JP5722169B2 - Combine - Google Patents

Description

  The present invention relates to a combine technique, and more particularly, to a combine including a lift control device that drives a lift device to perform lift control of a cutting unit.

  2. Description of the Related Art Conventionally, a combine having a grounding sensor that detects the grounding of a cutting part and including a lifting means that lifts the cutting part by a signal from the grounding sensor is known (for example, see Patent Document 1). Also, there is a known combine in which the weeding body, which is provided at the tip of the cutting part, constitutes the grounding sensor reaches the concave part of the farm scene and is pushed up to turn on the grounding sensor and raise the cutting part. (For example, refer to Patent Document 2).

Japanese Patent Laid-Open No. 10-28439 Japanese Patent Laid-Open No. 10-295138

  However, in the conventional combine, when the traveling speed when the cutting unit is grounded is high, if the speed of raising the cutting unit is slow, the cutting unit may pierce the ground before raising the cutting unit. was there. Further, even when the traveling speed when the cutting unit is grounded is slow, if the time during which the cutting unit is in contact with the ground is long, the cutting unit may be stuck into the ground.

  In addition, when performing the control to raise the mowing part, if the lowering operation of the mowing part by the operating means is mistakenly performed, the manual operation is given priority and the mowing part is lowered, and the mowing part is in the ground. There is a possibility of being stuck.

  Therefore, in view of the above situation, the present invention provides a combine that can raise a cutting unit before the cutting unit pierces into the ground even when the cutting unit is grounded.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

In Claim 1, The raising / lowering apparatus which raises / lowers a cutting part, The earthing sensor which detects the earthing | grounding of a cutting part, The raising / lowering control which drives an raising / lowering apparatus and performs raising control of a cutting part based on the detection result of a grounding sensor and means, when the running speed when the reaper is grounded is equal to or greater than the preset speed, the lift control means is the combine for performing control to increase the rising speed of the reaper, when the reaper is grounded When the traveling speed is less than the set speed and the ground sensor detects that the ground sensor is in a grounded state for a certain time or more, the lift control means performs control to increase the lifting speed of the cutting unit .

According to a second aspect of the present invention, there is provided an operation unit that performs an up / down operation of the mowing unit, the operation unit is connected to an elevating control unit, and the elevating control unit performs an elevating control of the mowing unit based on a detection result of the ground sensor. In this case, the raising / lowering control means gives priority to the raising of the cutting part by the raising control of the cutting part based on the detection result of the ground sensor rather than the raising / lowering of the cutting part by the operation of the operating means .

  As effects of the present invention, the following effects can be obtained.

  In claim 1, when the traveling speed when the cutting unit is grounded is high, the speed at which the cutting unit is raised can be increased, so the cutting unit is raised before the cutting unit pierces into the ground. Can be made.

In addition , even when the traveling speed when the cutting unit is in contact with the ground is slow, and the time during which the cutting unit is in contact with the ground is long, the speed at which the cutting unit is raised is increased, so that the cutting unit is stuck in the ground. The mowing part can be raised before it ends.

In claim 2 , even when the raising / lowering of the cutting part is performed by the operation of the operating means during the raising control of the cutting part based on the detection result of the grounding sensor, Since priority is given to the raising control of the cutting part based on the detection result, the cutting part can be prevented from being stuck into the ground.

The side view of the traveling body of the combine which concerns on one Embodiment of this invention. The top view of a traveling body. Skeleton diagram of power transmission. The top view inside a driver's cab. The side view of a grounding-type cutting height sensor. FIG. 6 is a partial cross-sectional view taken along line AA in FIG. 5. FIG. 6 is a cross-sectional view taken along line B-B in FIG. 5. The block diagram which shows the connection structure of a control apparatus. The flowchart figure which shows the raising control of the cutting part based on the detection result of a grounding-type cutting height sensor. The flowchart figure which shows the raising control of the cutting part based on the detection result of a grounding-type cutting height sensor.

