JP5016438B2 - Mowing harvester - Google Patents

Description

  The present invention relates to an elevating drive means for elevating and driving a mowing unit connected to a front part of a traveling machine body, a ground height detecting means for detecting a ground height of the mowing part, and a target ground of the mowing part. Manual operation type target ground height setting means for setting the height, posture changing operation means for freely changing the front / rear inclination angle of the traveling aircraft with respect to the grounding part of the traveling device, and front / rear with respect to the horizontal reference plane of the traveling aircraft Front / rear inclination angle detection means for detecting an inclination angle, and cutting / lifting / lowering control for controlling the operation of the lifting / lowering driving means so that the ground height of the cutting unit becomes a control target height determined based on the target ground height. In addition, the present invention relates to a harvesting and harvesting machine provided with control means for performing posture control for controlling the operation of the posture changing operation means so that the front-rear inclination angle of the cutting part with respect to the horizontal reference plane is maintained at a set inclination angle.

A conventional example of the harvesting and harvesting machine is configured as follows.
That is, the posture changing operation means includes a hydraulic cylinder that can change and adjust the height of the traveling device with respect to the grounding portion at each of the left front, left rear, right front, and right rear of the traveling aircraft. Of these four hydraulic cylinders, two hydraulic cylinders located at the left front and right front are used as the front drive means, and two hydraulic cylinders located at the left rear and right rear are driven rear As a means, for example, by operating one of the front drive means and the rear drive means while stopping the other, the front and rear inclination angle of the traveling machine body with respect to the grounding portion of the traveling device is reduced in the forward and backward inclination directions and the rear. It is configured to be freely changeable in each downward tilt direction, and is configured to execute the posture control as described above. In addition to the posture control, the cutting lift control is performed. And it has a configuration that line. Then, this cutting lift control determines the target ground height set by the target ground height setting means as the control target height, and the ground of the cutting unit detected by the ground height detection means The operation of the elevating drive means is controlled so that the height becomes the target ground height (see, for example, Patent Document 1).

JP 2002-204613 A

  The conventional configuration described above is a configuration in which the cutting lift control always sets the target ground height set by the target ground height setting means as the control target height, and thus has the following disadvantages. It was.

That is, when the posture change operation means is operated by executing the posture control, the posture change operation means may be operated to change the posture of the traveling vehicle body in the forward downward inclination direction with the cutting unit approaching the ground. However, if such a posture change is performed during the cutting operation, the cutting unit may rush into the ground.

In other words, when changing the attitude of the traveling aircraft in the forward downward inclination direction as described above, the longitudinal inclination angle with respect to the horizontal reference plane of the traveling aircraft is set to an appropriate longitudinal inclination posture corresponding to the set inclination angle for some reason. On the other hand, the posture of the traveling vehicle body has changed to the rear downward inclination side, and the posture change is made in the forward downward inclination direction as described above in order to correct the change in the posture. When the attitude of the aircraft is changed in the forward and downward tilt direction by the operation of the attitude change operation means, the attitude change operation means is operated at the operation speed of the attitude change operation means when starting the attitude change. Since it moves in the downward direction, it may be accelerated by the movement of the center of gravity of the traveling machine body, and the traveling machine body may change its posture at a higher speed than the operation speed of the posture changing operation means.

On the other hand, when the cutting unit descends as the traveling aircraft changes its posture in the downward tilt direction and the ground height of the cutting unit is lower than the target ground height, the cutting ground lifting control is executed to maintain the target ground height. The lifting / lowering drive means is actuated to raise the reaping part in an attempt to move the moving body to a position lower than the operating speed of the posture changing operation means. If the posture is changed at a high speed, there is a possibility that the cutting unit will thrust into the ground without the lifting operation of the cutting unit by cutting lifting control in time.

  An object of the present invention is to make it possible to perform cutting work while maintaining the front-rear inclination angle with respect to the horizontal reference plane of the traveling aircraft body at the set inclination angle, but to easily avoid the cutting part from thrusting into the ground. It is in the point which provides the harvesting harvester which can do.

The harvesting and harvesting machine according to the present invention is an elevating drive means for elevating and driving a mowing part that is connected to the front part of the traveling machine body so as to be movable up and down.
Ground height detection means for detecting the ground height of the cutting part;
Manually operated target ground height setting means for setting the target ground height of the cutting part;
Posture changing operation means capable of changing and operating the front and rear inclination angles of the traveling machine body with respect to the grounding portion of the traveling device; and
A front and rear inclination angle detecting means for detecting a front and rear inclination angle with respect to a horizontal reference plane of the traveling machine body;
Cutting / lifting control for controlling the operation of the lifting / lowering drive means so that the ground height of the cutting part becomes a control target height determined based on the target ground height, and a forward / backward tilt angle with respect to a horizontal reference plane of the traveling machine body Control means for executing posture control for controlling the operation of the posture changing operation means so that is maintained at a set inclination angle,
The first characteristic configuration is that the control means includes:
As the control target height in the cutting lift control, when the posture of the traveling machine body is changed in the forward and downward inclination direction with respect to the grounding portion of the traveling device in a form in which the cutting unit approaches the ground, The traveling device is configured in such a manner that a value that is higher by a set amount for a forward tilt operation than a reference ground height determined in correspondence with the target ground height set by the target ground height setting means is set, and the cutting unit approaches the ground. When the posture of the traveling aircraft body is not changed in the forward and downward inclination direction with respect to the ground contact portion, the reference ground height is determined.

According to the first characteristic configuration, the front-and-rear inclination angle with respect to the horizontal reference plane of the traveling machine body can be maintained at the set inclination angle by the control means executing the attitude control. When the control means determines the control target height based on the target ground height set by the target ground height setting means when executing the cutting lift control, the cutting unit is placed on the ground. When the posture of the traveling aircraft body is changed in the forward and downward inclination direction with respect to the grounding portion of the traveling device in the approaching form, the target ground height set by the target ground height setting means is made to correspond. A value that is higher than the reference ground height determined by the set amount for the front tilt operation is set as the control target height, and the front and rear tilt angle of the traveling machine body with respect to the grounding portion of the traveling device is set in front of the cutting unit in the form of approaching the ground. When the posture is not changed in the downward inclination direction, the reference ground height is determined as the control target height, and the ground height of the cutting unit detected by the ground height detection means is determined as described above. System It will control the operation of the elevation drive means such that the target height.

When changing the attitude of the traveling aircraft in the forward and downward tilt direction, the cutting part will descend so as to approach the ground, but it corresponds to the target ground height set by the target ground height setting means Since the control target height is set to a value that is higher than the reference ground height determined in advance by the set amount for the forward tilt operation, it is possible to avoid the cutting portion from being pushed into the ground as much as possible.
In other words, when changing the attitude of the traveling aircraft in the forward and downward tilt direction, the reference ground height is set higher than the reference ground height from the state where the reference ground height is set as the control target height. Since the value is changed to the state determined as the control target height, by executing the mowing raising / lowering control, the mowing unit is raised to the ground height that is higher than the reference ground height or a height close thereto by the set amount for the forward tilt operation. Will rise once. Then, when the height of the cutting unit is lowered so that the cutting unit approaches the ground by changing the posture of the traveling body and the ground height detected by the ground height detection means falls below the control target height, the cutting unit should be raised. The operation of the lifting drive means is controlled.

