JP4886569B2 - Cutting and lifting control device for harvesting and harvesting machine - Google Patents

Description

  The present invention includes an elevating operation means for elevating a mowing part with respect to a traveling machine body, a plurality of grounding type ground height detecting means arranged at different locations in the mowing width direction in the mowing part, and A target ground height setting means for setting a target ground height; a control means for executing a cutting lift control for controlling the lifting operation means based on information on the ground height detection means and the target ground height setting means; The present invention relates to a cutting / lifting control device for a harvesting and harvesting machine provided with the above.

  In such a cutting and lifting control device for a harvesting and harvesting machine, conventionally, when the control means is in a minority detection state in which any of the plurality of ground height detection means detects a value lower than the target ground height, the harvesting unit There is one configured to control the lifting / lowering operation means in a form of raising the height (for example, see Patent Document 1).

JP 2004-201588 A

  In the above-described conventional configuration, the lifting operation means is controlled in a form in which the reaper is raised when any of the plurality of ground height detection means is in a small number detection state in which a value lower than the target ground height is detected. Therefore, for example, when there is a convex portion that partially protrudes in a part of the cutting portion in the cutting width direction in the cutting portion, the ground height provided at a position corresponding to the convex portion of the agricultural scene When it is detected by the detecting means that the cutting part is approaching the convex part of the farm scene, the cutting part is raised, so that the cutting part is appropriately avoided from thrusting into the convex part of the farm scene, Damage can be avoided.

  However, in the above conventional configuration, if any of the plurality of ground height detection means detects a value lower than the target ground height, the mowing unit is raised, so there is room for improvement in the following points. was there.

In other words, in the conventional configuration, when any one of the plurality of ground height detection means detects a ground height lower than the target ground height, the cutting portion is lifted. Since it tends to be performed frequently, there is a possibility that the cutting work cannot be performed satisfactorily when the field is a wet field and the stalks are lying down.
In other words, when the operation of raising the cutting part is performed in the cutting work of the lying stem and stalk, for example, in the state where the cutting work is performed in the form of the harvesting, the state is such that the upper part of the cutting part is covered. There is a possibility that the stalks are torn off or pulled out as the mowing part rises. Similarly, when the mowing operation is performed in the form of additional mowing, the raising device provided in the mowing part Since the stems that are raised while being locked by the can be torn off or pulled out along with the rise of the cutting part, the cutting part must be lifted when cutting the lying stems. In spite of the fact that it is not performed, in the conventional configuration, the raising operation of the cutting unit is frequently performed, and there is a possibility that a good cutting operation cannot be performed.

  An object of the present invention is to provide a cutting / lifting control device for a harvesting and harvesting machine that can avoid the damage of the cutting unit and can also perform the cutting operation of the lying pedicles well.

The cutting and lifting control device for a harvesting and harvesting machine according to the present invention includes a lifting operation unit that lifts and lowers a cutting unit with respect to a traveling machine body, and a plurality of ground contact type ground heights arranged at different locations in the cutting width direction of the cutting unit. A height detection means, a target ground height setting means for setting a target ground height of the cutting part, and the lifting operation means based on information of the ground height detection means and the target ground height setting means. Control means for executing the cutting lifting control, the first characteristic configuration is capable of changing the inclination angle of the cutting portion with respect to the ground contact surface for traveling of the traveling device equipped in the traveling body. A posture change operation means, an inclination angle detection means for detecting an inclination angle with respect to a horizontal reference plane of the cutting part, a target inclination angle with respect to a horizontal reference plane of the cutting part, a value corresponding to the horizontal state, and from the horizontal state Left slope Provided with a target inclination angle setting means for setting a value which is inclined toward or right inclination direction, said control means, the inclination angle with respect to the detection the horizontal reference plane of the reaper based on the information of the tilt angle detecting means the It is configured to execute posture control for controlling the operation of the posture changing operation means so as to be maintained at the target inclination angle set by the target inclination angle setting means , and for posture control including an artificially operated switch On the basis of the switching command of the mode switching means, the posture control execution mode for executing the posture control and the posture control stop mode for stopping the execution of the posture control are switched. , wherein when the attitude control execution mode, the left-inclined direction or right from the horizontal state or target tilt angle set by the target inclination angle setting means is a value corresponding to the horizontal state Whether a value which is inclined diagonal, than two or more of the ground height detecting means or all of the ground height detecting means target the ground height of the plurality of the ground height detecting means In the case of the multiple detection state for detecting a low value, the mowing unit is raised, and in the case of the attitude control stop mode, any of the plurality of ground height detecting means is a value lower than the target ground height. When the state is a small number detection state in which the lifting / lowering operation is detected, the lifting / lowering operation means is controlled in a form in which the mowing unit is raised.

  In other words, when the attitude control mode switching means switches to the attitude control execution mode, the control means maintains the inclination angle of the cutting unit with respect to the horizontal reference plane at the target inclination angle based on the detection information of the inclination angle detection means. The posture control for controlling the operation of the posture changing operation means is executed so that two or more ground height detection means or all the ground height detection means among the plurality of ground height detection means are the target ground height. When it is in the multiple detection state that detects a value lower than this, the lifting operation means is controlled in a form that raises the cutting part, and when the attitude control mode switching means is switched to the attitude control stop mode, the control means, Stops the execution of the posture control, and controls the lifting operation means in the form of raising the mowing unit when any one of the plurality of ground height detecting means is in the minority detection state detecting a value lower than the target ground height. .

