 and FIG. 11, the second grounding sensor 37 constituting the cutting height detection device is further rearward of the cutting device 29 located behind the pulling device 27, and the right edge weed frame 17 and the inner side. It is arranged between the right weed frame 18. In this embodiment, the second ground sensor 37 is attached to the cross beam 10 a supporting the reaping device 29 via the sensor bracket 60. The sensor bracket 60 is configured to function as an adapter that matches the shape of the cross beam 10 a and the shape of the second ground sensor 37. The sensor bracket 60 includes a lower bracket portion 62 that is bolted to a mounting plate 61 provided on the lower surface of the cross beam 10a, which is a rectangular pipe having a rectangular cross section, and a mounting bracket 63 provided on the rear surface of the cross beam 10a. And an upper bracket portion 64 to be fixed. A second ground sensor 37 having a structure substantially similar to that of the first ground sensor 36 is attached between the lower bracket portion 62 and the upper bracket portion 64. In other words, the pin support boss 71 is supported on the lower end of the lower bracket portion 62 and the upper end of the upper bracket portion 64, and a rotation pin protruding forward from the support body 70 is rotatable on the pin support boss 71. Is retained. A gear case 74, a detection unit 38, and a grounding lever 42 are attached to the support 70. A winding spring 72 is held by the pin support boss 71, and a swing pin 73 fixed to the support body 70 is disposed between both ends 72 a and 72 a of the winding spring 72. The swing pin 73 is spring-biased so that the swing pin 73 is positioned at the center in a state where the lower bracket portion 62 and the upper bracket portion 64 are sandwiched between both ends 72a and 72a of the winding spring 72. As a result, the second ground sensor 37 is biased to the center so as to be able to swing left and right around the longitudinal axis Q of a rotation pin (not shown).

  The grounding lever 42 of the second grounding sensor 37 is also composed of a strip spring that is bent and formed so as to include a mounting piece 42a on the front end side and a grounding action part 42b that projects downward from the machine body. The attachment piece 42a is connected to the input shaft 75 of the gear case 74 facing the machine body so as to be integrally rotatable. As a result, the grounding lever 42 swings with respect to the support 70 around the input shaft 75. Thereby, the grounding action part 42b of the grounding lever 42 can follow the concavo-convex shape of the field scene in a state where it can swing left and right and up and down. The grounding lever 42 of the second grounding sensor 37 makes a grounding action on the ground to detect the height to the ground of the pre-cutting processing unit 8, and this detection information is output to the control unit 80 as an electrical signal by the detection unit 38.

  As shown in FIG. 7, the control unit 80 is substantially a computer that realizes various functions by starting a program, and includes an input interface 81 for inputting detection signals from various sensors and various switches, and each operating device of the combine. Is provided with an output interface 82 for outputting a control signal. In the input interface 81, detection from the operation lever 35, stock sensor 91, rotation sensor 92, first ground sensor 36, second ground sensor 37, and cutting height setting device 41 for use in cutting height control. A signal is input. The stock sensor 91 is known per se, and has a function of detecting entry of the planted cereal into the pre-cutting processing unit 8. The rotation sensor 92 is known per se and has a function of detecting the rotation of the power shaft of the pre-cutting processing unit 8. From the output interface 82, a control signal to the control valve 40 for the elevating cylinder 7 is output.

  In order to perform cutting height control, the control unit 80 includes a work state determination unit 83, an artificial operation lifting control unit 84, an automatic lifting control unit 85, and a lifting control management unit 86. Based on the detection signal from the stock sensor 91 or the rotation sensor 92 or both, the work state determination unit 83 is a work state in which the cutting work by the pre-cutting processing unit 8 is being performed, or the cutting work is executed. It is determined whether or not it is a non-working state. The artificial operation elevating control unit 84 controls the elevating cylinder 7 based on the operation on the operation lever 35 and changes the ground height of the pre-cutting processing unit 8. The automatic elevating control unit 85 controls the elevating cylinder 7 based on the detection signals from the first ground sensor 36 and the second ground sensor 37 and the setting signal of the cutting height setting device 41, regardless of the unevenness of the farm scene. Automatic elevation control for maintaining the ground height of the pre-cutting processing unit 8 at a predetermined value is executed. This automatic elevation control can be set or canceled by operating an automatic mode button (not shown) arranged in the operation unit 5.