As a result, for example, when the attitude of the traveling machine is changed in the forward and downward tilt direction by the operation of the attitude changing operation means, the traveling airplane is accelerated by the movement of the center of gravity of the traveling airplane and the attitude of the traveling aircraft is higher than the operation speed of the attitude changing operation means. Even if there is a change, the mowing unit is temporarily raised to a ground height that is higher than the reference ground height as the control target height by a set amount for forward tilt operation, and When the ground height of the part falls below the control target height, an ascending operation for raising the mowing part is executed, which makes it easy to avoid the mowing part from being pushed into the ground.

On the other hand, the reference ground height is set as the control target height when the posture of the traveling body is not changed in the forward and downward inclination direction with respect to the grounding portion of the traveling device in a form in which the cutting unit approaches the ground. Therefore, the cutting operation can be performed while maintaining the ground height of the cutting unit at a desired ground height set by manual operation.

Therefore, according to the first characteristic configuration, while the cutting operation can be performed while maintaining the front-rear inclination angle with respect to the horizontal reference plane of the traveling vehicle body at the set inclination angle, the cutting portion is prevented from being pushed into the ground. It has become possible to provide a harvesting and harvesting machine that can be easily made.

The second feature configuration of the present invention includes, in addition to the first feature configuration, manually operated coasting work state command means for commanding a coasting work state in which a cutting work area in the field is cut and traveled. When the control means is commanded by the coasting work state commanding means to be in the coasting work state, the setting amount for the coasting work is set to the control target height determined at that time. Is added to determine a new control target height .

  According to the second characteristic configuration, when cutting and traveling the work area at the time of dredging in the field, the operator is instructed to operate the dredging work state command means by manual operation to be in the drowning work state. And the control means corrects the control target height to a value that is higher by the setting value for the coasting work when the coasting work state command means commands the coasting work state. become.

When working on the shoreline of a farm, there may be cases where the farm is tilted so that the side closer to the heel is in a higher position, or there is a case where straw scraps have accumulated on the side closer to the heel. There is a case where the mowing operation is performed in a state where the traveling machine body is inclined right and left so that it does not interfere with the ground, straw scraps and the like. In addition, since the ground height detection means is provided not at the end in the cutting width direction of the cutting part but at the center side, even if the detection value of the ground height detection means is the same as the control target height, The end in the cutting width direction of the part is at a position lower than the control target height, and there is a risk of contacting the ground or straw scraps. Therefore, by correcting the control target height to a value that is higher by the setting amount for the dredging operation, it becomes possible to avoid the end portion of the cutting portion in the cutting width direction from coming into contact with the ground or straw scraps. It is.

  Therefore, according to the 2nd characteristic structure, it came to be able to provide the harvesting harvester which can make it avoid that a cutting part contacts the ground, straw scraps, etc. in the case of the cutting work at the edge.

According to a third feature configuration of the present invention, in addition to the first feature configuration or the second feature configuration, the control unit causes the front / rear tilt angle detection unit to set a front / rear tilt angle with respect to a horizontal reference plane of the traveling machine body to a set value or more of when it before a downward state is detected, that it is configured such that the time added to the field entry for setting the amount of the control target height are defined define a new control target height It is in.

  According to the third characteristic configuration, the front-rear inclination angle detection unit detects that the front-rear inclination angle with respect to the horizontal reference plane of the traveling machine body is greater than or equal to a set value, even though the control unit performs the attitude control. When it is detected that the vehicle is in the lowered state, for example, it is considered that the traveling aircraft body is greatly inclined downwardly, such as starting the mowing work while entering the field from the fence. In such a case, the cutting unit may rush into the ground when the traveling body continues to travel forward, so the reaping unit rushes into the ground by correcting the control target height to a value that is higher by the set amount for entering the field. This is easy to avoid.

  Therefore, according to the third characteristic configuration, it is possible to provide a harvesting and harvesting machine that can easily prevent the harvesting unit from being pushed into the ground even when the harvesting operation is started while entering the field from the straw. It came to.

In addition to any of the first to third feature configurations, the fourth feature configuration of the present invention is a mode switching command that can be switched between a state for commanding a dry paddy control mode and a state for commanding a wet paddy control mode. And when the control mode for the dry rice field is commanded by the mode switching command unit, the control unit executes the mowing raising / lowering control based on the control target height, and sends the mode switching command unit to the mode switching command unit. when said Shitsuden control mode is commanded, the addition of Shitsuden for setting the amount of the control target height is determined when defining a new control target height, the new control target height Te The cutting and lifting control is performed based on the above.

  According to the fourth characteristic configuration, when performing the cutting operation on the farm field, if the farm field is a dry paddy field, the traveling aircraft body does not sink into the ground, so there is little possibility that the front and back tilt posture of the traveling machine body will change greatly. The height of the ground is less likely to fluctuate with the fluctuation of the traveling aircraft. On the other hand, the wet field is soft in the field, and therefore, when the traveling machine body starts traveling backward, the forward downward inclination angle tends to be large, so that there is a high possibility that the cutting part will thrust into the ground.

Therefore, the mode switching command means can switch between a state in which the dry rice pad control mode is commanded and a state in which the wet rice pad control mode is commanded, and when the dry rice pad control mode is commanded, the control target height is set. It is possible to maintain the desired ground height by executing the cutting lifting control based on this, and when the wetland control mode is commanded, the control target height is corrected to a value higher by the wetland set amount. Then, by executing the cutting up / down control based on the corrected control target height, it becomes easy to avoid the cutting unit from thrusting into the ground.

Therefore, according to the 4th characteristic structure, even if it was a wet field, it came to be able to provide the harvesting harvester which can perform an appropriate harvesting operation in the state where it is easy to avoid that a cutting part thrusts into the ground.

  According to a fifth characteristic configuration of the present invention, in addition to any one of the first characteristic configuration to the fourth characteristic configuration, the control means sets an operation speed for raising the mowing unit to a standard speed for raising and the mowing unit A standard speed operating state in which the operating speed for lowering is set to the standard speed for lowering, and an operation for changing the operating speed for raising the mowing part to the set amount increasing side from the standard speed for raising and lowering the mowing part The traveling machine body is configured to be capable of switching to a high-speed ascending operation state in which the speed is changed and set to the set amount decrease side from the standard speed for descent, and the cutting unit approaches the grounding unit of the traveling device in a form in which the cutting unit approaches the ground. When the posture is changed in the forward / downward tilt direction, the forward / backward inclination of the traveling machine body with respect to the grounding portion of the traveling device is switched to the high speed ascending operation state and the cutting unit approaches the ground. When not by position change before downward tilting direction lies in that it is configured to execute the reaper elevation control in the form of switching to the standard speed operation state.