  As described above, when the mode is switched to the posture control execution mode, the inclination angle of the cutting unit with respect to the horizontal reference plane is maintained at the target inclination angle. By setting the inclination angle of the setting range corresponding to a close value as the target inclination angle, the cutting unit is maintained in a substantially horizontal posture, so that the cutting unit is greatly inclined from the horizontal posture and the lower side in the cutting unit It is possible to avoid as much as possible the portion located at the point of being pushed into the ground and to avoid damage to the cutting part.

Then, by switching to the posture control execution mode, two or more ground height detection means among the plurality of ground height detection means or all the ground heights in a state where the cutting unit is maintained in a substantially horizontal posture. When the height detection means is in a multiple detection state in which a value lower than the target ground height is detected, the reaping part is raised, for example, when there is a convex part in the farm scene, Even if the ground height detection means provided at the corresponding position detects a value lower than the target ground height, if the other ground height detection means does not detect a value lower than the target ground height, Even if there are irregularities in the field scene in the harvesting work of the lying stems, avoid the frequent raising operation of the harvesting part, for example, Mowing In case Nau, etc. can be reduced the risk that withdrawal etc. Kuki稈 being laid down occurs, it becomes capable of performing satisfactorily cutting work.
By the way, if the harvesting part is raised in the majority detection state, the harvesting part thrusts into the convex part of the farm scene compared to raising the harvesting part in the minority detection state as in the above-described conventional configuration. Although it becomes easy, even if the cutting part rushes into the convex part of the farm scene, it is considered that the cutting part is less likely to be damaged. In particular, when the stems are lying down, the field is often a soft paddy field, and the field scene is relatively soft even if the cutting part rushes into the convex part of such a paddy field. Therefore, it is considered that there is less possibility of damage to the cutting part.
On the other hand, when a large number of detection states are detected, for example, when a farm scene protrudes over a wide range in the cutting width direction of the cutting unit, or when the vehicle body tilts back and forth and the entire cutting unit approaches the ground. However, in such a case, if the mowing operation is continued as it is, there is a risk that the mowing part will be largely buried in the field scene and the mowing part may be damaged. In some cases, the harvesting part is raised to avoid damage to the harvesting part.

The mode control means for switching the posture control is switched to the posture control stop mode because the cutting operation is performed in a state where the cutting portion is inclined from the horizontal posture in order to avoid the stems accumulated near the edge of the field. It is assumed that the inclination angle with respect to the horizontal reference plane of the cutting part is difficult to be maintained at the target inclination angle even when the posture control is executed because there are large unevenness in the farm scene. In such a case, when the mowing operation is performed in a state where the mowing portion is tilted from the horizontal posture by raising the mowing portion in the case of a small number of positions, the location located on the lower side of the mowing portion If there is a large rush into the ground or there are large irregularities in the field, the harvesting should be avoided as much as possible to avoid the possibility that the car body will tilt greatly in the front-rear direction and the harvested part will be largely buried in the field. The ones that the damage can be avoided.
Therefore, the cutting lifting control device for the harvesting and harvesting machine that enables the cutting operation to be performed satisfactorily while avoiding damage to the cutting unit has been obtained.

