JP4886568B2 - Cutting and lifting control device for harvesting and harvesting machine - Google Patents

Description

  The present invention relates to a lifting operation means for raising and lowering the cutting part with respect to the traveling machine body, a plurality of ground height detection means arranged at different positions in the cutting width direction in the cutting part, and traveling equipped in the traveling machine body Posture changing operation means capable of changing the inclination angle of the cutting part with respect to the ground contact surface for traveling of the apparatus; inclination angle detecting means for detecting an inclination angle of the cutting part with respect to a horizontal reference plane; and a horizontal reference plane of the cutting part Information on the target inclination angle setting means for setting the target inclination angle with respect to the target, the target ground height setting means for setting the target ground height of the cutting part, the ground height detection means and the target ground height setting means. Based on the cutting / lifting control for controlling the lifting / lowering operation means so that the ground height of the cutting part becomes the target ground height, and the detection information of the target inclination angle setting means and the inclination angle detection means Mowing And a control unit for executing posture control for controlling the operation of the posture change operation unit so that the inclination angle of the portion with respect to the horizontal reference plane is maintained at the target inclination angle. .

In the harvesting and raising control device of the harvesting and harvesting machine, there has been conventionally configured as follows as applied to a combine as an example of a harvesting and harvesting machine.
That is, two ground-type ground height detecting devices as the plurality of ground height detecting means are arranged in different positions in the cutting width direction of the cutting part and from the both ends in the cutting width direction to the center in the cutting width direction. The control means ascend and descend so that the ground height of the cutting part becomes the target ground height set by the target ground height setting means as the cutting elevation control. It was the structure which controls the raising / lowering cylinder as an operation means (for example, refer patent document 1). And although not described in detail in Patent Document 1, the value set by the target ground height setting means is always used as the target ground height.

  Further, in this type of harvesting and harvesting machine, the control means, in parallel with such harvesting lifting control, is based on detection information of the target inclination angle setting means and the inclination angle detection means, and the horizontal reference of the harvesting unit. It is configured to execute posture control for controlling the operation of the posture changing operation means so that the tilt angle with respect to the surface is maintained at the target tilt angle (see, for example, Patent Document 2).

JP 2006-204197 A JP 2002-176829 A

  In the above-described conventional configuration, since the value set by the target ground height setting means is always used as the target ground height when executing the cutting lifting control, the following disadvantages are present: there were.

  That is, the target inclination angle set by the target inclination angle setting means when executing the attitude control is set to a setting range corresponding to the horizontal attitude or an attitude close to it in many areas in the field. However, there are protrusions that protrude from the ground, such as piles of hand-sheared stalks, etc. In order to avoid such protrusions when cutting at the edge of the cutting, set a value out of the setting range as the target inclination angle set by the target inclination angle setting means, and There are cases where the mowing operation is performed in an inclined state with respect to the horizontal reference plane. At this time, the cutting part is in an inclined state so that one end side in the cutting width direction is located on the lower side and the other side is located on the upper side.

  In addition, as described above, the target inclination angle set by the target inclination angle setting means is not limited to the case where the value outside the setting range is set. Along with this, the posture of the cutting part may also be tilted left and right due to the unevenness of the traveling surface of the traveling device. Even in such a case, the cutting part is in an inclined state so that one end side in the cutting width direction is located on the lower side and the other side is located on the upper side.

  By the way, a plurality of ground height detection means are arranged at different locations in the cutting width direction in the cutting part, but the ground height detection means slightly extends from the end of the cutting width direction in the cutting part to the central side in the cutting width direction. If the value set by the target ground height setting means is used as the target ground height when performing the cutting lifting control as described above, the ground height located on the lower side is provided. Even if cutting up / down control is performed so that the detection value of the height detection means becomes the target ground height set by the target ground height setting means, the cutting height direction is more out of the cutting height direction than the ground height detection means in the cutting part. Since the part located on the side becomes a position lower than the target ground height, there is a risk that the cutting width direction end portion of this cutting part will contact the ground, and if such a contact state continues for a long time, the cutting part will Or have the disadvantage of being damaged It was.

  An object of the present invention is to provide a cutting / lifting control device for a harvesting / harvesting machine that can prevent the cutting unit from contacting the ground.

The first characteristic configuration of the present invention is a lifting operation means for lifting and lowering the cutting unit with respect to the traveling machine body;
A plurality of ground height detection means arranged at different locations in the cutting width direction in the cutting unit;
Posture changing operation means capable of changing and changing the inclination angle of the cutting portion with respect to the ground contact surface for traveling of the traveling device installed in the traveling body;
An inclination angle detecting means for detecting an inclination angle with respect to a horizontal reference plane of the cutting part;
Target tilt angle setting means comprising an artificially operated switch that sets a value corresponding to the horizontal state and a value tilted in the left tilt direction or the right tilt direction from the horizontal state as the target tilt angle with respect to the horizontal reference plane of the cutting unit. When,
Target ground height setting means for setting the target ground height of the cutting part;
A mowing raising / lowering control for controlling the elevating operation means so that the ground height of the cutting unit becomes a target ground height based on information of the ground height detecting means and the target ground height setting means, and the target Based on the detection information of the inclination angle setting means and the inclination angle detection means, the posture change is performed so that the inclination angle of the cutting unit with respect to the horizontal reference plane is maintained at the target inclination angle set by the target inclination angle setting means. A cutting and lifting control device for a harvesting and harvesting machine provided with control means for performing posture control for controlling the operation of the operation means,
The control means is
When the target inclination angle setting means is artificially operated so as to set a value inclined to the left inclination direction or the right inclination direction from the horizontal state as the cutting up / down control , the cutting unit automatically performs the target cutting operation. Assuming that an inclination angle has been reached, the target ground height setting means sets the target ground height for the ground height detection means located on the lower side of the plurality of ground height detection means. The target height correction process for determining the corrected target ground height by correcting the target ground height to the higher set amount side is performed.
The second characteristic configuration of the present invention is a lifting operation means for lifting and lowering the cutting unit with respect to the traveling machine body;
A plurality of ground height detection means arranged at different locations in the cutting width direction in the cutting unit;
Posture changing operation means capable of changing and changing the inclination angle of the cutting portion with respect to the ground contact surface for traveling of the traveling device installed in the traveling body;
An inclination angle detecting means for detecting an inclination angle with respect to a horizontal reference plane of the cutting part;
Target inclination angle setting means for setting a target inclination angle with respect to a horizontal reference plane of the cutting part;
Target ground height setting means for setting the target ground height of the cutting part;
A mowing raising / lowering control for controlling the elevating operation means so that the ground height of the cutting unit becomes a target ground height based on information of the ground height detecting means and the target ground height setting means, and the target Based on the detection information of the inclination angle setting means and the inclination angle detection means, the posture control is performed to control the operation of the attitude change operation means so that the inclination angle of the cutting unit with respect to the horizontal reference plane is maintained at the target inclination angle. A cutting and lifting control device for a harvesting and harvesting machine, comprising:
The control means is
As the cutting up / down control, the target inclination angle set by the target inclination angle setting means is
When the mowing unit is out of a setting range corresponding to a horizontal posture or a posture close thereto, it is assumed that the mowing unit has reached the target inclination angle. A target for determining a corrected target ground height by correcting the target ground height set by the target ground height setting means to the set amount higher side as the target ground height for the ground height detection means located on the side Configured to perform height correction processing,
In addition, as the target height correction process, the target ground height setting unit sets the target ground height for the ground height detection unit located on the upper side of the plurality of ground height detection units. The corrected target ground height is determined by correcting the set target ground height to the higher set amount side.
The third characteristic configuration of the present invention is a lifting operation means for lifting and lowering the cutting unit with respect to the traveling machine body,
A plurality of ground height detection means arranged at different locations in the cutting width direction in the cutting unit;
Posture changing operation means capable of changing and changing the inclination angle of the cutting portion with respect to the ground contact surface for traveling of the traveling device installed in the traveling body;
An inclination angle detecting means for detecting an inclination angle with respect to a horizontal reference plane of the cutting part;
Target inclination angle setting means for setting a target inclination angle with respect to a horizontal reference plane of the cutting part;
Target ground height setting means for setting the target ground height of the cutting part;
A mowing raising / lowering control for controlling the elevating operation means so that the ground height of the cutting unit becomes a target ground height based on information of the ground height detecting means and the target ground height setting means, and the target Based on the detection information of the inclination angle setting means and the inclination angle detection means, the posture control is performed to control the operation of the attitude change operation means so that the inclination angle of the cutting unit with respect to the horizontal reference plane is maintained at the target inclination angle. A cutting and lifting control device for a harvesting and harvesting machine, comprising:
The control means is
As the cutting up / down control, when the target inclination angle set by the target inclination angle setting means is out of a setting range corresponding to a horizontal posture or a posture close thereto, the cutting unit Assuming that the target inclination angle has been reached, the target ground height setting means as the target ground height for the ground height detection means located on the lower side of the plurality of ground height detection means. It is configured to execute a target height correction process for determining a corrected target ground height by correcting the set target ground height to the set amount higher side,
In addition, as the target height correction process, the target ground height setting unit sets the target ground height for the ground height detection unit located on the upper side of the plurality of ground height detection units. In other words, the corrected target ground height is corrected by correcting the set target ground height to the lower set amount side.