  According to the fifth characteristic configuration, when the reaping part is not close to the ground and the posture of the traveling body with respect to the grounding part of the traveling device is not changed in posture in the forward downward inclination direction, the standard speed operation state is set. Since the cutting up / down control is executed in the switching mode, the cutting unit can be moved up / down at an appropriate operation speed set in advance. On the other hand, when the posture of the traveling aircraft is changed in the forward and downward inclination direction with respect to the grounding portion of the traveling device in a form in which the cutting portion approaches the ground, the cutting portion is lifted because it is switched to the high-speed raising operation state. The operating speed to be moved is changed and set to the set amount increasing side with respect to the ascending standard speed, and the operating speed for lowering the mowing unit is changed and set to the setting amount decreasing side with respect to the descending standard speed. By switching to the high-speed ascending operation state in this way, the mowing unit can be quickly raised and lowered at a low speed, so that the mowing unit can more easily avoid pushing into the ground.

  Therefore, according to the fifth characteristic configuration, it is possible to provide a harvesting and harvesting machine that more easily avoids the harvesting unit from thrusting into the ground when the posture of the traveling machine body is changed in the forward downward inclination direction.

  According to a sixth characteristic configuration of the present invention, in addition to the fifth characteristic configuration, the control means reduces a front-rear inclination angle of the traveling machine body with respect to the grounding portion of the traveling device in a direction in which the cutting unit approaches the ground. When it is detected that the forward / backward inclination angle with respect to the horizontal reference plane of the traveling vehicle body is in a state of lowering forward than a set value when the posture is not changed to It is in the point which is comprised so that the said cutting raising / lowering control may be performed in the form switched to an operation state.

  According to the sixth characteristic configuration, even when the posture of the traveling machine body with respect to the grounding portion of the traveling device is not changed in posture in the forward downward inclination direction with the cutting unit approaching the ground, When it is detected by the inclination angle detecting means that the forward / backward inclination angle with respect to the horizontal reference plane of the traveling vehicle body is in a front-lowering state that is equal to or greater than a set value, the cutting / lifting control is performed by switching to the high-speed raising operation state. If the traveling aircraft is in a state of leaning forward and down, such as when starting a harvesting operation while entering the field from the fence, switch to the high-speed ascending operation state. By raising the mowing part quickly and lowering the lowering speed, it becomes easier to more accurately avoid the mowing part thrusting into the ground.

  Therefore, according to the sixth feature configuration, not only when the traveling vehicle body is changed in posture in the forward and downward inclination direction, but also in the case where the cutting operation is started while entering the field from the fence. Thus, it has become possible to provide a harvesting and harvesting machine that more easily avoids the harvesting part from thrusting into the ground.

  According to a seventh characteristic configuration of the present invention, in addition to the second characteristic configuration to the fourth characteristic configuration, the control means sets an operation speed for raising the mowing unit to a standard speed for raising and lowers the mowing unit. The standard speed operating state in which the operating speed is set to the standard speed for lowering, and the operating speed for raising the mowing part is changed to the set amount increasing side from the standard speed for raising, and the operating speed for lowering the mowing part is lowered. When it is configured to be able to switch to a high-speed ascending operation state that is changed and set to the set amount decrease side from the standard speed for use, and when the coasting work state command means commands the coasting work state And the front and rear inclination angles of the traveling machine body with respect to the grounding portion of the traveling device in a form in which the cutting unit approaches the ground in a state where the coasting operation state command means does not command the coasting operation state The front bottom When the posture is changed in the tilt direction, the state is switched to the high-speed ascending operation state, and the cutting unit is brought to the ground in the state where the coasting work state command means is not commanded to be in the coasting work state. When the posture is not changed in the forward and downward inclination direction with respect to the grounding portion of the traveling device in the approaching manner, the traveling speed is changed to the standard speed operation state.

  According to the seventh characteristic configuration, the traveling with respect to the grounding portion of the traveling device in a form in which the cutting unit approaches the ground in a state in which the coasting operation state commanding unit is not instructed to be in the coasting operation state. When the posture of the airframe is not changed in the forward and downward tilt direction, the mode is switched to the standard speed operation state, so that the cutting unit can be moved up and down at a preset appropriate operation speed. On the other hand, when the coasting work state command means instructs the coasting work state, and the coasting work state command means does not command the coasting work state When the posture of the traveling vehicle body is changed in the forward and downward inclination direction with respect to the grounding portion of the traveling device in a state in which the cutting unit approaches the ground in a state, the cutting unit is switched to the high-speed ascending operation state. The operation speed for raising the speed is changed and set to the set amount increasing side with respect to the ascent standard speed, and the operation speed for lowering the mowing unit is changed and set to the set amount decreasing side with respect to the descending standard speed. By switching to the high-speed ascending operation state in this way, the mowing unit can be quickly raised and lowered at a low speed, so that the mowing unit can more easily avoid pushing into the ground.

  Therefore, according to the seventh characteristic configuration, even when the mowing operation is performed at the heel or when the mowing operation is started while entering the field from the cocoon, the reaping portion is placed on the ground. It has become possible to provide a harvesting and harvesting machine that can more easily avoid thrusting.

  According to an eighth characteristic configuration of the present invention, in addition to the seventh characteristic configuration, the cutting unit is configured so that the control unit is not instructed to be in the coasting work state by the coasting work state command unit. When the posture of the traveling vehicle body with respect to the grounding portion of the traveling device is not changed in posture in the forward downward inclination direction in the form of approaching the ground, the front / rear inclination angle detecting means detects the longitudinal direction of the traveling vehicle body relative to the horizontal reference plane. When it is detected that the tilt angle is in a forward-decreasing state that is equal to or greater than a set value, the high-speed ascending operation state is switched.

  According to the eighth feature configuration, the coasting work state commanding means is not instructed to be in the coasting work state, and the reaping part approaches the ground in a form in which the cutting part approaches the ground. Even when the forward / backward inclination angle of the traveling vehicle body is not changed in posture in the forward downward inclination direction, the forward / backward inclination angle detection means is in a forward downward state in which the forward / backward inclination angle with respect to the horizontal reference plane of the traveling airframe is greater than a set value. When this is detected, the operation is switched to the high-speed ascending operation state, so that it is easy to avoid the risk that the reaping portion will thrust into the ground more accurately by quickly raising the reaping portion and lowering the lowering speed. Become a thing.

  Therefore, according to the eighth feature configuration, not only when the mowing work is performed at the shore or when the mowing work is started while entering the field from the cocoon, but also the field is entered from the cocoon. Thus, even if the harvesting operation is started while going on, it is possible to provide a harvesting and harvesting machine that more easily avoids the possibility that the harvesting unit will rush into the ground.

Hereinafter, an embodiment in the case where the present invention is applied to a combine as an example of a harvesting harvester will be described with reference to the drawings.
As shown in FIG. 1, the combine includes a pair of left and right crawler type traveling devices 1 </ b> L and 1 </ b> R, a threshing device 3 that threshs the harvested cereal, a grain tank 4 that stores the threshed grain, and a boarding operation unit 2. For the traveling machine body V provided with the above, a cutting part 10 for harvesting planted cereals such as rice and wheat and supplying it to the threshing device 3 is provided at the front part of the machine body so as to be movable up and down.