The cutting and lifting control device for a harvesting and harvesting machine according to the present invention includes a lifting operation unit that lifts and lowers a cutting unit with respect to a traveling machine body, and a plurality of ground contact type ground heights arranged at different locations in the cutting width direction of the cutting unit. A height detection means, a target ground height setting means for setting a target ground height of the cutting part, and the lifting operation means based on information of the ground height detection means and the target ground height setting means. Control means for executing the cutting lift control,
The second characteristic configuration is that posture changing operation means for freely changing an inclination angle of the cutting part with respect to a grounding surface for traveling of a traveling device installed in the traveling body, and detecting an inclination angle of the cutting part with respect to a horizontal reference plane. An artificially operated switch that sets a value corresponding to the horizontal state and a value inclined from the horizontal state to the left inclination direction or the right inclination direction as the target inclination angle with respect to the horizontal reference plane of the cutting unit. a target inclination angle setting means consisting of are provided, said control means, the inclination angle with respect to the horizontal reference plane of the reaper based on detection information of the tilt angle detecting means is set at the desired tilt angle setting means It is configured to execute posture control for controlling the operation of the posture changing operation means so as to be maintained at a target inclination angle, and as the cutting up / down control, the target inclination angle setting means In the case where the set target inclination angle is a setting range in which the mowing unit corresponds to a horizontal posture or a posture close thereto, two or more of the ground height detection units of the plurality of ground height detection units or When all the ground height detection means are in a multiple detection state in which a value lower than the target ground height is detected, the mowing unit is raised, and the target inclination angle detected by the target inclination angle setting means is In the form of raising the reaping portion when any of the plurality of ground height detection means is in a minority detection state in which a value lower than the target ground height is detected when the set range is exceeded, When the target inclination angle setting means is artificially operated so as to set a value inclined in the left inclination direction or the right inclination direction from the horizontal state, it is automatically controlled. In addition, the cutting part is When the target inclination angle is assumed, the target ground height setting means is set 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 corrected target ground height is determined by correcting the set target ground height to the higher set amount side .
The cutting and lifting control device for a harvesting and harvesting machine according to the present invention includes a lifting operation unit that lifts and lowers a cutting unit with respect to a traveling machine body, and a plurality of ground contact type ground heights arranged at different locations in the cutting width direction of the cutting unit. A height detection means, a target ground height setting means for setting a target ground height of the cutting part, and the lifting operation means based on information of the ground height detection means and the target ground height setting means. Control means for executing the cutting lift control,
The third feature of the present invention is that posture changing operation means that can freely change the inclination angle of the cutting part with respect to the ground contact surface for traveling of the traveling device installed in the traveling body, and the inclination angle of the cutting part with respect to the horizontal reference plane is detected. And a target inclination angle setting means for setting a target inclination angle with respect to a horizontal reference plane of the reaping part, and the control means is based on detection information of the inclination angle detecting means. 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 horizontal reference plane is maintained at the target tilt angle, and the target tilt angle setting is performed as the cutting lift control When the target inclination angle set by the means is a setting range in which the cutting unit corresponds to a horizontal posture or a posture close thereto, the ground height of two or more of the plurality of ground height detection means When the output means or all the ground height detection means are in a multiple detection state in which a value lower than the target ground height is detected, the cutting unit is raised and detected by the target inclination angle setting means When the target inclination angle is out of the set range, the cutting unit is raised when any of the plurality of ground height detection means is in a minority detection state in which a value lower than the target ground height is detected. If the target inclination angle set by the target inclination angle setting means is out of the setting range, the reaping part is configured to control the lifting operation means. When it is assumed that a corner is formed, 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. Target ground In that it is configured to define a corrected target ground height corrected to set the amount of the higher side of the of.
The cutting and lifting control device for a harvesting and harvesting machine according to the present invention includes a lifting operation unit that lifts and lowers a cutting unit with respect to a traveling machine body, and a plurality of ground contact type ground heights arranged at different locations in the cutting width direction of the cutting unit. A height detection means, a target ground height setting means for setting a target ground height of the cutting part, and the lifting operation means based on information of the ground height detection means and the target ground height setting means. Control means for executing the cutting lift control,
The fourth feature of the present invention is that posture changing operation means that can freely change the inclination angle of the reaping part with respect to the ground contact surface for traveling of the traveling device installed in the traveling body, and the inclination angle of the reaping part with respect to the horizontal reference plane is detected. And a target inclination angle setting means for setting a target inclination angle with respect to a horizontal reference plane of the reaping part, and the control means is based on detection information of the inclination angle detecting means. 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 horizontal reference plane is maintained at the target tilt angle, and the target tilt angle setting is performed as the cutting lift control When the target inclination angle set by the means is a setting range in which the cutting unit corresponds to a horizontal posture or a posture close thereto, the ground height of two or more of the plurality of ground height detection means When the output means or all the ground height detection means are in a multiple detection state in which a value lower than the target ground height is detected, the cutting unit is raised and detected by the target inclination angle setting means When the target inclination angle is out of the set range, the cutting unit is raised when any of the plurality of ground height detection means is in a minority detection state in which a value lower than the target ground height is detected. If the target inclination angle set by the target inclination angle setting means is out of the setting range, the reaping part is configured to control the lifting operation means. When it is assumed that a corner is formed, 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. Target ground In that it is configured to define a corrected target ground height corrected to set the amount of the low side of the of.

That is, according to the second to fourth feature configurations, the operation of the posture changing operation unit is controlled based on the detection information of the tilt angle detecting unit so that the tilt angle with respect to the horizontal reference plane of the cutting unit is maintained at the target tilt angle. If the target inclination angle set by the target inclination angle setting means is within a setting range corresponding to the horizontal position of the cutting part or an attitude close thereto, two or more of the plurality of ground height detection means The target detected by the target inclination angle setting means when the height detection means or all the ground height detection means are in a multiple detection state in which a value lower than the target ground height is detected. When the inclination angle is out of the set range, in the form of raising the reaping part when any one of the plurality of ground height detection means is in a minority detection state detecting a value lower than the target ground height, Controls the lifting operation means.

  In this way, since the operation of the posture changing operation means is controlled so that the inclination angle of the cutting unit with respect to the horizontal reference plane is maintained at the target inclination angle based on the detection information of the inclination angle detecting means, the cutting in the field is performed. When performing the work, the cutting unit sets the inclination angle of the setting range corresponding to the horizontal posture or a posture close thereto as the target inclination angle, so that the cutting unit maintains the almost horizontal posture, and the cutting unit is in the horizontal posture. Therefore, it is possible to prevent the cutting portion from being damaged by preventing the portion located on the lower side of the cutting portion from greatly protruding into the ground. In addition, when performing a cutting operation at the edge of a farm field, by setting an inclination angle out of the setting range as a target inclination angle, the cutting section maintains an inclined attitude inclined from a horizontal attitude. In order to avoid the stalks accumulated in the vicinity of the heel, the cutting operation can be performed in a state where the cutting portion is inclined from the horizontal posture.

  When the target inclination angle set by the target inclination angle setting means is within the setting range, two or more ground height detection means out of the plurality of ground height detection means or all the ground height detections When the means is a multiple detection state that detects a value lower than the target ground height, the reaping part is raised, so when performing the reaping work in the agricultural field, for example, when there is a convex part in the agricultural scene, Even if the ground height detection means provided at the position corresponding to the convex part of the field scene detects a value lower than the target ground height, the other ground height detection means detects a value lower than the target ground height. Otherwise, the mowing part will not be raised, so even if there are irregularities in the field scene in the mowing work of the lying stems, the mowing part is prevented from being raised frequently, Pulling out stalks Etc. can be reduced the risk that occurs, it becomes capable of performing satisfactorily cutting work.