  The combine which concerns on one Embodiment of this invention is demonstrated using FIG.1 and FIG.2. As shown in FIGS. 1 and 2, the traveling machine body 1 has a pair of left and right traveling devices 2 each having a traveling crawler 2a. A threshing unit 3 is mounted on the left side in the traveling direction of the traveling machine body 1, and a reaping part 4 that can be moved up and down by a single-acting hydraulic cylinder 9 is disposed at the front of the traveling machine body 1. A clipper-type cutting blade device 5 is disposed on the lower side of the lower frame of the cutting unit 4. In addition, as shown in FIG. 2, the cereal pulling device 6 for six strips is arranged in front of the cutting unit 4, and is used for supplying cereals to the handling cylinder 13 in the threshing pulling device 6 and the threshing unit 3. Between the front end of the feed chain 7, the cereal haul conveying device 8 is arranged, and in front of the lower portion of the cereal haul pulling device 6, the weed bodies 10 for 6 strips protrude. A cab 11 is arranged at the front right side of the traveling machine body 1, and a grain tank 12 is arranged on the rear side thereof. In the cereal haul conveying device 8, the groin raising device 6 is conveyed while pinching the culm root causing the groin raising device 6, and the stock gantry is inherited at the front end of the feed chain 7.

  Next, the power transmission system of the combine will be described with reference to FIG. As shown in FIG. 3, one of the outputs from the engine 35 is transmitted to the bottom conveyor 37 and the vertical conveyor 38 in the grain tank 12 via the clutch 36, and then the screw conveyor (not shown) in the discharge auger. ). Other outputs from the engine 35 are a power handling shaft 40, a sorting drive shaft 41, a driving hydraulic pump hydraulic motor type (HST type) driving drive unit 42 to a driving drive unit 42, Power is transmitted to the constant speed rotation drive shaft 44 to the cutting unit 4. The other output from the engine 35 is used to turn on / off the power transmission via the threshing clutch 48 a in the power branching mission 39, and the handling cylinder 13 via the handling cylinder drive shaft 40 or the sorting drive shaft 41. And the processing cylinder 29, the first receiving screw conveyor 26a, the tang fan, the second receiving screw conveyor 26b, the waste chain 31, the suction fan 30, and the waste cutter 33.

  On the other hand, power is supplied to the cutting shaft 47 via the one-way clutch 45a (which can be transmitted only during the forward rotation of the traveling drive unit) and the tuning clutch 46 from the cutting tuning drive shaft 45 output from the (HST type) traveling drive unit 42. And transmit directly to the feed chain 7. Further, the power transmission to the cutting unit 4 is turned ON / OFF via a cutting clutch 49 provided on the cutting shaft 47. In order to turn ON / OFF the threshing clutch 48a, the tuning clutch 46, the inflow clutch 48, and the mowing clutch 49, a clutch actuator such as an electromagnetic solenoid corresponding to each clutch is turned ON / OFF. . The synchronization clutch 46 may be a tension clutch that cuts power by tensioning / relaxing the belt tension. Therefore, as will be described later, when prohibiting (stopping) the vehicle speed synchronization control, power is transmitted to the cutting shaft 47 via the constant speed rotation drive shaft 44 of the power branching mission 39, and from the HST traveling drive unit 42. The one-way clutch 45a idles when the rotational speed of the reaping synchronized driving shaft 45 to be output is lower than the rotational speed from the constant speed rotational driving shaft 44 or when the reaping synchronized driving shaft 45 rotates in the reverse direction of the combine. .

  It should be noted that the vehicle speed is continuously variable by adjusting the swash plate of each hydraulic pump or the like of the HST type (a mechanical transmission mechanism incorporated in a continuously variable transmission mechanism using a two hydraulic motor and two hydraulic pumps). As shown in FIG. 4, the main transmission lever 85 is arranged in the side operation portion of the seat 11 a in the cab 11. When the main transmission lever rotates back and forth and is tilted forward with respect to the neutral position (stop position) in a substantially vertical posture, it is the forward movement position, and the vehicle speed increases as the inclination angle with respect to the vertical increases. When the vehicle is tilted backward, the vehicle moves backward, and the vehicle speed increases as the tilt angle increases.