  The cutting unit 10 includes a weeding tool 6 provided at the tip part, a trigger device 5 that causes a planted culm that has been weeded by the weeding tool 6, and a clipper type that cuts the stock side of the induced culm. An example of the vertical driving device 8 that conveys the cutting blade 7 and the harvested cereal rice cake to the rear side while gradually changing the posture to the sideways tilted position and the like, and an example of the raising and lowering driving means around the horizontal axis P1 at the front portion of the traveling machine body V. Is provided so as to be swingable up and down by a hydraulic cutting cylinder C1. In other words, the cutting unit 10 is configured to be swingable up and down between a low position for cutting work close to the ground and an ascending / retreating position that rises so as to be largely separated from the ground.

  A grounding type cutting height sensor 9 as a ground height detecting means for detecting the height of the cutting unit 10 with respect to the ground is provided at the rear side portion of the weeding tool 6. Although not described in detail, the cutting height sensor 9 is capable of swinging around the horizontal axis and based on a swinging angle caused by contact with the ground of the grounding piece 9A biased downward. It is comprised so that the height with respect to the ground may be detected.

  Further, a pivotal support portion supported by the traveling machine body V of the cutting unit 10, that is, a position where the cutting unit 10 is supported by the traveling machine body V so as to be rotatable around a lateral axis P <b> 1 is high. A potentiometer-type anti-machine height sensor 40 is provided as an anti-machine height detecting means for detecting the height, and detection information of the anti-machine height sensor 40 is also input to the control device 22. Further, the traveling drive system for the traveling devices 1L and 1R is provided with a rotational speed sensor 41 for detecting the rotational speed of the traveling output shaft, and the control device 22 uses the detection information of the rotational speed sensor 41 and the elapsed time information. The traveling distance of the traveling machine body V is obtained by calculation.

The combine is provided with posture change operation means 100 that can freely change the front and rear inclination angles and the left and right inclination angles of the traveling machine body V with respect to the grounding portions of the 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. 2, a drive sprocket 13 is rotatably supported on the front end side of the support frame 12 fixed to the main frame 11 that constitutes the traveling vehicle body V in the front-rear-facing posture, and a plurality of idles are also provided. A track frame 16 that pivotally supports the rolling elements 14 arranged in the front-rear direction and supports a tension wheel 15 at the rear end is mounted to the support frame 12 so as to be movable up and down. A crawler belt B, which is an endless rotating body, is wound around the drive sprocket 13, the tension ring body 15, and each idler ring body 14.

A front bell crank 17a 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 12, and a horizontal axis is provided on the rear side of the support frame 12. A rear bell crank 17b configured to be substantially L-shaped in a side view so as to be rotatable around P3 is pivotally supported. The lower end portion of the front bell crank 17a is pivotally connected to the front portion of the track frame 16, and the lower end portion of the rear bell crank 17b is connected to the track frame 16 via an auxiliary link 17b1 for absorbing the stroke. It is pivotally connected to the rear part.
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 17a and 17b, 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 11, 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 17a is most extended and the hydraulic cylinder C3 (hereinafter referred to as the left rear cylinder) corresponding to the rear bell crank 17b is most shortened, FIG. As shown, the track frame 16 is received and supported by the support frame 12, and the track frame 16 comes closest to the main frame 11 and becomes substantially parallel.

When the left front cylinder C2 is shortened while maintaining the left rear cylinder C3 in the state shown in FIG. 2, the front side of the traveling machine body V is brought into contact with the grounding part as shown in FIG. The posture is changed in the direction of separation.
When the left rear cylinder C3 is extended while maintaining the left front cylinder C2 in the state shown in FIG. 2, the rear side of the traveling machine body V is separated from the grounding part as shown in FIG. The posture will be changed.
Further, from the state shown in FIG. 2, when the left front cylinder C2 is shortened and the left rear cylinder C3 is extended, the traveling machine body V is separated from the grounding portion in a parallel posture as shown in FIG. The posture will be changed in the direction to do.

  Similarly to the left traveling device 1L, the right traveling device 1R includes a right front cylinder C4 located on the front side of the fuselage and a right rear cylinder C5 located on the rear side of the fuselage. A similar operation is performed. When the left and right traveling devices 1L and 1R are in the state shown in FIG. 2, the front and rear inclination angles and the left and right inclination angles of the traveling vehicle body V with respect to the grounding portions of the traveling devices 1L and 1R are zero or substantially zero, respectively. It becomes the lower limit reference posture as a reference state.

  In this way, the posture changing operation means 100 changes the height of the left and right traveling devices 1L and 1R with respect to the grounding portion at each of the left front, left rear, right front and right rear of the traveling machine body V. It is configured to include four adjustable hydraulic cylinders C2 to C5 for changing the body posture.

  In a state where the left and right rear cylinders C3 and C5 are deactivated, when the left and right front cylinders C2 and C4 are shortened, the front side of the traveling machine body V is separated from the grounding portions of the traveling devices 1L and 1R. When the left and right front cylinders C2 and C4 are extended, the posture is changed in the direction in which the front side of the traveling vehicle body V comes close to the grounding portion of the traveling devices 1L and 1R (forward downward operation). ). Further, when the left and right front cylinders C2 and C4 are deactivated and the left and right rear cylinders C3 and C5 are extended, the rear side of the traveling machine body V is separated from the grounding portions of the traveling devices 1L and 1R. When the posture is changed (backward raising operation) and the left and right rear cylinders C3 and C5 are shortened, the rear side of the traveling machine body V is changed in the direction closer to the grounding portion of the traveling devices 1L and 1R (backward lowering operation). It will be. Accordingly, the left and right front cylinders C2 and C4 correspond to the front posture change driving means, and the left and right rear cylinders C3 and C5 correspond to the rear posture change driving means.

  Based on the amount of rotation of the four hydraulic cylinders C2, C3, C4, C5 corresponding to the rotation fulcrums of the bell cranks 17a, 17b in the left and right traveling devices 1L, 1R. In addition, potentiometer-type stroke sensors 18, 19, 20, and 21 are provided for detecting the operation amounts of the hydraulic cylinders C2, C3, C4, and C5 (that is, the stroke amount that has been expanded and contracted) (see FIG. 7).

  Next, the power transmission system is shown in FIG. The power output from the engine E mounted on the traveling machine body V is transmitted to the threshing device 3 via the threshing clutch 45, and left and right via the continuously variable transmission 47 as the traveling clutch 46 and the traveling transmission device. The power transmitted to the transmission unit 48 of the traveling devices 1L and 1R and transmitted to the mission unit 48 is transmitted to the traveling devices 1L and 1R, while being transmitted to the cutting unit 10 via the cutting clutch 49. Although not described in detail, a turning transmission mechanism 55 is provided for turning the power transmitted to the transmission unit 48 with a difference in driving speed between the left and right traveling apparatuses 1L and 1R. Switching the turning transmission mechanism 55 based on the left / right swinging operation of the operation lever 28 that can be swung in the left / right direction and the front / rear direction provided in the driving unit 2 to turn the traveling machine body V. Can be done. The continuously variable transmission 47 is configured to be shifted by a shift lever 51 provided in the boarding operation unit 2.