By the way, if the harvesting part is raised in the majority detection state, the harvesting part thrusts into the convex part of the farm scene compared to raising the harvesting part in the minority detection state as in the above-described conventional configuration. Although it becomes easy, even if the cutting part rushes into the convex part of the farm scene, it is considered that the cutting part is less likely to be damaged. In particular, when the stems are lying down, the field is often a soft paddy field, and the field scene is relatively soft even if the cutting part rushes into the convex part of such a paddy field. Therefore, it is considered that there is less possibility of damage to the cutting part.
On the other hand, when a large number of detection states are detected, for example, when a farm scene protrudes over a wide range in the cutting width direction of the cutting unit, or when the vehicle body tilts back and forth and the entire cutting unit approaches the ground. However, in such a case, if the mowing operation is continued as it is, there is a risk that the mowing part will be largely buried in the field scene and the mowing part may be damaged. In some cases, the mowing unit is raised to avoid the possibility of damaging the mowing unit.

Even when the angle of inclination of the setting range is set as the target inclination angle when performing the cutting operation in the field, for example, even if the posture control is executed due to the presence of large unevenness in the agricultural scene, The tilt angle may not be maintained. In such a case, when the inclination angle of the setting range is set as the target inclination angle, when the large number of unevenness exists in the farm scene by raising the reaping portion in the case of a large number of detection states, the reaping portion Therefore, the cutting operation can be performed more satisfactorily, for example, by further preventing the frequent raising operation and reducing the possibility of pulling out the lying stems and the like.
By the way, when the inclination angle of the setting range is set as the target inclination angle, even if the cutting part is not maintained at the inclination angle of the setting range, if the cutting part is raised in the multiple detection state, The part of the mowing part tilts greatly from the horizontal posture, and the part located on the lower side of the mowing part becomes large and easy to thrust into the ground, but when mowing on the farm field, the mowing part becomes Even if it is tilted greatly, it is considered that it immediately returns to a horizontal posture, and it is considered that there is little risk of damage to the cutting part when a portion located on the lower side of the cutting part is pushed into the ground for a long time.

And when the target inclination angle detected by the target inclination angle setting means is out of the setting range, one of the plurality of ground height detection means detects a value lower than the target ground height. For example, when cutting at the edge of the field, the cutting part is tilted from a horizontal position to avoid the stems accumulated near the edge of the field. When the cutting operation is performed in this state, it is possible to prevent a portion located on the lower side of the cutting unit from being greatly pushed into the ground and to avoid damage to the cutting unit.
Therefore, a harvesting and harvesting machine that can prevent damage to the harvesting part, but can further prevent the lifting operation of the harvesting part from being frequently performed, and can better perform the harvesting work of the lying stems and stems. This led to the acquisition of a cutting and lifting control device.

According to the second characteristic configuration, when the target inclination angle set by the target inclination angle setting means is out of the setting range, when it is assumed that the cutting part has reached the target inclination angle, a plurality of ground heights Corrected target ground 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 lower side of the height detection means Since the height is determined, when the cutting part is tilted from the horizontal posture, the lower end of the cutting part is higher than the ground height detecting means located on the lower side of the plurality of ground height detecting means. Even if the ground height detection means located on the lower side of the plurality of ground height detection means detects a value higher than the target ground height, the part is located on the lower side. The lower end of the section is lower than the target ground height If there, there is a possibility that the end portion of the lower side of the cutting portion plunges into the ground. Therefore, by correcting the target ground height for the ground height detection means located on the lower side of the plurality of ground height detection means to the set amount higher side, the lower end of the cutting part is placed on the ground. It is possible to avoid the thrusting and avoid the damage of the cutting part.
Therefore, the lowering end of the cutting unit is prevented from being pushed into the ground, and the cutting / lifting control device for the harvesting and harvesting machine that can avoid the damage of the cutting unit has been obtained.

According to the third characteristic configuration, when the target inclination angle set by the target inclination angle setting means is out of the setting range, when it is assumed that the cutting part has reached the target inclination angle, a plurality of grounds A corrected target obtained 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 upper side of the height detection means Since the height of the ground is determined, when cutting at the edge of the field, in order to avoid the stems accumulated near the edge of the field, the cutting part should be closer to the edge than the edge on the field side. The cutting operation is performed in an inclined posture where the end on the side is located on the upper side, but the target ground height for the ground height detecting means located on the upper side of the plurality of ground height detecting means Is corrected to the higher set amount side, With less risk that the end of the rhino-side contacts the ridge or Kuki稈, becomes capable of avoiding damage to the reaper.
Therefore, even when performing a cutting operation at the edge of a farm field, a cutting and lifting control device for a harvesting and harvesting machine that can avoid damage to the cutting unit has been obtained.