  The lifting control management unit 86 changes the priority order of the manual operation lifting control and the automatic lifting control based on the determination result by the work state determination unit 83. This will be briefly described with reference to the schematic diagram of FIG. The pre-cutting processing unit 8 is maintained at a constant height with respect to the ground by an artificial lift control based on the operation of the operation lever 35 or based on the ground height by the first ground sensor 36 or the second ground sensor 37. Done by control. At that time, if automatic lifting control is set, if the combine is in a working state in which the harvesting work by the pre-cutting processing unit 8 is being performed, the automatic lifting control is preferentially executed, and the manual operation lifting control is executed. Not. However, even if automatic lifting control is set, if the combiner is in a non-working state where the cutting operation by the pre-cutting processing unit is not performed, the manual operation lifting control interrupts the automatic lifting control and is preferentially executed. . This is because, when the combine is in a working state, it is more stable to leave it to the automatic lifting control rather than to maintain the height of the pre-cutting processing unit 8 to the ground, that is, the cutting height, constant rather than the operation by the driver. This is because Also, when the combine is traveling in a non-working state such as in a headland turning, it is necessary that the first ground sensor 36 or the second ground sensor 37 reacts to a basket or the like loaded on the headland. The problem that the pre-cutting processing unit 8 is raised and the pre-cutting processing unit 8 does not immediately shift to the cutting height suitable for the cutting work is to force the pre-cutting processing unit 8 through the artificial lifting control by the driver. It can be solved by lowering.

  FIG. 12 schematically illustrates the ground height control of the pre-cutting processing unit 8 described above. In step #a of FIG. 12, the combine is in a working state, and the pre-cutting processing unit 8 maintains a predetermined cutting height by automatic lifting control. In step #b, the combine is in a non-working state, but the pre-cutting processing unit 8 is under automatic lifting control. In step #c, the first grounding sensor 36 or the second grounding sensor 37 reacts to the pod placed on the field, and the pre-cutting processing unit 8 is raised through the automatic lifting control. In step #d, the driver notices an unnecessary rise of the pre-cutting processing unit 8 by the automatic lifting control, interrupts the automatic lifting control using the operation lever 35 and activates it, and starts the pre-cutting processing unit. 8 is lowered. In step #e, when the pre-cutting processing unit 8 reaches an appropriate ground height due to the lowering of the pre-cutting processing unit 8 by the manual operation lifting control, the first ground sensor 36 or the second ground sensor 37 detects this, The descent of the pre-cutting processing unit 8 by the manual operation lifting control is stopped. In step #f, with the stop of the manual operation lifting control, the automatic lifting control is restored, the combine working state is determined, and a new cutting operation is started.

  In addition, when automatic raising / lowering control is performed by the automatic raising / lowering control unit 85, it may be better to adjust the pre-cutting processing unit 8 to a desired appropriate ground height through the driver's own maneuvering. Such exceptional cases often occur during non-working travel, such as during headland turning travel or during obstacle avoidance travel in the field. For this reason, the lifting control management unit 86 in this embodiment, when the work state determination unit 83 determines that the combine is in the non-working state, the driver operates the operation lever 35 to artificially cut the harvest. It is permitted to change the ground height of the preprocessing unit 8. That is, interrupt control for allowing the cutting height control (ground height control) of the pre-cutting processing unit 8 to shift to the control by the manual operation lifting control unit 84 from the automatic lifting control unit 85 is permitted. However, when the combine is in a working state, artificially changing the ground height of the pre-cutting processing unit 8 based on an erroneous operation or the like adversely affects the cutting operation. For this reason, when it is determined by the work state determination unit 83 that the combine is in the work state, a change in the ground height of the pre-cutting processing unit 8 by the manual operation lifting control unit 84 is prohibited. If the ground height of the pre-cutting processing unit 8 is inevitably changed artificially, the automatic lifting control by the automatic lifting control unit 85 can be canceled by releasing the automatic mode button.

  Note that when the driver does not operate the operation lever 35, the control interruption by the manual operation lifting control unit 84 is terminated, and the automatic lifting control unit 85 is resumed. However, in the configuration in which the automatic lifting / lowering by the automatic lifting / lowering control unit 85 is resumed as soon as the driver stops the operation of the operation lever 35, there arises a problem that the automatic lifting / lowering control and the manual operation lifting / lowering control are repeated. For this reason, the lift control management unit 86 in this embodiment delays the restart of the automatic lift control until a certain time elapses after the driver stops operating the operation lever 35, or the driver After the operation of 35 is stopped, the resumption of the automatic lifting control is delayed until the vehicle travels a certain distance. Of course, automatic lift control may be resumed by realizing either a certain time lapse or a certain distance travel, or automatic lift control may be resumed by realizing both a certain time lapse and a certain distance travel. Good. Further, when the first grounding sensor 36 is grounded and a grounding detection signal is sent when the pre-cutting processing unit 8 is lowered by the manual operation lifting control unit 84, the manual operation lifting control is stopped and the automatic lifting control unit is stopped. Automatic raising / lowering by 85 is resumed.