  A gravity-type front / rear inclination angle sensor 24 that detects the front / rear inclination angle with respect to the horizontal reference plane of the traveling machine body V by the action of gravity, and a gravity-type that detects the right / left inclination angle of the traveling machine body V with respect to the horizontal reference plane by the action of gravity. The left and right inclination angle sensor 23 is provided. As shown in FIG. 7, a control device 22 using a microcomputer is provided. The control device 22 includes the stroke sensors 18 to 21, a cutting height sensor 9, a left / right tilt angle sensor 23, a front / rear tilt angle sensor. 24 pieces of detection information are input.

  In addition, on the operation panel of the boarding operation unit 2, a left / right automatic switch 26 for commanding on / off of left / right posture control for changing the posture in the left / right direction, and a command for turning on / off of front / rear posture control for changing the posture in the front / rear direction. Automatic front / rear switch 27, mode switching switch 35 as a mode switching command means for switching the control mode, and manually operated target ground height for setting the target cutting height as the target ground height with respect to the ground of the cutting unit 10 A potentiometer-type cutting height setter 36 as setting means, a rising switch SW1 for instructing the raising of the cutting unit, a lowering switch SW2 for instructing a lowering of the cutting unit, and the like are also input to the control device 22.

  The ascending switch SW1 and the descending switch SW2 are configured to be turned on and off by a back and forth swinging operation of a cross swinging operation lever 28 provided on the operation panel of the boarding operation unit 2. That is, when the operation lever 28 is swung backward by a set amount or more, the raising switch SW1 is turned on, and when the operation lever 28 is swung forward by a set amount or more, the lowering switch SW2 is turned on. Although not described in detail, there are also provided a plurality of manual operation command switches capable of changing and adjusting the left and right inclined postures and the front and rear inclined postures of the traveling machine body V manually.

  The operation panel of the boarding operation unit 2 is provided with a coasting switch 37 as a manually operated coasting work state command means for commanding a coasting work state in which a cutting work area in the field is harvested. By operating the heel switch 37, the control target height in the cutting lift control is corrected to a value that is higher by the heel setting amount as will be described later.

  Further, the control device 22 controls the operation of the attitude changing operation means 100 based on the detection information of the left / right tilt angle sensor 23 so that the left / right tilt angle with respect to the horizontal reference plane of the traveling machine body V is maintained at the set left / right tilt angle. Based on the right / left posture control and the detection information of the front / rear tilt angle sensor 24, the operation of the posture change operation means 100 is controlled so that the front / rear tilt angle with respect to the horizontal reference plane of the traveling machine body V is maintained at the set front / rear tilt angle. It is comprised so that the back-and-forth posture control to perform may be performed.

  In the front-rear posture control, the control device 22 includes two hydraulic cylinders (a left front cylinder C2 and a right front cylinder C4) positioned at the left front part and the right front part among the four hydraulic cylinders C2 to C5. With one of the two hydraulic cylinders (the left rear cylinder C3 and the right rear cylinder C5) located at the left rear and the right rear being driven and stopped, the other two hydraulic cylinders Two hydraulic cylinders (the left front cylinder C2 and the left rear cylinder C3) that are configured to drive and that are positioned in the left front part and the left rear part among the four hydraulic cylinders C2 to C5 in the left and right posture control. ) And two hydraulic cylinders (right front cylinder C4 and right rear cylinder C5) located at the right front part and right rear part are stopped. State is composed of the other two hydraulic cylinders to drive operation. The control device 22 outputs drive signals for the solenoid valves 29 to 33 for hydraulic control for hydraulic control of the cutting cylinder C1 and the four hydraulic cylinders C2 to C5 for changing the body posture.

In addition, the control device 22 controls the dry rice field control mode in which the sensitivity on the insensitive side is set as the control sensitivity when the front-rear posture control is executed as the control mode for posture control based on the command from the mode changeover switch 35. Hereinafter, it is configured to be switchable between a dry paddy mode and a wetland control mode in which the sensitivity on the sensitive side is set as the control sensitivity when executing the forward / backward posture control (hereinafter referred to as wetland mode).

  In other words, if the deviation between the front / rear inclination angle with respect to the horizontal reference plane of the traveling vehicle body V detected by the front / rear inclination angle sensor 24 and the set inclination angle (for example, zero) is outside the dead zone for posture control, The posture changing operation means 100 is configured to operate so that a deviation falls within the dead zone, and in the dry rice field mode, a dead zone for dry rice is used as the dead zone for posture control. By using a dead zone for a wet paddy having a narrower width than the dead zone for the dry paddy as a dead band for posture control, the control sensitivity is set to be more sensitive than the dry paddy mode.

The control device 22 operates the cutting cylinder C1 to maintain the detected value of the cutting height sensor 9 at the control target height determined based on the target cutting height set by the cutting height setter 39. It is comprised so that raising / lowering control may be performed. When the control device 22 changes the posture of the traveling vehicle body V in the forward and downward inclination direction with respect to the grounding portion of the traveling devices 1L and 1R in a form in which the cutting portion 10 approaches the ground as the cutting lifting control. Then, a value that is higher than the reference ground height set in correspondence with the target ground height set by the cutting height setter 36 is set as the control target height, and the cutting unit 10 approaches the ground. When the posture of the traveling vehicle body V with respect to the grounding portions of the traveling devices 1L and 1R is not changed in posture in the forward and downward inclination direction, the reference ground height is defined as the control target height. Yes.
Therefore, the control device 22 constitutes a control unit that executes posture control and mowing lifting control.

  Further, the control device 22 sets the control target height by the setting amount for the coasting operation when the coasting switch 37 is turned on and the coasting operation state is instructed as the cutting lifting control. It is configured to correct to a high value. Further, the control device 22 performs control when the front / rear tilt angle sensor 24 detects that the front / rear tilt angle with respect to the horizontal reference plane of the traveling machine body V is in a front lowering state that is equal to or greater than a set value, as cutting up / down control. The target height is configured to be corrected to a value that is higher by a set amount for field entry. The control device 22 executes the cutting / lifting control based on the control target height when switching to the dry paddy mode as the cutting lifting control, and the control when switching to the wet paddy mode. The target height is corrected to a value that is higher by a set amount for the wet paddy field, and the cutting lift control is executed based on the corrected control target height.

  The control device 22 sets the operating speed for raising the mowing unit 10 to the standard speed for raising and sets the operating speed for lowering the mowing part 10 to the standard speed for lowering, and raises the mowing part 10. The operating speed can be changed and set to the set amount increasing side from the ascending standard speed, and the operating speed for lowering the mowing unit 10 can be switched to the high speed ascending operation state where the operating speed is changed and set from the descending standard speed to the set amount decreasing side. As a cutting up / down control, when the posture of the traveling machine body V with respect to the grounding portion of the traveling device is changed in the forward and downward tilt direction with the cutting unit 10 approaching the ground, the state is changed to the high speed ascending operation state. When the posture of the traveling body V with respect to the grounding portion of the traveling device is not changed in the forward and downward inclination direction with the switching and cutting unit 10 approaching the ground, the standard speed operation state is used. And it is configured to switch to. Further, as the mowing raising / lowering control, when the posture of the traveling machine body V with respect to the grounding portion of the traveling device is not changed in the forward downward inclination direction with the cutting portion 10 approaching the ground, the front / rear inclination angle detection sensor is used. When it is detected that the forward / backward inclination angle of the traveling machine body V with respect to the horizontal reference plane is in a forward-decreasing state that is equal to or greater than a set value, the high-speed ascending operation state is switched.