According to the fourth feature configuration, when the target inclination angle set by the target inclination angle setting means is out of the setting range, when it is assumed that the cutting part has reached the target inclination angle, a plurality of ground heights Corrected target ground by correcting the target ground height set by the target ground height setting means to the set amount lower side as the target ground height for the ground height detection means located on the upper side of the height detection means Since the height is determined, cutting work such as frequent avoiding frequent raising operations of the cutting part and further reducing the possibility of pulling out lying stems and the like can be achieved. Can be performed more satisfactorily.
Therefore, the cutting lift control device of the harvesting and harvesting machine that can perform the cutting operation more satisfactorily has been obtained.

According to a fifth characteristic configuration of the present invention, in addition to the first characteristic configuration, when the target tilt angle set by the target tilt angle setting unit is out of the set range, Assuming that the cutting part has reached the target inclination angle, the target ground height is set as the target ground height for the ground height detection means located on the upper side of the plurality of ground height detection means. The target ground height set by the setting means is configured to determine the same height.
That is, when the target inclination angle set by the target inclination angle setting means is out of the setting range, when it is assumed that the reaping part has reached the target inclination angle, among the plurality of ground height detection means Since the target ground height set by the target ground height setting means is set to the same height as the target ground height for the ground height detection means located on the upper side, a plurality of ground height detections are performed. By correcting the target ground height for the ground height detection means located on the upper side of the means, when performing the cutting operation at the edge of the field, the edge of the edge of the cutting part is While reducing the possibility of contact with the stems and avoiding damage to the cutting part, it is possible to prevent frequent operation of raising the cutting part and avoid damage to the cutting part.
Therefore, the cutting / lifting control device for the harvesting / harvesting machine that can perform the harvesting work satisfactorily while avoiding damage to the harvesting unit has been obtained.

[First Embodiment]
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 mowing unit 2 distributes and divides the planted stalks of the number of crops to be harvested as many as the number of harvested stalks, and causes the raising device 6 to cause the planted cereals to stand upright. The clipper type cutting device 7 for cutting the stock side of the harvested corn straw, the vertical conveying device 8 for transporting the harvested corn straw to the backward while gradually changing its posture to the horizontal position, etc. 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 supported by the traveling machine body V so as to be rotatable around P1. ing.

  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, posture change operation means 100 is provided that can freely change the left and right inclination angles of the traveling machine body V that includes the cutting unit 2 with respect to the grounding portions of the left and right traveling devices 1L and 1R. 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 left and right inclined posture of the traveling machine body V will be described.
As shown in FIG. 5, a control device H using a microcomputer as a control means is provided, and the control device H detects the right and left inclination angles from the horizontal reference plane of the traveling machine body V provided with the cutting unit 2. Each information of the left / right tilt angle sensor 45 as the tilt angle detecting means of the equation and the posture change switch unit SU is input. Drive signals for the hydraulic control electromagnetic valves 46 to 49 for hydraulically controlling the four hydraulic cylinders C2 to C5 for changing the body posture are respectively output from the control device. Although not shown, detection information of each stroke sensor is also input to the control device.

  As shown in FIG. 6, the posture change switch unit SU has a left / right tilt angle setting as a target tilt angle setting means for setting a target left / right tilt angle (target tilt angle) of the traveling machine body V provided with the cutting unit 2. 50, a horizontal automatic switch 51 as a posture control mode switching means for commanding on / off of horizontal control as an example of posture control, a horizontal lamp 52 indicating the on / off state of horizontal control, and a cross lever type operation tool 53 Are provided with a manual uplift switch 53a, a left up switch 53b, a machine up switch 53c, and a machine down switch 53d.

  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 detection sensor 45 and the target tilt angle set by the left / right tilt angle setting device 50 deviates from the control dead zone to the left tilt side of the traveling vehicle body V. If so, 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 setting device 54, and the controller H controls the lifting cylinder C1 based on the information on the ground height detection device A and the target ground height setting device 54. Is configured to run. 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 aircraft, 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.

Hereinafter, a specific configuration of the ground height detection apparatus A will be described.
As shown in FIG. 8, the front portion of the weed frame 16 on which the ground height detection device A is provided is bent in a mountain shape, and the front end portion of the weed frame 16 is pressed to form a vertical plate shape. The 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 support portion 16a, and the ground height detection device A is mounted on the mounting plate 17a. It 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 2 is at the cutting height and moving forward, the rear end of the grounding body 23 is attached to the lower side behind 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 weed frame 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.

  Then, the control device H controls the hydraulic cylinders C2, C3, C4 for changing the body posture so that the inclination angle of the cutting unit 2 with respect to the horizontal reference plane is maintained at the target inclination angle based on the detection information of the left / right inclination angle sensor 45. , Posture control for controlling the operation of C5, and posture control execution mode for executing posture control and posture control stop for stopping execution of posture control based on a switching command of the horizontal automatic switch 51 In the posture control execution mode, the two ground height detection devices A are in a multiple detection state in which a value lower than the target ground height is detected. In the case of the minority detection state in which either the two ground height detection devices A detect a value lower than the target ground height in the case where the cutting unit 2 is raised and in the posture control stop mode In the form of increasing the harvesting section 2 when that is configured to control the lifting and lowering hydraulic cylinder C1.

  The control device H is configured to control the elevating cylinder C1 so that the cutting unit 2 is lowered when the two ground height detection devices A each detect a value higher than the target ground height. When raising the cutting unit 2 based on the information of the ground height detection device A and the target ground height setting device 54, the preset target amount is raised, and the ground height detection device A and the target ground height When lowering the cutting unit 2 based on the information of the height setting device 54, the cutting unit 2 is moved up and down so that the detected value of either of the two ground height detection devices A reaches the target ground height. The cylinder C1 is configured to be controlled.