According to the first characteristic configuration to the third characteristic configuration, when the target inclination angle set by the target inclination angle setting means is out of a setting range in which the cutting unit corresponds to a horizontal attitude or an attitude close thereto. When the control means executes the posture control, the cutting unit is inclined such that one end side in the cutting width direction is located on the lower side and the other side is located on the upper side. As the target ground height for the ground height detection means located on the lower side of the plurality of ground height detection means, the target ground set by the target ground height setting means Since the correction target ground height is corrected by adjusting the height to the set amount higher side, the control means corrects the detection value of the ground height detection means when executing the cutting lift control. The corrected target ground height Controlling the lifting operation means as.

  As a result, ascending / descending control is performed so that the detection value of the ground height detection means located on the lower side becomes the corrected target ground height, the same applies to the end portion in the cutting width direction of the cutting portion located on the lower side. It becomes easy to avoid that a cutting part contacts the ground.

Therefore, according to the 1st characteristic composition -the 3rd characteristic composition , it came to be able to provide the harvest raising / lowering control device of the harvest harvester which can avoid that a harvesting part contacts the ground.

The fourth characteristic configuration of the present invention is a lifting operation means for lifting and lowering the cutting unit with respect to the traveling machine body;
A plurality of ground height detection means arranged at different locations in the cutting width direction in the cutting unit;
Posture changing operation means capable of changing and changing the inclination angle of the cutting portion with respect to the ground contact surface for traveling of the traveling device installed in the traveling body;
An inclination angle detecting means for detecting an inclination angle with respect to a horizontal reference plane of the cutting part;
Target inclination angle setting means for setting a target inclination angle with respect to a horizontal reference plane of the cutting part;
Target ground height setting means for setting the target ground height of the cutting part;
A mowing raising / lowering control for controlling the elevating operation means so that the ground height of the cutting unit becomes a target ground height based on information of the ground height detecting means and the target ground height setting means, and the target Based on the detection information of the inclination angle setting means and the inclination angle detection means, the posture control is performed to control the operation of the attitude change operation means so that the inclination angle of the cutting unit with respect to the horizontal reference plane is maintained at the target inclination angle. A cutting and lifting control device for a harvesting and harvesting machine, comprising:
The control means is
As the cutting up / down control, when the inclination angle of the cutting unit with respect to the horizontal reference plane detected by the inclination angle detecting means is out of a setting range corresponding to a horizontal attitude or an attitude close thereto, a plurality of the above The target ground height set by the target ground height setting means is corrected to the higher set amount side as the target ground height for the ground height detection means located on the lower side of the ground height detection means. Configured to execute a target height correction process for determining the corrected target ground height ,
In addition, as the target height correction process, the target ground height setting unit sets the target ground height for the ground height detection unit located on the upper side of the plurality of ground height detection units. The corrected target ground height is determined by correcting the set target ground height to the higher set amount side .
The fifth characteristic configuration of the present invention is a lifting operation means for lifting and lowering the cutting unit with respect to the traveling machine body,
A plurality of ground height detection means arranged at different locations in the cutting width direction in the cutting unit;
Posture changing operation means capable of changing and changing the inclination angle of the cutting portion with respect to the ground contact surface for traveling of the traveling device installed in the traveling body;
An inclination angle detecting means for detecting an inclination angle with respect to a horizontal reference plane of the cutting part;
Target inclination angle setting means for setting a target inclination angle with respect to a horizontal reference plane of the cutting part;
Target ground height setting means for setting the target ground height of the cutting part;
A mowing raising / lowering control for controlling the elevating operation means so that the ground height of the cutting unit becomes a target ground height based on information of the ground height detecting means and the target ground height setting means, and the target Based on the detection information of the inclination angle setting means and the inclination angle detection means, the posture control is performed to control the operation of the attitude change operation means so that the inclination angle of the cutting unit with respect to the horizontal reference plane is maintained at the target inclination angle. A cutting and lifting control device for a harvesting and harvesting machine, comprising:
The control means is
As the cutting up / down control, when the inclination angle of the cutting unit with respect to the horizontal reference plane detected by the inclination angle detecting means is out of a setting range corresponding to a horizontal attitude or an attitude close thereto, a plurality of the above The target ground height set by the target ground height setting means is corrected to the higher set amount side as the target ground height for the ground height detection means located on the lower side of the ground height detection means. Configured to execute a target height correction process for determining the corrected target ground height,
In addition, as the target height correction process, the target ground height setting unit sets the target ground height for the ground height detection unit located on the upper side of the plurality of ground height detection units. In other words, the corrected target ground height is corrected by correcting the set target ground height to the lower set amount side.

According to the fourth characteristic configuration or the fifth characteristic configuration, when the inclination angle of the reaping portion detected by the inclination angle detecting unit with respect to a horizontal reference plane is out of a setting range corresponding to a horizontal attitude or an attitude close thereto. The cutting unit is in a state of being inclined such that one end side in the cutting width direction is located on the lower side and the other side is located on the upper side, but the control means includes a plurality of ground height detecting means. As the target ground height for the ground height detection means located on the lower side of the target ground height, a corrected target ground height is determined by correcting the target ground height set by the target ground height setting means to the set amount higher side. Therefore, when the control means executes the cutting lift control, the lift operation means is controlled so that the detection value of the ground height detection means becomes the corrected corrected target ground height. become.

  As a result, ascending / descending control is performed so that the detection value of the ground height detection means located on the lower side becomes the corrected target ground height, the same applies to the end portion in the cutting width direction of the cutting portion located on the lower side. It becomes easy to avoid that a cutting part contacts the ground.

Therefore, according to the 4th characteristic structure or the 5th characteristic structure , it came to be able to provide the cutting raising / lowering control apparatus of the harvesting harvester which can avoid that a cutting part contacts the ground.