  Further, the cutting unit 10 approaches the ground when it is commanded by the hook switch 37 to be in the hooking work state and when the hook switch 37 is not instructed to be in the hooking work state. When the posture of the traveling vehicle body V with respect to the grounding portion of the traveling device is changed in posture in the forward and downward inclination direction, the state is switched to the high-speed raising operation state and the coasting switch 37 is in the coasting work state. If the posture of the traveling vehicle body V with respect to the grounding portion of the traveling device is not changed in the forward downward inclination direction with the reaping portion 10 approaching the ground in a state where the command is not commanded, the standard speed operation state is set. It is configured to switch. Further, the front and rear inclination angle of the traveling machine body V with respect to the grounding portion of the traveling device is lowered forward and tilted in a form in which the cutting unit 10 approaches the ground when the coasting switch 37 is not instructed to be in the coasting work state. When it is detected that the forward / backward inclination angle with respect to the horizontal reference plane of the traveling vehicle body V is in a forward-lowering state equal to or greater than a set value when the posture is not changed in the direction, the high-speed ascending operation is performed. It is configured to switch to a state.

Next, the front / rear posture control by the control device 22 will be specifically described based on the flowchart of FIG. This front / rear posture control is executed in a state where the front / rear automatic switch 27 is turned on.
In this front / rear posture control, first, it is determined whether the control mode switched according to the operation state of the mode switch 35 is the wet paddy mode or the dry paddy mode, and in the dry paddy mode, a deadband for the dry paddy is set as a dead band for posture control. In the wet paddy mode, a dead pad for the paddy field that is narrower than the width of the dead pad for the dry paddy is set as a dead band for posture control (steps 1, 2, and 3).

  The deviation between the detected value of the front / rear inclination angle sensor 24 and the signal value (control target value) corresponding to the horizontal state corresponding to the set front / rear inclination angle deviates from the dead zone for attitude control to the front inclination side of the traveling vehicle body V. If so (steps 4 and 5), a post-inclination process is executed to change the attitude of the traveling vehicle body V in the backward-lowering direction. That is, based on the detection information of the left and right stroke sensors 19 and 21 located at the rear of the machine body, it is determined whether either the left rear cylinder C3 or the right rear cylinder C5 is operated to the lower limit position, and both cylinders C3 , C5 are not operated to the lower limit position, the operation of the left front cylinder C2 and the right front cylinder C4 is stopped, and the left rear cylinder C3 is kept until either the left rear cylinder C3 or the right rear cylinder C5 reaches the lower limit position. And the downward inclination operation | movement which shortens the right rear cylinder C5 is performed (steps 6 and 7). Even if either the left rear cylinder C3 or the right rear cylinder C5 is operated to the lower limit position, if the deviation deviates from the dead zone to the rear inclination side of the traveling vehicle body V at that time, the left rear cylinder C3 continues. The right rear cylinder C5 is deactivated, and the ascending tilt operation is performed to shorten the left front cylinder C2 and the right front cylinder C4 until either the left front cylinder C2 or the right front cylinder C4 reaches the upper limit position (steps 8 and 9). ).

  Further, if the deviation between the detected value of the front / rear inclination angle sensor 24 and the signal value corresponding to the horizontal state deviates from the attitude control dead band to the rear inclination side of the traveling vehicle body V, the front / rear inclination posture of the traveling vehicle body V is moved forward. Pre-tilt processing is executed to change the posture in the downward direction. That is, based on the detection information of the left and right stroke sensors 18 and 20 located at the front of the machine body, it is determined whether either the left front cylinder C2 or the right front cylinder C4 is operated to the lower limit position, and both cylinders C2, If neither C4 is operated to the lower limit position, the left front cylinder C2 and the right front cylinder C4 are extended until either one of the cylinders C2 and C4 reaches the lower limit position (steps 10 and 11). Even if either the left front cylinder C2 or the right front cylinder C4 is operated to the lower limit position, if the deviation deviates from the dead zone to the rear slope side of the traveling vehicle body V, the left front cylinder C2 and the right front cylinder C4 are deactivated, The left rear cylinder C3 and the right rear cylinder C5 are extended until either the cylinder C3 or the right rear cylinder C5 reaches the upper limit position (steps 12 and 13). When the deviation between the detected value of the front / rear tilt angle sensor 24 and the set front / rear tilt angle, ie, the signal value corresponding to the horizontal state, falls within the dead zone for posture control, the operation of each cylinder is stopped (step 14).

  Next, the cutting lift control by the control device 22 will be specifically described based on the flowcharts of FIGS. 9, 10, and 11. This cutting lift control is configured to be executed when an operation based on a manual lift command is performed and the height of the body of the cutting unit 10 falls below a set height set at an intermediate level of the liftable range. However, even in the state in which the cutting up / down control is being executed, if there is a manual up / down command by the operation lever 28, the up / down operation based on the command is preferentially executed.

In the cutting lift control, first, the target cutting height set by the cutting height setting device 36 is read (step 20), and the control target height is calculated based on the target cutting height. Processing is executed (step 21).
In this control target height calculation process, as shown in FIG. 10, a reference ground height corresponding to the target cutting height set by the cutting height setting device 36 is calculated (step 200). That is, the correlation between the target cutting height and the reference ground height is set in advance by map data or an arithmetic expression, and the reference is determined based on such correlation and the target cutting height set by the cutting height setting unit 36. Find the ground height H0. Next, when the front inclination process is executed by executing the front-rear posture control, in other words, the front-rear inclination angle of the traveling vehicle body V with respect to the grounding portion of the traveling devices 1L, 1R in a form in which the cutting unit 10 approaches the ground. When the posture is changed in the forward and downward tilt direction, a value obtained by adding the forward tilt operation setting amount α1 to the reference ground height H0 is determined as the control target height Hs (steps 201 and 202). On the other hand, when the forward inclination process is not executed, in other words, the posture of the traveling machine body V with respect to the grounding portion of the traveling devices 1L and 1R is changed in the forward downward inclination direction with the cutting unit 10 approaching the ground. If not, the reference ground height H0 is determined as the control target height Hs (step 203). A specific value of the setting amount α1 for the forward tilt operation is, for example, a value of about 10 mm to several tens of mm.