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 . 15, 17, and 18 . 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 up / down control, first, if the raising operation as described later is not executed and the automatic raising / lowering mode is set, it is determined whether or not the lowering operation is being performed. If not, it is determined whether or not the lowering determination timing is reached (steps 1 to 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, in the case of the attitude control execution mode, that is, when the horizontal automatic switch 51 is instructed to enter horizontal control, the detection values of the two ground height detection devices A are When the target ground height is lower than the target ground height set by the target ground height setting unit 54, the dead zone for the lift control set for the target ground height is specifically deviated to the lower side. In this case, the ascending process for raising the reaper 2 is executed (steps 5 to 7).

  In the case of the attitude control stop mode, that is, when the horizontal automatic switch 51 is not instructed to enter horizontal control, the detection value of one of the two ground height detection devices A is the target. When the height is lower than the target ground height set by the ground height setter 54, specifically, when the dead zone for raising / lowering control set for the target ground height is out of the lower side, The ascending process for raising the unit 2 is executed (steps 5, 8, and 7).

As shown in FIG. 17 , the ascending process is 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 22-24). 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, a lowering process for lowering the cutting unit 2 is executed (step 9, 10).

As shown in FIG. 18 , 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 required to descend the unit 2 is obtained by calculation (step 31). 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 one of the ground height detection devices A enters the dead zone, the lowering operation is stopped (steps 32-34).

[ Second Embodiment]
This embodiment is the same as the configuration of the first embodiment except that the configuration of the cutting lift control by the control device is different. Therefore, only the different configuration will be described, and the description of the same configuration will be omitted.

In this embodiment, the control device H uses a hydraulic cylinder C2 for changing the body posture so that the inclination angle of the cutting unit 2 with respect to the horizontal reference plane is maintained at the target inclination angle based on the detection information of the left / right inclination angle sensor 45. It is configured to execute posture control for controlling the operation of C3, C4, and C5, and as the cutting up / down control, the target inclination angle set by the left / right inclination angle setting device 50 is set to the horizontal posture or the In the case of a setting range corresponding to a close posture, the cutting unit 2 is raised when the two ground height detection devices A are in a multiple detection state in which a value lower than the target ground height is detected, and the right and left inclination angles When the target inclination angle detected by the setting device 50 is out of the set range, one of the two ground height detection devices A is in the minority detection state in which a value lower than the target ground height is detected. The cutting part 2 In the form of raising the, it is configured to control the lifting and lowering hydraulic cylinder C1.
When the control device H assumes that the target inclination angle set by the left / right inclination angle setting device 50 is outside the setting range, The target ground height set by the target ground height setting unit 54 is corrected to the higher set amount side as the target ground height for the ground height detecting device A located on the lower side of the height detecting device A. When the corrected target ground height is determined and it is assumed that the cutting unit 2 has reached the target inclination angle, the target for the ground height detection device A located on the upper side of the two ground height detection devices A As the 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.

Hereinafter, it will be explained based on a flowchart shown in FIG. 16 for specific control operation of the cutting elevation control in the control apparatus H.

  In this cutting up / down control, first, if the raising operation as described later is not executed and the automatic raising / lowering mode is set, it is determined whether or not the lowering operation is being performed. If not, it is determined whether or not the lowering determination timing is reached (steps 1 to 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 descending determination timing, when the target inclination angle set by the left / right inclination angle setting device 50 is within a setting range corresponding to the horizontal posture of the cutting unit 2 or a posture close thereto, that is, the horizontal switch 50a is operated. In the case where the fourth stage is set, if 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, respectively Specifically, when the dead zone for raising / lowering control set for the target ground height is out of the lower side, the ascending process for raising the mowing unit 2 is executed (steps 5 to 7).

When the target inclination angle set by the left / right inclination angle setting device 50 is out of the setting range, it is assumed that the cutting unit 2 has reached the target inclination angle. As the target ground height for the ground height detection device A located on the lower side of the target ground height, a corrected target ground height obtained by correcting the target ground height set by the target ground height setting unit 54 to the set amount higher side is obtained. In addition, when it is assumed 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 upper side of the two ground height detection devices A. A corrected target ground height is determined by correcting the target ground height set by the height setter 54 to the higher set amount side.
Specifically, when the first to third steps are set by operating the left tilt switch 50b, the ground height detection device A located on the left side of the two ground height detection devices A The dead zone for raising / lowering control set for the target ground height is corrected to the higher set amount side, and the target for the ground height detection device A located on the right side of the two ground height detection devices A When the dead zone for raising / lowering control set with respect to the ground height is corrected to the higher set amount side and the right tilt switch 50c is operated and the fifth to seventh stages are set, two ground heights are set. The dead zone for elevation control set for the target ground height for the ground height detection device A located on the right side of the height detection device A is corrected to the set amount higher side and two ground heights are corrected. Located on the left side of the detector A Ground height detecting device A for correcting the dead zone for elevation control which is set in the set amount higher side relative to the target ground height of about (Step 5,8,9).

  When the detected value of one of the two ground height detection devices A is lower than the target ground height set by the target ground height setting unit 54, specifically, with respect to the target ground height. When the dead zone for raising / lowering control set in the above is deviated to the lower side, the ascending process for raising the mowing unit 2 is executed (steps 10 and 7).