  In this embodiment, the cutting height detection device includes a first ground sensor 36 and a second ground sensor 37 having substantially the same structure. The second ground sensor 37 is located rearward in the longitudinal direction of the machine body as compared with the first ground sensor 36, and the distance to the machine body horizontal axis P, which is the swing axis of the pre-cutting processing unit 8, is short. For this reason, in the swinging up and down process of the pre-cutting processing unit 8, the ground contact height detection resolution of the second ground sensor 37 is low for the first ground sensor 36. For this reason, the first ground sensor 36 is normally used with priority over the second ground sensor 37. For example, an algorithm is used in which the second ground sensor 37 is used when the first ground sensor 36 becomes ground free, and the first ground sensor 36 is used in place of the second ground sensor 37 when the first ground sensor 36 is grounded again. Is adopted.

[Another embodiment]
(1) In the above-described embodiment, the combine is provided with four weeding tools and three raising devices, but the number may be more or less.
(2) In the above-described embodiment, the cutting height detection device is configured by the first ground sensor 36 and the second ground sensor 37. However, it may be provided with a larger number of ground sensors or only one ground sensor. Is possible.
(3) In the above-described embodiment, the grounding lever type sensor is adopted as the grounding sensor. However, the present invention is not limited to such a type of grounding sensor. For example, instead of a contact such as a grounding lever that directly contacts a farm scene, a ground sensor of an indirect contact with the farm scene (optical or electronic sensitive type) is also included in the present invention.

  The present invention can be applied to a combine that controls lifting / lowering of the pre-cutting processing unit 8 while detecting the height to the ground of the pre-cutting processing unit 8.

1: Airframe frame 7: Lifting cylinder 8: Pre-cutting processing unit 9: Main frame 10: Pre-processing unit frame 10a: Cross beam 11: Crawler traveling device 17: Right end weed frame 18: Inner right weed frame 19: Inner left Weeding frame 20: Left end weeding frame 22: Right end weeding tool 23: Inside right weeding tool 24: Inside left weeding tool 25: Left end weeding tool 26: Raising device 27: Raising device 28: Raising device 29: Cutting device 30: Conveying device 31: Pulling chain 36: First grounding sensor 37: Second grounding sensor 42: Grounding lever 60: Sensor bracket 70: Support body 80: Control unit 83: Work state determination unit 84: Artificial Operation elevating control unit 85: Automatic elevating control unit 86: Elevating control management unit

Claims (6)

Traveling aircraft,
A weeding frame unit that is a basic structure of a pre-cutting processing unit disposed at the front part of the traveling machine body so as to be movable up and down around the horizontal axis of the machine body;
A weeding implement group for weeding planted cereals provided at the front end of the weeding frame unit;
A pulling device that is supported by the weeding frame unit behind the weeding tool group and causes a planted cereal bud,
A reaping device that is supported by the weeding frame unit behind the pulling device and sews the planted cereal culm;
A first grounding sensor that is supported by the weed frame unit in front of the pulling device and detects a cutting height of the pre-cutting processing unit;
E Bei and a second ground sensor which detects the cutting height of the component is supported by the grass frame unit the reaping preprocessing section at the rear of the cutting device,
The weed frame unit includes a left end weed frame positioned at a left end in a cross-machine direction, a right end weed frame positioned at a right end, and the left end weed frame between the left end weed frame and the right end weed frame. An inner left weed frame positioned right next to the grass frame, an inner right weed frame positioned next to the right end weed frame between the left end weed frame and the right end weed frame, and the cutting And a cross beam to support the device,
The first ground sensor is attached to the inner left weed frame, and the second ground sensor is positioned between the inner right weed frame and the right end weed frame. Combines attached to . 2. The combine according to claim 1, wherein the second ground sensor is provided at a substantially central position between the inner right weed frame and the right end weed frame. The combine according to claim 1 or 2, wherein the second ground sensor is provided so as to extend rearward from the cross beam. The combine according to any one of claims 1 to 3, wherein the second ground sensor is attached to the cross beam via a sensor bracket. Combine according to any one of claims 1 4 min grass tool provided at the front end portion is small than the partial grass tool provided at the front end portion of the inner right amount grass frame of the left inner partial grass frame.   The ground height of the pre-cutting processing unit is controlled based on the detection result of the first ground sensor or the second ground sensor. When the first ground sensor becomes ground free, the second ground sensor is used. The combine according to any one of claims 1 to 5, wherein when the first ground sensor is grounded again, the first ground sensor is used in place of the second ground sensor.

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