According to the second feature configuration or the fourth feature configuration , the control means uses the target ground height as the target ground height for the ground height detection means positioned on the upper side of the plurality of ground height detection means. Since it is configured to determine a corrected target ground height obtained by correcting the target ground height set by the setting means to the set amount higher side, when the control means executes the cutting lift control, The lifting operation means is controlled so that the detected value of the ground height detection means located at the corrected target ground height is the corrected target ground height.

Therefore, according to the second feature configuration or the fourth feature configuration , the lift control is performed so that the detection value of the ground height detection means located on the upper side becomes the corrected target ground height, so that the inclined posture is achieved. It becomes easy to avoid that the edge part located in the high-order side of the cutting part currently formed contacts the protrusion which exists in the edge of a farm scene.

According to the third feature configuration or the fifth feature configuration , the control means uses the target ground height as the target ground height for the ground height detection means positioned on the upper side of the plurality of ground height detection means. Since it is configured to determine a corrected target ground height obtained by correcting the target ground height set by the setting means to the set amount lower side, when the control means executes the cutting lift control, The lifting operation means is controlled so that the detected value of the ground height detection means located at the corrected target ground height is the corrected target ground height.

Therefore, according to the third feature configuration or the fifth feature configuration , the elevation control is performed so that the detection value of the ground height detection means located on the upper side becomes the corrected target ground height, so that Since it is controlled so that the end portion of the reaping portion is positioned as low as possible, it is possible to avoid an unnecessarily high cutting height when the pedicle is reaped.

According to a sixth feature configuration of the present invention, in addition to the first feature configuration, the control means is configured to have the ground height positioned on the upper side of the plurality of ground height detection means as the target height correction process. The target ground height for the detecting means is configured to determine the same height as the target ground height set by the target ground height setting means.

According to the sixth characteristic configuration, the control means sets the target ground height setting means as the target ground height for the ground height detection means located on the upper side of the plurality of ground height detection means. Since the corrected target ground height is corrected to the set amount lower side, the corrected target ground height is determined. Therefore, when the control means executes the cutting lifting control, the ground height located on the upper side is determined. The lifting operation means is controlled so that the detection value of the detection means becomes the corrected corrected target ground height.

Therefore, according to the sixth characteristic configuration, the ground height that is set in advance is controlled by performing the elevation control so that the detection value of the ground height detection means located on the upper side becomes the corrected target ground height. Therefore, it is possible to prevent the upper end of the cutting part from coming into contact with the projections existing at the edge of the field scene as much as possible, and it is not raised more than necessary. Therefore, the cutting height when cutting is not increased, and an appropriate ground height can be maintained.

Hereinafter, a first embodiment of a cutting / lifting control device for a harvesting and harvesting machine according to the present invention will be described with reference to the drawings.
FIG. 1 shows a side view of a combine as a harvesting and harvesting machine. This combine harvests the culm planted in the field at the front part of the traveling machine body V configured to be able to travel with a pair of left and right crawler traveling devices 1L, 1R, and conveys the harvested culm backward. A reaping part 2 configured to be able to move up and down is provided, and the traveling machine body V includes a threshing device 3 for threshing the harvested cereal meal, a grain tank 4 for storing the threshed grain, a boarding operation part 5 and the like. It is configured with.

  The cutting part 2 includes a plurality of weeding tools 17 for distributing and weeding the planted stalks of the number of crops to be harvested, the pulling device 6 for raising the planted stalks in a standing position, and the raised grains The clipper type mowing device 7 that cuts the stock side of the cocoon, and the vertical conveying device 8 that conveys the harvested cereal rice cake while gradually changing its posture to a sideways posture, and the like, It is configured to be driven up and down by a lifting hydraulic cylinder C1 (hereinafter referred to as a lifting cylinder) as a lifting operation means connected to the distal end side of a transmission case 9 that is rotatably supported by the traveling machine body V.

  As shown in FIG. 2, the fuselage sideways transmission case 15 whose central part is connected to the distal end of the transmission case 9, and the support member provided in the sideways transmission case 15 from a plurality of locations in the side of the fuselage. A plurality of round pipe-shaped weeding frames 16 are extended in the forward direction, and the cutting device 7 is attached to the base end portions of the plurality of weeding frame frames 16. The tool 17 is fixed.

  In this combine, the posture changing operation means 100 is provided that can freely change the inclination angle of the cutting unit 2 with respect to the ground contact surface for traveling of the traveling devices 1L and 1R equipped in the traveling machine body V. Hereinafter, the configuration will be described.

First, the attachment structure to the traveling body V of the left and right traveling apparatuses 1L and 1R will be described. Since the left and right traveling apparatuses 1L and 1R have the same configuration, the left traveling apparatus 1L will be described below, and the description of the right traveling apparatus 1R will be omitted.
As shown in FIG. 3, a driving wheel body 12a is rotatably supported on the front end side of the support frame 11 fixed to the main frame 10 in the front-rear posture constituting the traveling machine body V, and a plurality of driving wheel bodies 12a are supported. A track frame 13 that pivotally supports the idler wheel bodies 12b in a state of being arranged in the front-rear direction and supports the tension wheel bodies 12c at the rear end portion thereof is attached to the support frame 11 so as to be movable up and down. A crawler belt B, which is an endless rotating body, is wound around the drive wheel body 12a, the tension wheel body 12c, and the idler wheel bodies 12b.

  A front bell crank 14a configured to be substantially L-shaped in a side view so as to be rotatable around a horizontal axis P2 is pivotally supported on the front side of the support frame 11, and a horizontal axis on the rear side of the support frame 11. A rear bell crank 14b configured to be substantially L-shaped in a side view so as to be rotatable around P3 is pivotally supported. The lower end of the front bell crank 14a is pivotally connected to the front portion of the track frame 13, and the lower end of the rear bell crank 14b is connected to the track frame via an auxiliary link 14b1 for absorbing the stroke. It is pivotally connected to the rear side portion of 13. On the other hand, the cylinder rods of the hydraulic cylinders C2 and C3 are connected to the upper end portions of the front and rear bell cranks 14a and 14b, respectively. The cylinder main body side of each of the hydraulic cylinders C2 and C3 is pivotally connected to the horizontal frame portion of the main frame 10, and each of the hydraulic cylinders C2 and C3 is constituted by a double-acting hydraulic cylinder.

  When the hydraulic cylinder C2 (hereinafter referred to as the left front cylinder) corresponding to the front bell crank 14a is most extended, the hydraulic cylinder C3 (hereinafter referred to as the left rear cylinder) corresponding to the rear bell crank 14b is most shortened. As shown in FIG. 3, the track frame 13 is received and supported by the support frame, and the track frame comes closest to the main frame and becomes almost parallel. This state is called the lower limit reference posture.

  Then, when the left front cylinder C2 is shortened and the left rear cylinder C3 is extended from the state of the lower limit reference posture as shown in FIG. 3, as shown in FIG. In contrast, the posture is changed (ascending operation) in the direction of separation while maintaining the parallel posture, and conversely, from the state shown in FIG. 4, the left front cylinder C2 is extended and the left rear cylinder C3 is shortened. Then, the posture change (down operation) is performed in a direction in which the traveling machine body V approaches the grounding portion while maintaining a parallel posture. Further, by operating one of the left front cylinder C2 or the left rear cylinder C3, the posture can be changed to the front lowering state or the rear lowering state.

  Similarly, the right traveling apparatus 1R includes a right front cylinder C4 positioned on the front side of the fuselage and a right rear cylinder C5 positioned on the rear side of the fuselage, and performs the same operation as that of the left traveling apparatus 1L. It has become. Therefore, the posture changing operation means 100 is configured to include four hydraulic cylinders C2, C3, C4 and C5. Although not described in detail, the stroke for detecting the operation amount of each hydraulic cylinder based on the rotation amount of each bell crank 14a, 14b corresponding to each of the four hydraulic cylinders C2, C3, C4, C5. A sensor is provided.