[Another embodiment]
Hereinafter, other embodiments are listed.

(1) In the second embodiment, when the control device H has the target inclination angle set by the target inclination angle setting means 50 outside the set range, the reaping part 2 has reached the target inclination angle. Assuming that the target ground height set by the target ground height setting means 54 is set as the target ground height for the ground height detection means A located on the upper side of the two ground height detection means A. The correction target ground height is corrected by correcting the height to the set amount higher side. However, when it is assumed that the cutting unit 2 has reached the target inclination angle, the upper side of the two ground height detection means A As the target ground height for the ground height detection means A that is positioned, a corrected target ground height that is obtained by correcting the target ground height set by the target ground height setting means 54 to the lower set amount side may be used. Well, or the cutting part 2 is at the target inclination angle Assuming that the target ground height for the ground height detection means A located on the upper side of the two ground height detection means A is the target ground height set by the target ground height setting means 54 It is good also as composition which defines height.

(2) In each of the above embodiments, the ground height detection means A is provided with two pieces, but the ground height detection means A may be provided with three or more positions with different positions in the cutting width direction. In that case, instead of the configuration for executing the cutting lift control based on the respective detection values of the two ground height detection means A, any two or more of the three ground height detection means A, Or it is good also as a structure which raises the cutting part 2 when all the ground height detection means A detects a value lower than target ground height.

(3) In each of the above embodiments, when all of the plurality of ground height detection means A detect a value higher than the target ground height, the lifting operation means C1 is controlled in a form in which the reaping part 2 is lowered. However, it is good also as a structure which lowers the cutting part 2 when two or more ground height detection means A of the several ground height detection means A each detect a value higher than target ground height.

(4) In each of the above embodiments, when the mowing unit 2 is raised based on the information of the ground height detection means A and the target ground height setting means 54, the preset target amount is raised. It is good also as a structure which performs a raise operation until setting time passes after starting.

(5) In each of the above embodiments, when the cutting unit 2 is lowered based on the information of the ground height detection means A and the target ground height setting means 54, the detection value of any of the plurality of ground height detection means A The lifting operation means C1 is controlled so that the cutting unit 2 is lowered until the ground height reaches the target ground height. However, instead of such a configuration, a preset target amount may be lowered.

(6) In each of the embodiments described above, the control device H is configured to execute the lifting process for automatically raising the cutting unit 2 and the lowering process for automatically lowering the cutting part 2 as the cutting lifting control. It is good also as a structure which performs only the raising process in which the control apparatus H raises the cutting part 2 automatically so that it may perform only by.

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

(8) In each of the above embodiments, the posture control is such that the left and right inclination angles of the traveling machine body V are changed and controlled. However, the front and rear inclination angles of the traveling machine body V may be changed and controlled. It is good also as a structure provided with the structure which changes and controls the inclination angle, and the structure which changes and controls the front-back inclination angle of the traveling body V, respectively.

(9) In each of the above embodiments, as the posture change operation means 100, four airframe posture changing hydraulic cylinders C2, C3, C4, C5 are provided, and these airframe posture changing hydraulic cylinders C2, C3, C4. , The left and right inclination angles of the traveling machine body V provided with the cutting part 2 can be freely changed by a telescopic operation of C5. However, the posture changing operation means 100 includes a hydraulic cylinder for changing the cutting part attitude, It is good also as a structure which provides the right-and-left inclination angle of the cutting part 2 so that change operation is possible by the expansion-contraction operation | movement of the hydraulic cylinder for a part attitude | position change.

(10) Although the combine was illustrated as a harvesting harvester in the said embodiment, this invention is applicable not only to a combine but to a vegetable and a 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 Furocha over the door of the 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 (5)