  When the turning switch 37 is turned on, the setting value for the coasting work is added to the control target height Hs to increase the control target height Hs by the setting value for the coasting work α2. (Steps 204 and 205), and when the mode is switched to the wetland mode, the control target height Hs is increased by the wetland set amount by adding the wetland set amount α3 to the control target height Hs. (Steps 206 and 207). Further, when it is detected by the front / rear inclination angle sensor 24 that the front / rear inclination angle with respect to the horizontal reference plane of the traveling machine body V is in a front-lowering state that is equal to or greater than a set value, the control target height Hs is set for the field entry. By adding the amount α4, the control target height Hs is corrected to a value higher by the field entry setting amount α4 (steps 208 and 209). Incidentally, the setting value α2 for the dredging work, the setting amount α3 for the wet paddy field, and the setting amount α4 for the field approach are all appropriately set by experiments or the like in advance. Is done.

  Accordingly, when the control target height Hs is corrected as a result of the determination in each of the steps 204, 206, 208, the control target height Hs is corrected to a value obtained by adding the various set amounts. Become. Further, when the coasting switch 37 is off, in the dry rice field mode, and when the traveling machine body V is not largely in the downward tilting posture, the control target height Hs set in steps 202 and 203 is controlled as it is. This is used as the target height Hs.

  After executing the control target height calculation process, an operation speed setting process is executed. As shown in FIG. 11, the operation speed setting process is performed by executing the front / rear posture control to execute the front inclination process, the turning switch 37 being turned on, and the front / rear inclination angle sensor 24. When none of the conditions for detecting that the forward / backward inclination angle of the traveling machine body V with respect to the horizontal reference plane is in the front-falling state equal to or greater than the set value is not established, the reaping unit 10 is raised. The operation speed is set to the standard speed for ascent and the operation speed for lowering the mowing unit 10 is switched to the standard speed operation state for setting the standard speed for descending (steps 300 to 303). Incidentally, the standard speed for ascending and the standard speed for descending are speeds that are set in advance as appropriate operating speeds for raising and lowering the mowing unit 10 while the traveling vehicle body V is traveling while maintaining a horizontal posture. It is.

When at least one of the above conditions is satisfied, an operation for changing the operating speed for raising the mowing unit 10 to the set amount increasing side from the standard speed for raising and lowering the mowing part 10 The speed is switched to a high-speed ascending operation state in which the speed is changed and set to the set amount decrease side from the standard speed for descent (step 304). In this way, when there is a possibility that the cutting unit 10 may rush into the ground, the ascending is performed quickly and the descending is performed slowly to prevent the plunging.

  Accordingly, the forward tilt process is executed when the coasting switch 37 is instructed to be in the coasting work state and in the state where the coasting switch 37 is not instructed to be in the coasting work state. Switch to the high speed ascending operation state, and switch to the standard speed operation state when the forward tilt process is not executed in the state where the coasting switch 37 is not instructed to be in the coasting work state. become. Further, when the front tilt process is not executed in the state where the coasting switch 37 is not instructed to be in the coasting work state, the front / rear tilt angle sensor 24 tilts the vehicle body V forward / backward with respect to the horizontal reference plane. When it is detected that the corner is in the forward-decreasing state that is equal to or greater than the set value, the state is switched to the fast ascending operation state.

After executing the control target height calculation process and the operation speed setting process, information on the control target height set in the control target height calculation process and the operation set in the operation speed setting process Based on the speed information, the operation of the cutting cylinder C1 is controlled such that the ground height of the cutting unit 10 becomes the control target height.
That is, if neither the ascending operation nor the descending operation of the reaping part 10 as will be described later is performed (steps 23 and 24), it is determined whether or not the lowering determination timing is reached (step 25). 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 41 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, and if it is determined that the height deviation has deviated from the dead zone for the elevation control to the lower side, the detected value of the height sensor 40 at that time is set as the height at the time of rising After writing and storing in a memory (not shown), an ascending process for operating the harvesting cylinder C1 to raise the harvesting unit 10 is executed (steps 26, 27, 28). Based on the detection value of the aircraft height sensor 40, the lifting operation is executed until it is detected that the mowing unit 10 has increased a preset target amount for increase (for example, several centimeters). When the amount is increased, the ascending operation is stopped (steps 29 and 30). When the ascending operation is being executed, the ascending target amount is forcibly increased regardless of the detection state of the ground height sensor 9 (steps 23 and 28).

  If it is determined in step 25 that the lowering determination timing is reached, then it is determined whether or not the height deviation deviates from the dead zone for raising / lowering control to the higher side, and the height deviation is raised / lowered. If the control dead band is off to the higher side, a lowering operation is performed to operate the cutting cylinder C1 to lower the cutting unit 10, and the lowering operation is stopped when the height deviation enters the dead zone for lifting control. (Steps 31 to 34). When the cutting cylinder C1 is operated, the cutting cylinder C1 is operated at the operation speed set in the operation speed setting process.

[Another embodiment]
Hereinafter, other embodiments are listed.

(1) In the above embodiment, the setting operation amount α2 for the paddy field, the setting amount α3 for the wet paddy field, and the setting amount α4 for entering the farm field are set separately, and the paddle switch 37 is operated. When the respective conditions that the mode and the forward / backward tilt angle are greater than or equal to the set amount are satisfied, the respective set amounts are added. Is established as a control target height Hs, which is obtained by adding the forward tilt operation setting amount α1 to the reference ground height H0. The ground height H0 may be set as the control target height Hs. That is, the setting amount α2 for the dredging operation, the setting amount α3 for the wet paddy field, and the setting amount α4 for the field approach are each the same size as the setting amount α1 for the forward tilt operation, and only the conditions that the self corresponds to. When the condition is satisfied, correction to be added to the control target height Hs is performed. However, when other conditions are satisfied, the correction by addition may not be performed.

(2) In the above embodiment, the coasting work state command means is provided, and when the coasting work state command means commands the coasting work state, the control target height is set. Although the correction is made to be a high value by the setting amount for the dredging work, it is possible to adopt a configuration without such dripping work state command means.

(3) In the above embodiment, when it is detected by the front / rear inclination angle detecting means that the front / rear inclination angle with respect to the horizontal reference plane of the traveling machine body V is in a forward-decreasing state equal to or greater than a set value, the control target Although the height is corrected to a value that is higher by the set value for entering the field, a configuration in which such correction is not performed may be employed.

(4) In the above embodiment, mode switching command means is provided which can be switched between a state instructing the dry paddy mode and a state instructing the wet paddy mode. When the dry paddy mode is instructed, the control target height is determined. The mowing lifting control is executed, and when the wet paddy mode is commanded, the control target height is corrected to a value higher by the set amount for wet padding, and the mowing lifting control is performed based on the corrected control target height. However, such a correction may not be performed.

(5) In the above embodiment, the operation state for operating the mowing unit is configured to be switchable between a standard speed operation state and a high speed ascending operation state, and when the mowing unit may be pushed into the ground, the operation mode is changed to the high speed ascending operation state. Although the switching is exemplified, the operation speed may be always maintained at the standard speed instead of such a structure.

(6) In the above embodiment, when the mowing unit is raised, a preset target amount is raised, and when the mowing unit is lowered, the detection value of any of the plurality of ground height detection means is the target value. The elevating operation means is controlled so as to lower the mowing unit until the ground level is reached, but instead of such a configuration, the elevating operation is performed until the set time elapses after starting the ascent. It may be configured to execute, or may be configured to lower a preset target amount.