Next, a configuration for controlling the right / left inclined posture of the traveling machine body V, that is, the right / left inclined posture of the cutting unit 2 will be described.
As shown in FIG. 5, a control device H using a microcomputer is provided, and the control device H has a right / left tilt as a gravitational tilt angle detecting means for detecting a left / right tilt angle from the horizontal reference plane of the traveling machine body V. Information on each of the angle sensor 45 and the posture change switch unit SU is input. And the drive signal with respect to the solenoid valves 46-49 for hydraulic control for hydraulically controlling the four hydraulic cylinders C2-C5 for a body posture change from the control apparatus H is each output. Although not shown, detection information of each stroke sensor is also input to the control device H.

  As shown in FIG. 6, the posture change switch unit SU includes a left / right inclination angle setting unit 50 as target inclination angle setting means for setting a target right / left inclination angle (target inclination angle) of the traveling machine body V, and posture control. As an example, a horizontal automatic switch 51 serving as an attitude control mode switching means for commanding on / off of horizontal control, a horizontal lamp 52 indicating on / off status of horizontal control, and a manual command operated by a cross lever type operation tool 53 A right-up switch 53a, a left-up switch 53b, an airframe raising switch 53c, and an airframe lowering switch 53d are provided.

  The left / right tilt angle setting device 50 includes a horizontal switch 50a, a left tilt switch 50b, and a right tilt switch 50c. That is, when the horizontal switch 50a is pressed, a value corresponding to the horizontal state is set as the target inclination angle, and when the left inclination switch 50b is pressed, the currently set target inclination angle is corrected stepwise to the left inclination direction, When the right tilt switch 50c is pressed, the currently set target tilt angle is corrected stepwise to the right tilt direction. And about the left-right inclination angle set by the left-right inclination angle setting device 50, as shown in FIG. 7, 7 of 1-7 shown in the display apparatus (not shown) provided in the front side of the boarding operation part 5. Whether the stage is the fourth stage (target inclination angle = 0 indicates a value corresponding to the horizontal state, a positive angle indicates a right inclination direction and a negative angle indicates a left inclination direction) is displayed.

  When the horizontal automatic switch 51 is instructed to enter the horizontal control, the control device H switches to a state in which the horizontal control is executed, that is, the attitude control execution mode. When the horizontal control is instructed, the control device H Is switched to a control stop state in which the horizontal control is not executed, that is, a posture control stop mode.

The horizontal control by the control device H will be briefly described.
The deviation between the detected value of the left / right tilt angle detected by the left / right tilt angle sensor 45 and the target tilt angle set by the left / right tilt angle setter 50 deviates from the control dead zone to the left tilt side of the traveling vehicle body V. Then, the next operation is performed until the deviation falls within the control dead zone. That is, until either the right front cylinder C4 or the right rear cylinder C5 reaches the lower limit position, the right front cylinder C4 is extended and the right rear cylinder C5 is shortened, and either the right front cylinder C4 or the right rear cylinder C5 is set to the lower limit. When operated to the position, the left front cylinder C2 is shortened and the left rear cylinder C3 is extended until either the left front cylinder C2 or the left rear cylinder C3 reaches the upper limit position.

  If the deviation deviates from the rolling dead zone to the right slope side of the traveling machine body V, the following operation is performed until the deviation falls within the control dead zone. That is, until either the left front cylinder C2 or the left rear cylinder C3 reaches the lower limit position, the left front cylinder C2 is extended and the left rear cylinder C3 is shortened, and either the left front cylinder C2 or the left rear cylinder C3 is set to the lower limit. When operated to the position, the right front cylinder C4 is shortened and the right rear cylinder C5 is extended until either the right front cylinder C4 or the right rear cylinder C5 reaches the upper limit position.

  Further, the combine includes a ground height detecting device A as a plurality of ground height detecting means for detecting the ground height of the cutting unit 2 and a target ground height setting means for setting the target ground height of the cutting unit 2. And a target ground height setter 54 as a control means, and the control device H as a control means controls the lifting cylinder C1 based on information on the ground height detection device A and the target ground height setter 54. It is comprised so that the cutting raising / lowering control to perform may be performed. The control device H automatically performs the raising / lowering operation of the cutting unit 2 in order to avoid the thrust to the ground and the automatic raising / lowering mode that automatically performs the raising and lowering as the control mode when the cutting raising / lowering control is executed. The descending operation can be switched to an automatic ascending mode performed by a manual command.

Next, the configuration of the ground height detection apparatus A will be described.
As shown in FIG. 2, among the plurality of weeding frames 16 of the cutting unit 2, in two weeding frames 16 positioned on the inner side in the width direction from the left and right end portions in the horizontal direction of the body, the weeding tools Ground height detection devices A for detecting the ground height of the cutting unit 2 are provided on the rear side of the machine body 17. That is, a plurality of (specifically, two) ground height detection devices A are arranged at different positions in the cutting width direction of the cutting unit 2, and each ground height detection device A The ground height of the cutting unit 2 is detected on the basis of a lift position that changes in accordance with the contact of the grounding body supported by the cutting unit 2 so as to be able to move up and down in a biased state.

  In this way, among the plurality of weeding frames 16 of the cutting unit 2, the ground height detection device A is arranged on two weeding frames 16 positioned on the inner side in the width direction from the left and right end portions in the lateral direction of the body. By doing so, compared with the case where it is provided at both end portions of the cutting part 2, it is possible to reduce the risk of being damaged by the interference of other objects when getting on and off the transporting vehicle or when storing in the barn.

Hereinafter, a specific configuration of the ground height detection apparatus A will be described.
As shown in FIG. 8, the front part of the weeding frame 16 where the ground height detection device A is provided is bent in a mountain shape, and the front end part of the weeding tool frame 16 is pressed into a vertical plate shape. A vertical mounting plate 17a connected and fixed to the back portion of the weeding tool 17 is fastened and fixed from the side by two bolts 18 to the formed support portion 16a, and the ground height detecting device A is attached to the mounting plate 17a. Is supported. The bolt insertion hole 17b formed in the mounting plate 17a is formed as a long hole inclined backward, and the weeding tool 17 and the ground height detection device A are integrally positioned in the obliquely vertical direction within the long hole range. It can be adjusted.

  The ground height detection device A includes a sensor bracket 21 connected to and supported by the mounting plate 17a, a detection case 22 attached to the side surface of the sensor bracket 21, and a lateral front fulcrum X at the front side of the detection case 22. It comprises a grounding body 23 supported at the center so as to be able to swing up and down, an angle sensor 24 using a rotary potentiometer attached to a detection case 22 and the like.

  As shown in FIGS. 9 and 10, the sensor bracket 21 is formed by bending a thick plate material into a J-shape in plan view, and a rolling support shaft 25 protruding from the front end of the sensor bracket 21 is attached to the mounting plate 17a. A boss portion 26 fixed to the rear end portion in the front-rear direction is rotatably inserted from the rear side, and the entire ground height detection device A is supported so as to be rotatable around a rolling fulcrum R that extends in the front-rear direction. The rolling support shaft 25 is prevented from coming off by engaging the tip of a set screw 19 screwed into the boss portion 26 from the outer periphery with an annular groove 20 formed on the outer periphery of the rolling support shaft 26.

  As shown in FIGS. 11 and 12, a torsion spring 27 is externally attached to the boss portion 26, and both free end portions 27a and 27b have a predetermined initial elastic force from the left and right at the rear end portion of the mounting plate 17a. In addition to pinching, a pin 28 projecting forward from the upper front end of the sensor bracket 21 is pinched by both free ends 27 a and 27 b of the torsion spring 27.