Elevating operation means for elevating the mowing part with respect to the traveling machine body, a plurality of grounding type ground height detecting means arranged at different positions in the mowing width direction in the mowing part, and a target ground height of the mowing part Target ground height setting means, and control means for executing cutting lifting control for controlling the lifting operation means based on information on the ground height detection means and the target ground height setting means. A harvesting lifting control device for a harvesting harvester,
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;
A target inclination angle setting means for setting a value corresponding to a horizontal state and a value inclined in a left inclination direction or a right inclination direction from the horizontal state as a target inclination angle with respect to a horizontal reference plane of the cutting unit;
The control means is
Based on the detection information of the inclination angle detecting means, the posture changing operation means is operated so that the inclination angle of the cutting part with respect to the horizontal reference plane is maintained at the target inclination angle set by the target inclination angle setting means. The posture control execution mode for executing the posture control and the execution of the posture control based on a switching command of the mode switching means for posture control configured by the manually operated switch and configured to execute the posture control to be controlled Is configured to switch to a posture control stop mode for stopping
In the posture control execution mode, the target inclination angle set by the target inclination angle setting means is a value corresponding to the horizontal state, or the horizontal inclination from the horizontal state to the left inclination direction or the right inclination direction as the cutting lift control. 2 or more of the plurality of ground height detection means, or all of the ground height detection means are lower than the target ground height , regardless of whether the slope is a sloped value. When the multiple detection state is detected, the cutting unit is raised, and in the posture control stop mode, any of the plurality of ground height detection means detects a value lower than the target ground height. A cutting and lifting control device for a harvesting and harvesting machine configured to control the lifting and lowering operation means in a form in which the cutting unit is raised in a state where a small number is detected. Elevating operation means for elevating the mowing part with respect to the traveling machine body, a plurality of grounding type ground height detecting means arranged at different positions in the mowing width direction in the mowing part, and a target ground height of the mowing part Target ground height setting means, and control means for executing cutting lifting control for controlling the lifting operation means based on information on the ground height detection means and the target ground height setting means. A harvesting lifting control device for a harvesting harvester,
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. And
The control means is
Based on the detection information of the inclination angle detecting means, the posture changing operation means is operated so that the inclination angle of the cutting part with respect to the horizontal reference plane is maintained at the target inclination angle set by the target inclination angle setting means. Configured to perform attitude control to be controlled, and
As the cutting up / down control, when the target inclination angle set by the target inclination angle setting means is within a setting range corresponding to the horizontal position of the cutting part or a posture close thereto , the plurality of ground height detection means two or more of the ground height detecting means out raising the reaper when a large number detection state to detect the value lower than the or all of the ground height detecting means target ground height, and the When the target inclination angle detected by the target inclination angle setting means is out of the setting range , any one of the plurality of ground height detection means detects a value lower than the target ground height. The lifting operation means is controlled in such a manner that the mowing part is raised , and further, a value inclined from the horizontal state to the left inclination direction or the right inclination direction is set. Target tilt angle When the fixing means is manually operated, the ground height detection located on the lower side of the plurality of ground height detection means is automatically assumed when the reaping portion reaches the target inclination angle. As a target ground height for the means, a corrected harvesting harvester configured to determine 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 Cutting lift control device. Elevating operation means for elevating the mowing part with respect to the traveling machine body, a plurality of grounding type ground height detecting means arranged at different positions in the mowing width direction in the mowing part, and a target ground height of the mowing part Target ground height setting means, and control means for executing cutting lifting control for controlling the lifting operation means based on information on the ground height detection means and the target ground height setting means. A harvesting lifting control device for a harvesting harvester,
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;
A target inclination angle setting means for setting a target inclination angle with respect to a horizontal reference plane of the cutting part;
The control means is
Based on the detection information of the inclination angle detection means, it is configured to execute attitude control for controlling the operation of the attitude change operation means so that the inclination angle of the reaping part with respect to the horizontal reference plane is maintained at the target inclination angle. As well as
As the cutting up / down control, when the target inclination angle set by the target inclination angle setting means is within a setting range corresponding to the horizontal position of the cutting part or a posture close thereto, the plurality of ground height detection means When the two or more of the ground height detection means or all the ground height detection means are in a multiple detection state in which a value lower than the target ground height is detected, the reaping part is raised, and When the target inclination angle detected by the target inclination angle setting means is out of the setting range, any one of the plurality of ground height detection means detects a value lower than the target ground height. In this case, the lifting operation means is controlled in such a manner that the mowing part is raised , and the target inclination angle set by the target inclination angle setting means is out of the setting range. In case, before Assuming that the cutting part has reached the target inclination angle, the target ground height is set as the target ground height for the ground height detection means located on the upper side of the plurality of ground height detection means. A cutting lift control device for a harvesting and harvesting machine configured to determine a corrected target ground height that is obtained by correcting the target ground height set by the setting means to a higher set amount side . Elevating operation means for elevating the mowing part with respect to the traveling machine body, a plurality of grounding type ground height detecting means arranged at different positions in the mowing width direction in the mowing part, and a target ground height of the mowing part Target ground height setting means, and control means for executing cutting lifting control for controlling the lifting operation means based on information on the ground height detection means and the target ground height setting means. A harvesting lifting control device for a harvesting harvester,
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;
A target inclination angle setting means for setting a target inclination angle with respect to a horizontal reference plane of the cutting part;
The control means is
Based on the detection information of the inclination angle detection means, it is configured to execute attitude control for controlling the operation of the attitude change operation means so that the inclination angle of the reaping part with respect to the horizontal reference plane is maintained at the target inclination angle. As well as
As the cutting up / down control, when the target inclination angle set by the target inclination angle setting means is within a setting range corresponding to the horizontal position of the cutting part or a posture close thereto, the plurality of ground height detection means When the two or more of the ground height detection means or all the ground height detection means are in a multiple detection state in which a value lower than the target ground height is detected, the reaping part is raised, and When the target inclination angle detected by the target inclination angle setting means is out of the setting range, any one of the plurality of ground height detection means detects a value lower than the target ground height. In the case where the mowing portion is raised, the lifting operation means is configured to be controlled, and the target inclination angle set by the target inclination angle setting means is outside the setting range. Before When the reaper is assumed to have become the target tilt angle, a target ground height of the ground height detecting means positioned in the upper side of the plurality of the ground height detecting means, the target ground height A cutting lift control device for a harvesting and harvesting machine configured to determine a corrected target ground height that is obtained by correcting the target ground height set by the setting means to a lower set amount side . The control means is
When the target inclination angle set by the target inclination angle setting means is out of the setting range, a plurality of the ground height detection means are assumed when the cutting unit assumes the target inclination angle. As the target ground height for the ground height detection means located on the upper side, the same height as the target ground height set by the target ground height setting means is determined. The cutting lifting control device for a harvesting and harvesting machine according to claim 2 .

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