(7) In the above embodiment, the ground height detection means includes a grounding body detection sensor. However, a non-contact type ground height sensor such as an ultrasonic sensor may be used.

(8) In the above-described embodiment, four hydraulic cylinders are provided as the posture changing operation means. However, for example, the traveling machine body is supported so as to be rotatable about the axis in the lateral direction of the machine body with respect to the traveling device. And the structure etc. which change operation of the front-and-rear inclination angle of the said traveling body with respect to the grounding part of a traveling apparatus by rotation operation around the axis center may be sufficient.

(9) In the above embodiment, the combine is exemplified as the harvesting harvester. However, the present invention is not limited to the combine and is applicable to a vegetable or rush harvester.

Combine side view Side view showing the lifting / lowering configuration of the traveling device Side view showing the lifting / lowering configuration of the traveling device Side view showing the lifting / lowering configuration of the traveling device Side view showing the lifting / lowering configuration of the traveling device Power transmission diagram Block diagram showing control configuration Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation Flow chart showing control operation

Explanation of symbols

1L, 1R Traveling device 9 Ground height detection means 10 Cutting part 22 Control means 35 Mode switching command means 36 Target ground height setting means 37 Edge work state command means 100 Posture change operation means C1 Lifting drive means V Traveling machine body α1 Front Set amount for tilt operation α2 Set amount for dredging work α3 Set amount for wet field α4 Set amount for farm approach

Claims (8)

Elevating drive means for elevating and driving a mowing unit connected to the front part of the traveling machine body so as to be able to elevate freely
Ground height detection means for detecting the ground height of the cutting part;
Manually operated target ground height setting means for setting the target ground height of the cutting part;
Posture changing operation means capable of changing and operating the front and rear inclination angles of the traveling machine body with respect to the grounding portion of the traveling device; and
A front and rear inclination angle detecting means for detecting a front and rear inclination angle with respect to a horizontal reference plane of the traveling machine body;
Cutting / lifting control for controlling the operation of the lifting / lowering drive means so that the ground height of the cutting part becomes a control target height determined based on the target ground height, and a forward / backward tilt angle with respect to a horizontal reference plane of the traveling machine body A harvesting and harvesting machine provided with control means for executing posture control for controlling the operation of the posture changing operation means so that is maintained at a set inclination angle,
The control means is
As the control target height in the cutting lift control, when the posture of the traveling machine body is changed in the forward and downward inclination direction with respect to the grounding portion of the traveling device in a form in which the cutting unit approaches the ground, The traveling device is configured in such a manner that a value that is higher by a set amount for a forward tilt operation than a reference ground height determined in correspondence with the target ground height set by the target ground height setting means is set, and the cutting unit approaches the ground. A harvesting and harvesting machine configured to determine the reference ground height when the posture of the traveling machine body with respect to the ground contact portion is not changed in posture in the forward and downward inclination direction. Manual operation type coasting work state commanding means for commanding the coasting work state of cutting and traveling in the field of coasting in the field is provided,
When the control means is instructed to be in the coasting work state by the coasting work state commanding means, a set amount for coasting work is added to the control target height determined at that time. The harvesting and harvesting machine according to claim 1, wherein the harvesting and harvesting machine is configured to determine a new control target height . The control means is
When said a forward descending state of set value or more before and after the inclination angle with respect to the horizontal reference plane of the traveling machine body in longitudinal inclination angle detection means is detected, the control target height that defines at that time The harvesting and harvesting machine according to claim 1 or 2, wherein a new control target height is determined by adding a set amount for entering the field. A mode switching command means is provided which can be switched between a state for commanding a dry rice pad control mode and a state for commanding a wet rice pad control mode,
When the control mode for the dry rice field is commanded by the mode switching command unit, the control unit executes the cutting lifting control based on the control target height, and the wet field control by the mode switching command unit when the mode is commanded, the addition of Shitsuden for setting the amount of the control target height is determined when defining a new control target height, cutting the based on the new control target height The harvesting and harvesting machine according to any one of claims 1 to 3, wherein the harvesting and harvesting machine is configured to perform elevation control. The control means is
A standard speed operation state in which the operating speed for raising the mowing part is set to the standard speed for raising and the operating speed for lowering the mowing part is set to the standard speed for lowering, and the operating speed for raising the mowing part is for raising. It is configured to be switchable to a high speed ascending operation state in which the operation speed for lowering the mowing unit is changed and set to the set amount decrease side from the standard speed for descent, and is changed and set to the set amount increase side from the standard speed, and
When the posture of the traveling vehicle body is changed in the forward and downward inclination direction with respect to the grounding portion of the traveling device in a form in which the cutting unit approaches the ground, the state is changed to the high-speed ascending operation state, and the cutting unit is placed on the ground. In the form of approaching, when the posture of the traveling aircraft body is not changed in the forward and downward inclination direction with respect to the grounding portion of the traveling device, the cutting and lifting control is executed in the form of switching to the standard speed operation state. The harvesting and harvesting machine according to any one of claims 1 to 4. The control means is
When the posture of the traveling machine body is not changed in the forward and downward inclination direction with respect to the grounding part of the traveling device in a form in which the cutting unit approaches the ground, the front and rear inclination angle detecting means detects the horizontal direction of the traveling machine body. 6. The cutting up / down control is configured to be executed in a form of switching to the high-speed ascending operation state when it is detected that the forward / backward tilt angle with respect to the reference plane is in a forward descending state that is equal to or greater than a set value. The harvesting harvester described. The control means is
A standard speed operation state in which the operating speed for raising the mowing part is set to the standard speed for raising and the operating speed for lowering the mowing part is set to the standard speed for lowering, and the operating speed for raising the mowing part is for raising. It is configured to be switchable to a high speed ascending operation state in which the operation speed for lowering the mowing unit is changed and set to the set amount decrease side from the standard speed for descent, and is changed and set to the set amount increase side from the standard speed, and
The cutting is performed when the coasting work state command means commands the coasting work state and when the coasting work state command means does not command the coasting work state. When the posture of the traveling vehicle body is changed in the forward and downward inclination direction with respect to the grounding portion of the traveling device in a form in which the portion is close to the ground, the state is switched to the high-speed ascending operation state, and the coasting work state command means The front and rear inclination angle of the traveling machine body with respect to the grounding portion of the traveling device is changed to a forward downward inclination direction in a form in which the cutting unit approaches the ground in a state where it is not instructed to be in the dredging work state. The harvesting and harvesting machine according to any one of claims 2 to 4, wherein the harvesting and harvesting machine is configured to switch to the standard speed operation state when there is not. The control means is
The forward and backward inclination angle of the traveling vehicle body with respect to the grounding portion of the traveling device is lowered in a forward direction in a state where the cutting portion approaches the ground in a state where the coasting operation state command means does not command the coasting operation state. When the posture is not changed in the inclination direction, the high speed is detected when the front / rear inclination angle detecting means detects that the front / rear inclination angle with respect to the horizontal reference plane of the traveling vehicle body is in a front lowering state that is equal to or greater than a set value. The harvesting and harvesting machine according to claim 7, wherein the harvesting and harvesting machine is configured to switch to a rising operation state.

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