  In this way, the free end portions 27a and 27b of the torsion spring 27 held in a fixed posture via the mounting plate 17a sandwich the pin 28 from the left and right, so that the sensor bracket 21 that can rotate around the rolling fulcrum R is obtained. The grounding body 23 is elastically held in a predetermined neutral position located immediately below. When a large turning force more than the setting around the rolling fulcrum R acts on the sensor bracket 21 from the outside, the sensor bracket 21 is rotated and moved while the one of the free end portions 27a and 27b of the torsion spring 27 is pushed and deformed by the pin 28. When the external force disappears, the sensor bracket 21 is returned to its original neutral posture by the elastic restoring force of the torsion spring 27 acting on the pin 28. Therefore, even if the traveling machine body turns while the grounding body 23 is grounded and a large external force acts on the grounding body 23 sideways, the ground height detection device A as a whole rotates in a rolling manner, and thus the ground height detection device. A damage is avoided in advance.

  As shown in FIG. 10, guide ribs 29 protrude rearwardly on both left and right sides of the mounting plate 17 a, such as weeds and straw scraps that approach the rotation fulcrum of the sensor bracket 21 as the vehicle travels forward. Contaminants are guided laterally by the guide rib 29 to escape backward.

  As shown in FIG. 9, a fixed support shaft 31 protrudes laterally from the rear portion of the sensor bracket 21, and the detection case 22 is supported by the fixed support shaft 31 so as to be rotatable around the rear fulcrum Y. . Further, a fulcrum shaft 32 that forms a front fulcrum X is rotatably supported at the front of the detection case 22, and the front end of the grounding body 23 is connected to the projecting end of the fulcrum shaft 32 at a predetermined time. It is connected and fixed so that it can rotate integrally in a moving posture.

  The grounding body 23 is formed of a strip-like plate material that is long in the front and rear, and a mounting base 23a is integrally formed on one side of the front end, and the mounting base 23a can be attached to and detached from the protruding end of the fulcrum shaft 32. It is fixed with bolts.

  The angle sensor 24 is screwed to the side surface of the detection case 22, and a partial small diameter gear 33 fixed to the inner end of the sensor shaft 24a and a partial large diameter gear 34 fixed to the fulcrum shaft 32 are engaged with each other. Yes. Accordingly, when the fulcrum shaft 32 is rotated by the vertical swing of the grounding body 23, it is amplified and transmitted to the sensor shaft 24a, so that the small vertical movement of the grounding body 23 is detected as a large angle change by the angle sensor 24. It has become.

  A torsion spring 35 is externally attached to the fulcrum shaft 32, and one end of the torsion spring 35 is locked and fixed in the case, and the other end of the torsion spring 35 is inserted into the partial large-diameter gear 34 and connected thereto. The fulcrum shaft 32 is pivotally biased so that the grounding body 23 is urged to swing downward by the torsional elastic force of 35, and the grounding body 23 swings up and down smoothly following the change in the height of the ground. It is like that.

  When the grounding body 23 swings greatly downward, the stepped portion 23b formed at the front end corner of the grounding body 23 comes into contact with the protrusion 22a projecting from the outer surface of the detection case 22 from the front, thereby The lower limit of swinging of the body 23 is regulated.

  As shown in FIGS. 9 and 11, a return spring 37 made of a torsion spring is externally fitted to a fulcrum boss portion 36 projecting from the inside of the detection case 22, and at the case inner end of the fixed support shaft 31. A flange 38 is mounted so as to be integrally rotatable. One end of the return spring 37 is locked and fixed in the case, and the other end of the return spring 37 is inserted into and connected to the flange 38. The detection case 22 is urged to rotate about the rear fulcrum Y in the forward downward direction by the force.

  The detection case 22 is configured by bolting the left and right divided cases, and the bolt head 40 above the front part is received and supported by the upper end edge of the sensor bracket 21 so that the detection case 22 rotates downward. The limit is regulated. When the bolt head 40 is abutted and supported on the upper end edge of the sensor bracket 21 and the detection case 22 is in the forward downward rotation limit, the rotation of the detection case 22 from the front fulcrum X which is the swing fulcrum of the grounding body 23 is performed. The rear fulcrum Y, which is a fulcrum, is set to be slightly higher.

  The ground-height detecting device A can be fixed in a retracted posture that is swung up and rotated by the following storage lock means when not in use or when traveling on the road. That is, as shown in FIG. 13 and FIG. 14, a rib-like protruding piece 22 b is provided at the lower part of the detection case 22, and the detection case 22 is manually formed to be moved upwardly forward and then formed on the protruding piece 22 b. By inserting the headed connecting pin 43 through the pin hole 41 and the pin hole 42 formed in the sensor bracket 21 and preventing it from coming off with the stop pin 44, the ground height detecting device A is greatly lifted forward and rotated. It is configured so that it can be stored and locked in the storage position. When the ground height detection device A is in the retracted position, the lower end of the grounding body 23 urged and rotated to the limit of rotation is located above the lower end of the mounting plate 17a in the weeding tool 17, and the weeding tool Even if the cutting unit 3 is lowered until the ground 17 is grounded, the grounding body 23 in the retracted position does not touch the ground and deform.

  In a state where the cutting unit 23 is at the cutting height and moving forward, the rear end portion of the grounding body 23 is attached below and below the rear fulcrum Y of the detection case 22 as shown in FIG. The grounding reaction force acting on the rear end portion acts to rotate the detection case 22 in the forward and downward direction. The detection case 22 has its own weight, the tension of the return spring 39, and the grounding body 23. The grounding reaction force and the drag resistance associated with the grounding sliding of the grounding body 23 are stably held at the detection position that is a predetermined forward-lowering rotation limit, and in this state, the height of the ground G can be changed. Thus, the grounding body 23 swings up and down around the front fulcrum X, and the swing angle is detected by the angle sensor 24.

  When the grounding body 23 is caught by an obstacle projecting to the ground when the traveling machine body V moves backward, an external force acting forward is applied to the grounding body 23, and the detection case 22 rotates forward about the rear fulcrum Y. Thus, the ground height detection device A swings up to the retracted position in the space below the bent support rod 16 that is retracted upward. Then, when switching to forward movement, the detection case 22 at the retracted position turns downward and automatically returns to the original detection position so that the cutting height can be detected. Note that the return spring 37 is provided so as to be surely returned to the front-down position even when the rotational resistance at the rear fulcrum Y increases, and is a torsion spring for biasing the grounding body 23 to ground. What is weaker than 35 is used.

  Then, the boarding operation unit 5 has a target ground height setting unit 54 as a target ground height setting means for setting the target ground height of the cutting unit 2, an automatic entering state and control for executing the cutting lift control. Automatic up / down on / off switch 55 that can be switched to an automatic cut state that is not executed, and a cutting / lifting mode changeover switch 56 that can switch the control mode in the cutting / lifting control to either the automatic raising / lowering mode or the automatic raising mode. A lift lever 57 for raising and lowering the cutting unit 2 based on this, a lift switch SW1 that is turned on when the lift lever 57 is moved from the neutral position to the raised position, and a lower switch that is turned on when the lift lever 34 is moved from the neutral position to the lowered position SW2 is provided, and as shown in FIG. 5, the detection information of each of the switches 55, 56, SW1, SW2, and the target ground Is information setter 54 is inputted to the control device H, from the control unit H drive signal is output to the solenoid valve 58 for the hydraulic control for hydraulic control of the lifting cylinder C1.

  The target ground height setting unit 54 is configured to switch the target ground height (corresponding to the target ground height) to a plurality of levels (for example, 9 levels) by rotating the knob 54a. When the operation is performed on the part (level 5), a standard value that is a standard cutting height (for example, 30 mm) is set, and when it is rotated to the right (levels 6 to 9), the cutting height is higher than the standard value. Is set, and the cutting height lower than the standard value is set when turning leftward (levels 1 to 4) from the center.

  Further, a potentiometer-type anti-machine height sensor 59 is provided as a anti-machine height detecting means for detecting the height of the mowing part 2 with respect to the machine body at the pivotal support part of the cutting machine 2 with respect to the traveling machine body V. The detection information of the sensor 59 is also input to the control device H. Further, the traveling drive system for the crawler traveling devices 1L and 1R is provided with a rotational speed sensor 60 for detecting the rotational speed of the traveling output shaft, and the control device H is configured to detect the rotational speed sensor 60 and the time lapse information. From this, the travel distance of the traveling machine body is obtained by calculation.

  When the raising / lowering lever 57 is operated to the raising position and the raising switch SW1 is turned on and the raising command is given, the control device H operates the raising / lowering cylinder C1 to raise the mowing unit 2 while the raising command is given. Let Further, when the elevating lever 57 is operated to the lowered position and the lowering switch SW2 is turned on to command the lowering, the elevating cylinder C1 is operated to lower the mowing unit 2 while the lowering is commanded. Such an operation based on the manual up / down instruction is executed with priority over the below-described cutting up / down control. When the lifting / lowering operation by the command of the lifting / lowering lever 57 is performed, if the command of the lifting / lowering lever 57 is stopped, the cutting unit 2 is lifted / lowered at the lifting / lowering position when the command is stopped and held at that position. become.

  Further, the control device H sets the automatic lifting / lowering on / off switch 55 to ON, and an operation according to a manual lifting / lowering command is performed, so that the height of the machine body of the cutting unit 2 is set to an intermediate level within the range in which lifting / lowering is possible. When each condition of falling below the set height is satisfied, the cutting lift control based on the detection information of each ground height detection device A is executed. Even in the state in which the cutting up / down control is being executed, if there is a manual up / down command from the up / down lever 57, the operation is preferentially executed.

  When the target inclination angle set by the target inclination angle setting unit 54 is out of the setting range corresponding to the horizontal posture or a posture close thereto, as the cutting up / down control, the control device H Assuming that the cutting unit 2 has reached the target inclination angle, the target ground height is set as the target ground height for the ground height detection device A located on the lower side of the two ground height detection devices A. It is configured to execute a target height correction process for determining a corrected target ground height obtained by correcting the target ground height set by the height setter 54 to the higher set amount side. In other words, the setting range corresponding to the horizontal posture or a posture close to it is a value corresponding to the horizontal state set by pressing the horizontal switch 50a. 50b or the right tilt switch 50c is operated and the target tilt angle is tilted in the left tilt direction or the right tilt direction.

  Further, the control device H, as the target height correction process, sets the target ground height as the target ground height for the ground height detection device A located on the upper side of the two ground height detection devices A. The corrected target ground height is determined by correcting the target ground height set by the setting device 54 to the higher set amount side.

  And in this embodiment, the control apparatus H is the value when the cutting part 2 is a horizontal attitude | position as a value with the target inclination | tilt angle set by the right-and-left inclination | tilt angle setting device 50 as said cutting raising / lowering control, or a value close | similar to it. Is set within the horizontal setting range, the reaping unit 2 is lifted when each of the two ground height detection devices A is in a multiple detection state in which a value lower than the target ground height is detected. When the target inclination angle set by the left / right inclination angle setting device 50 is out of the setting range on the horizontal side, one of the two ground height detection devices A is the target ground height. The lift cylinder C1 is configured to be controlled in such a manner that the mowing unit 2 is lifted in the case of a minority detection state in which a lower value is detected.

  Hereinafter, a specific control operation of the cutting lift control in the control device H will be described based on the flowcharts shown in FIGS. As described above, the condition for executing the cutting up / down control is that the automatic up / down on / off switch 55 is turned on and the height of the machine body of the cutting unit 2 is below the set height. is there. Further, this process is repeatedly executed every predetermined unit time (for example, 10 ms).

  In this cutting lifting control, if the lifting operation as described later is not executed and the automatic lifting mode is set (steps 1, 2, and 3), it is determined whether or not the lowering determination timing is reached. Discriminate (step 4). Specifically, each time the traveling distance of the traveling machine body V calculated by calculation based on the rotational speed information of the rotational speed sensor 60 reaches the set distance (30 cm), it is determined that it is the lowering determination timing. ing.

If it is not the lowering determination timing, then when the horizontal posture is commanded by pressing the horizontal switch 50a, that is, when a value corresponding to the horizontal state is set as the target inclination angle, When the detection values of the two ground height detection devices A are lower than the target ground height set by the target ground height setting unit 54, specifically, the target ground height is set. When the dead zone for raising / lowering control is off to the lower side, the raising process for raising the cutting unit 2 is executed (steps 5, 6, and 7).

  When the left tilt switch 50b or the right tilt switch 50c is operated and a value different from the value corresponding to the horizontal state is set as the target tilt angle, the target ground height for the two ground height detection devices A is set. A target height correction process for correcting the height is executed.

  That is, when it is assumed that the cutting unit 2 has reached the target inclination angle, the target ground height for the ground height detection device A located on the lower side of the two ground height detection devices A is set as the target ground height. A corrected target ground height is determined by correcting the target ground height set by the ground height setter 54 to the higher set amount side (step 8). For example, if the standard cutting height (30 mm) is set by the target ground height setting unit 54, the higher set amount (for example, 10 mm), that is, 40 mm is determined as the corrected target ground height. .

  In addition, when it is assumed that the cutting unit 2 has reached the target inclination angle, the ground height detection device located on the upper side of the two ground height detection devices is similarly set as the target ground height. A corrected target ground height is determined by correcting the target ground height set by the target ground height setting unit 54 to the higher set amount side (step 8). For example, if the standard ground cutting height (30 mm) is set by the target ground height setting device 54 as in the lower side, the set amount (for example, 10 mm) higher side, that is, 40 mm Is defined as the corrected target ground height. The processes in Step 8 and Step 9 correspond to the target height correction process. In addition, the specific numerical value of the height correction amount is an example, and is not limited to this numerical value.

  After the target ground height correction process is performed as described above, the target ground level in which the detection value of one of the two ground height detection devices A is set by the target ground height setting unit 54 is used. When the height is lower than the height, specifically, when the lift control dead zone set with respect to the target ground height is out of the lower side, an ascending process for raising the mowing unit 2 is executed (step 10). 7).

  As shown in FIG. 16, the ascending process is performed based on the deviation between the detected value of the ground height detection device A and the target ground height with respect to the target ground height set by the target ground height setter 54. In order to avoid rushing in, the target amount for ascent and the ascending speed necessary for raising the mowing unit 2 are calculated (step 21). When the detection values of the two ground height detection devices A are lower than the target ground height set by the target ground height setting unit 54, the detection of the two ground height detection devices A is performed. Using the detected value of the lower value, the ascent target amount and the ascending speed are obtained.

  It should be noted that when the target amount for ascent and the ascent speed are obtained, the detection value of the higher one of the two ground height detection devices A is used, or each of the two ground height detection devices A is used. An average value of the detected values may be used.

  Then, the ascending operation is executed until the cutting unit 2 detects that the target amount for ascent has been increased based on the detection value of the aircraft height sensor 59, and when the target amount for ascent is increased, the ascent operation is stopped ( Steps 22, 23, 24). When the ascending operation is being executed, the ascending target amount is increased regardless of the detection state of the ground height detecting device A (step 1).

  If it is determined in step 4 that it is the descent determination timing, then the detection values of the two ground height detection devices A are respectively based on the target ground heights set by the target ground height setting unit 54. Is higher, specifically, when the dead zone for the lifting control set with respect to the target ground height is out of the higher side, the lowering process for lowering the mowing unit 2 is executed (step 11, 12).

  As shown in FIG. 17, the descending process is performed based on the deviation between the detected value of the ground height detection device A and the target ground height with respect to the target ground height set by the target ground height setter 54. A descending speed necessary for lowering the unit 2 is obtained by calculation (step 21). At that time, the descent speed is obtained using the detection value located on the lower side of the detection values of the two ground height detection devices A. Then, the lowering operation is executed, and when the detected value of any of the ground height detection devices A enters the dead zone, the lowering operation is stopped (steps 32, 33, 34).

[Second Embodiment]
In this embodiment, the control device H is configured such that the inclination angle with respect to the horizontal reference plane of the cutting unit 2 detected by the left / right inclination angle sensor 45 as the inclination angle detecting means is the horizontal posture or close to it as the cutting up / down control. When the set range corresponding to the posture is out of range, the target ground height is set as the target ground height for the ground height detection device A located on the lower side of the two ground height detection devices A. A target height correction process for determining a corrected target ground height obtained by correcting the target ground height set by the setting device 54 to the higher set amount side is executed.

In this embodiment, since the control configuration other than the determination content of step 5 is the same as the configuration of the first embodiment, only the different configuration will be described, and the description of the same configuration will be omitted.
That is, as shown in FIG. 18, in this embodiment, the horizontal posture is detected by the left / right inclination angle sensor 45, that is, with respect to the horizontal reference plane of the cutting unit 2 detected by the left / right inclination angle sensor 45. When the inclination angle is out of the setting range corresponding to the horizontal posture or a posture close thereto, the target height correction process similar to that in the first embodiment is executed (steps 5, 8, and 9).

[Another embodiment]
Hereinafter, other embodiments are listed.

(1) In each of the above embodiments, as the target height correction process, the target ground height for the ground height detection device A located on the upper side of the two ground height detection devices A Although what was comprised so that the correction | amendment target ground height which correct | amended the target ground height set by the target ground height setting device 54 was corrected to the set amount high side was shown, it replaced with such a structure and the following was shown. It may be configured as follows.

  That is, as the target height correction process, the target ground height setting unit 54 is used as the target ground height for the ground height detection device A located on the upper side of the two ground height detection devices A. It may be configured to determine a corrected target ground height that is obtained by correcting the target ground height set in step 1 to the lower set amount side.

  Further, as the target height correction processing, the target ground height setting device is used as the target ground height for the ground height detection device A located on the upper side of the two ground height detection devices A. It may be configured to determine the same height as the target ground height set in 54.

(2) In each of the above-described embodiments, each of the two ground height detection devices A corresponds to the setting state of the target inclination angle set by the left / right inclination angle setting device 50 or the detection state of the inclination angle detection means. Either the configuration in which the cutting unit 2 is raised in the multiple detection state in which a value lower than the target ground height is detected, or one of the two ground height detection devices A detects a value lower than the target ground height. Although it was set as the structure switched to the form which raises the cutting part 2 when it is a few detection state, it may replace with such a structure and may be comprised as follows.

  That is, regardless of the setting state of the target inclination angle or the detection state of the inclination angle detection means, the mowing unit 2 may be raised when the small detection state is always set. Further, instead of such a configuration, regardless of the target inclination angle setting state or the detection state of the inclination angle detection means, the mowing unit 2 may be raised when the multiple detection state is always set.

(3) In each of the above embodiments, the ground height detection means is provided with two, but the ground height detection means may be provided with three or more positions with different positions in the cutting width direction. In that case, instead of the configuration in which the number of detection states is such that the mowing raising / lowering control is performed based on the detection values of the two ground height detection means, any two of the three ground height detection means It is good also as a structure which raises a cutting part when the above thing or all the ground height detection means detect a value lower than target ground height.

(4) In each of the above embodiments, the lifting operation means is controlled in such a manner that the mowing unit is lowered when all of the plurality of ground height detection means detect a value higher than the target ground height. However, when there are three or more ground height detection means, and two or more of the ground height detection means detect a value higher than the target ground height, the reaping part is provided. It is good also as a structure to descend | fall.

(5) In each of the above embodiments, when the mowing unit is raised based on the information of the ground height detection means and the target ground height setting means, the preset target amount is raised, but the rise It is good also as a structure which performs a raise operation until setting time passes after starting.

(6) In each of the above embodiments, when the mowing unit is lowered based on the information on the ground height detection means and the target ground height setting means, the detection value of any of the plurality of ground height detection means However, instead of such a configuration, a preset target amount may be lowered instead of the above-described configuration. .

(7) In each of the above embodiments, the control device is configured to execute, as the mowing raising / lowering control, an ascending process for automatically raising the mowing unit and a descending process for automatically lowering, respectively. It is good also as a structure which performs only the raise process which makes a control apparatus raise automatically a mowing part by performing only by it.

(8) In each of the above embodiments, the ground height detecting means is configured as a potentiometer type, but may be configured to include a switch that is turned on and off according to the amount of vertical displacement of the grounding body.

(9) In each of the above embodiments, a combine is exemplified as a harvesting harvester. However, the present invention can be applied not only to a combine but also to a vegetable or rush harvester.

Combine side view Plan view showing the support structure of the cutting part Side view of crawler traveling device Side view of crawler traveling device Control block diagram Top view of switch unit The figure which shows the setting state of the target value of horizontal control Side view of cutting height detection device Cutaway plan view of cutting height detector Cutaway plan view of cutting height detector Longitudinal side view of cutting height detector Longitudinal front view showing the rolling structure of the cutting height detection device Side view showing the cutting height detection device swinging up and storing Front view showing storage lock structure of cutting height detection device Flow chart of control operation Flow chart of control operation Flow chart of control operation Flow chart of control operation

1R, 1L Traveling device 45 Inclination angle detection means 50 Target inclination angle setting means 54 Target ground height setting means 100 Attitude change operation means A Ground height detection means C1 Elevating operation means H Control means V Traveling machine body

Claims (6)

Elevating operation means for elevating the mowing unit with respect to the traveling machine body;
A plurality of ground height detection means arranged at different locations in the cutting width direction in the cutting unit;
Posture changing operation means capable of changing and changing the inclination angle of the cutting portion with respect to the ground contact surface for traveling of the traveling device installed in the traveling body;
An inclination angle detecting means for detecting an inclination angle with respect to a horizontal reference plane of the cutting part;
Target tilt angle setting means comprising an artificially operated switch that sets a value corresponding to the horizontal state and a value tilted in the left tilt direction or the right tilt direction from the horizontal state as the target tilt angle with respect to the horizontal reference plane of the cutting unit. When,
Target ground height setting means for setting the target ground height of the cutting part;
A mowing raising / lowering control for controlling the elevating operation means so that the ground height of the cutting unit becomes a target ground height based on information of the ground height detecting means and the target ground height setting means, and the target Based on the detection information of the inclination angle setting means and the inclination angle detection means, the posture change is performed so that the inclination angle of the cutting unit with respect to the horizontal reference plane is maintained at the target inclination angle set by the target inclination angle setting means. A cutting and lifting control device for a harvesting and harvesting machine provided with control means for performing posture control for controlling the operation of the operation means,
The control means is
When the target inclination angle setting means is artificially operated so as to set a value inclined to the left inclination direction or the right inclination direction from the horizontal state as the cutting up / down control , the cutting unit automatically performs the target cutting operation. Assuming that an inclination angle has been reached, the target ground height setting means sets the target ground height for the ground height detection means located on the lower side of the plurality of ground height detection means. A cutting and lifting control device for a harvesting and harvesting machine configured to execute a target height correction process for determining a corrected target ground height by correcting the target ground height to a higher set amount side. Elevating operation means for elevating the mowing unit with respect to the traveling machine body;
A plurality of ground height detection means arranged at different locations in the cutting width direction in the cutting unit;
Posture changing operation means capable of changing and changing the inclination angle of the cutting portion with respect to the ground contact surface for traveling of the traveling device installed in the traveling body;
An inclination angle detecting means for detecting an inclination angle with respect to a horizontal reference plane of the cutting part;
Target inclination angle setting means for setting a target inclination angle with respect to a horizontal reference plane of the cutting part;
Target ground height setting means for setting the target ground height of the cutting part;
A mowing raising / lowering control for controlling the elevating operation means so that the ground height of the cutting unit becomes a target ground height based on information of the ground height detecting means and the target ground height setting means, and the target Based on the detection information of the inclination angle setting means and the inclination angle detection means, the posture control is performed to control the operation of the attitude change operation means so that the inclination angle of the cutting unit with respect to the horizontal reference plane is maintained at the target inclination angle. A cutting and lifting control device for a harvesting and harvesting machine, comprising:
The control means is
As the cutting up / down control, when the target inclination angle set by the target inclination angle setting means is out of a setting range corresponding to a horizontal posture or a posture close thereto, the cutting unit Assuming that the target inclination angle has been reached , the target ground height setting means as the target ground height for the ground height detection means located on the lower side of the plurality of ground height detection means. It is configured to execute a target height correction process for determining a corrected target ground height by correcting the set target ground height to the set amount higher side ,
In addition, as the target height correction process, the target ground height setting unit sets the target ground height for the ground height detection unit located on the upper side of the plurality of ground height detection units. and target ground height a set amount higher side by correcting the correction target ground height preparative cutting and is configured to define a harvester reaper elevation control device. Elevating operation means for elevating the mowing unit with respect to the traveling machine body;
A plurality of ground height detection means arranged at different locations in the cutting width direction in the cutting unit;
Posture changing operation means capable of changing and changing the inclination angle of the cutting portion with respect to the ground contact surface for traveling of the traveling device installed in the traveling body;
An inclination angle detecting means for detecting an inclination angle with respect to a horizontal reference plane of the cutting part;
Target inclination angle setting means for setting a target inclination angle with respect to a horizontal reference plane of the cutting part;
Target ground height setting means for setting the target ground height of the cutting part;
A mowing raising / lowering control for controlling the elevating operation means so that the ground height of the cutting unit becomes a target ground height based on information of the ground height detecting means and the target ground height setting means, and the target Based on the detection information of the inclination angle setting means and the inclination angle detection means, the posture control is performed to control the operation of the attitude change operation means so that the inclination angle of the cutting unit with respect to the horizontal reference plane is maintained at the target inclination angle. A cutting and lifting control device for a harvesting and harvesting machine, comprising:
The control means is
As the cutting up / down control, when the target inclination angle set by the target inclination angle setting means is out of a setting range corresponding to a horizontal posture or a posture close thereto, the cutting unit Assuming that the target inclination angle has been reached, the target ground height setting means as the target ground height for the ground height detection means located on the lower side of the plurality of ground height detection means. It is configured to execute a target height correction process for determining a corrected target ground height by correcting the set target ground height to the set amount higher side,
And, as before Symbol target height correction, as the target ground height of the ground height detecting means positioned in the upper side of the plurality of the ground height detecting means at the target ground height setting means set target ground height a set amount lower side corrected into the corrected target ground height that is configured to define a cutting preparative harvester reaper elevation control device. Elevating operation means for elevating the mowing unit with respect to the traveling machine body;
A plurality of ground height detection means arranged at different locations in the cutting width direction in the cutting unit;
Posture changing operation means capable of changing and changing the inclination angle of the cutting portion with respect to the ground contact surface for traveling of the traveling device installed in the traveling body;
An inclination angle detecting means for detecting an inclination angle with respect to a horizontal reference plane of the cutting part;
Target inclination angle setting means for setting a target inclination angle with respect to a horizontal reference plane of the cutting part;
Target ground height setting means for setting the target ground height of the cutting part;
A mowing raising / lowering control for controlling the elevating operation means so that the ground height of the cutting unit becomes a target ground height based on information of the ground height detecting means and the target ground height setting means, and the target Based on the detection information of the inclination angle setting means and the inclination angle detection means, the posture control is performed to control the operation of the attitude change operation means so that the inclination angle of the cutting unit with respect to the horizontal reference plane is maintained at the target inclination angle. A cutting and lifting control device for a harvesting and harvesting machine, comprising:
The control means is
As the cutting up / down control, when the inclination angle of the cutting unit with respect to the horizontal reference plane detected by the inclination angle detecting means is out of a setting range corresponding to a horizontal attitude or an attitude close thereto, a plurality of the above The target ground height set by the target ground height setting means is corrected to the higher set amount side as the target ground height for the ground height detection means located on the lower side of the ground height detection means. Configured to execute a target height correction process for determining the corrected target ground height,
In addition, as the target height correction process, the target ground height setting unit sets the target ground height for the ground height detection unit located on the upper side of the plurality of ground height detection units. A cutting and lifting control device for a harvesting and harvesting machine configured to determine a corrected target ground height by correcting the set target ground height to the higher set amount side . Elevating operation means for elevating the mowing unit with respect to the traveling machine body;
A plurality of ground height detection means arranged at different locations in the cutting width direction in the cutting unit;
Posture changing operation means capable of changing and changing the inclination angle of the cutting portion with respect to the ground contact surface for traveling of the traveling device installed in the traveling body;
An inclination angle detecting means for detecting an inclination angle with respect to a horizontal reference plane of the cutting part;
Target inclination angle setting means for setting a target inclination angle with respect to a horizontal reference plane of the cutting part;
Target ground height setting means for setting the target ground height of the cutting part;
A mowing raising / lowering control for controlling the elevating operation means so that the ground height of the cutting unit becomes a target ground height based on information of the ground height detecting means and the target ground height setting means, and the target Based on the detection information of the inclination angle setting means and the inclination angle detection means, the posture control is performed to control the operation of the attitude change operation means so that the inclination angle of the cutting unit with respect to the horizontal reference plane is maintained at the target inclination angle A cutting and lifting control device for a harvesting and harvesting machine, comprising:
The control means is
As the cutting up / down control, when the inclination angle of the cutting unit with respect to the horizontal reference plane detected by the inclination angle detecting means is out of a setting range corresponding to a horizontal attitude or an attitude close thereto, a plurality of the above The target ground height set by the target ground height setting means is corrected to the higher set amount side as the target ground height for the ground height detection means located on the lower side of the ground height detection means. Configured to execute a target height correction process for determining the corrected target ground height,
In addition, as the target height correction process, the target ground height setting unit sets the target ground height for the ground height detection unit located on the upper side of the plurality of ground height detection units. A cutting and lifting control device for a harvesting and harvesting machine configured to determine a corrected target ground height by correcting the set target ground height to a lower set amount side . The control means is
As the target height correction processing, the target ground height setting means sets the target ground height for the ground height detection means located on the upper side of the plurality of ground height detection means. 2. The cutting / lifting control device for a harvesting and harvesting machine according to claim 1, which is configured to determine the same height as the target ground height.

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