  Similarly, the auxiliary transmission lever 86 disposed in the side operation portion of the seat 11a is used to control an actuator such as a transmission motor that operates a mechanical transmission mechanism (not shown) provided in the HST traveling drive unit 42. When the sub-shift lever 86 is switched to each position in the road running mode, the standard work mode, and the low speed work mode, each work mode is instructed by a command from a microcomputer-type control device (controller unit) 70 mounted on the combine. The output (horsepower) and the rotational speed of the traveling drive unit 42 that are sometimes adapted can be set and held within a predetermined range.

  When normal mowing and threshing work is performed while the traveling machine body 1 is traveling forward (in the low speed work mode and the standard work mode), the inflow clutch 48 in the power branching mission 39 is turned off (power cut off). The threshing clutch 48a, the tuning clutch 46 and the reaping clutch 49 are turned on (power connection), and while monitoring the detected values of the fuel injection amount sensor and the vehicle speed sensor, the rotational speed synchronized with the output of the traveling drive unit 42 is adjusted. Since the cutting shaft 47 is driven through the cutting tuning drive shaft 45 to drive the cutting portion 4 and the feed chain 7 in synchronization, the handling cylinder driving shaft 40 and the sorting driving shaft 41 are driven to drive the handling cylinder 13 and the like. is there.

  Further, when the traveling machine body is changed in direction during cutting and threshing work in the field, when the traveling machine body 1 is stopped or retracted, when the driving of the cutting unit 4 and the feed chain 7 is stopped, the synchronization clutch 46 and The inflow clutch 48 is turned off. To drive only the feed chain 7, the cutting clutch 49 is turned off. In this case, there is no power transmission to the cutting unit 4, and power is transmitted only from the power branching mission 39 to the feed chain 7 via the cutting shaft 47.

  Next, the configuration of the grounding-type cutting height sensor 90 will be described with reference to FIGS. As shown in FIG. 5 to FIG. 7, of the plurality of weed bodies 10 arranged to protrude from the lower front end of the cutting unit 4, the rotary weed body 10 a disposed at the rightmost end in the forward direction. A grounding-type cutting height sensor 90 is installed at an appropriate location, and the other weeding bodies 10 are fixed to the lower frame 4a or the like that supports the cutting unit 4.

  A mounting plate 91 is erected on the lower frame 4a disposed in the longitudinal direction in the rearward direction of the rotating weed body 10a, and a hitch spring holder 92 is fixed to the mounting plate 91 with bolts 93. The sliding rod 94 is penetrated and supported by the front plate 92a of the holder 92 and the intermediate plate 92b at the rear thereof, and the front locking rod 95a is pin-fixed to the front side portion of the sliding rod 94, and this front locking rod An urging spring (compression coil spring) 96 having a front end supported by 95 a is fitted on the sliding rod 94. The rear end of the urging spring 96 is loosely fitted to the sliding rod 94 and is supported by the locking rod 95b after it is brought into non-retractable contact with the intermediate plate 92b, so that the sliding rod 94 protrudes forward. It is energized. The sensor body 98 is attached to the rear plate 92c of the hitch spring holder 92 so that the front / rear position can be adjusted by an adjusting screw 97. The sensor rod 98a that protrudes from the front end of the sensor body 98 is brought into contact with the rear end surface of the slide rod 94 or separated by an appropriate gap by the front / rear position adjustment operation by the adjustment screw 97. Set to confront. The sensor body 98 is configured as a switch in this embodiment, and is configured to be turned on when the sensor rod 98a that is turned off is retracted by a predetermined amount when the sensor body 98 is urged. However, the sensor body may be a photo interrupter or the like. Alternatively, an optical sensor or a capacitive sensor may be used.

  As shown in FIG. 7, a pivot shaft 101 is rotatably supported on the left and right side plates 100a and 100b of the holder 100 bolted to the front end of the lower frame 4a. Connected so that the fitted tube portion 103c of the base portion of the interlocking arm 103 that supports the substantially triangular weed plate 102 in the front view of the movable weed body 10a so as to be pivotable up and down is integrally rotated via the key 104. Has been. On the outer side of the one side plate 100b, the vertical rotation arm 105 fixed to the pivot shaft 101 is provided with a contact plate 105a so as to face the front end of the sliding rod 94.

  Further, as shown in FIGS. 5 and 7, a slidable casing 107 of the field scene is fixed to the lower end of the weed board 102, and the rear side of the weed board 102 is further rearward thereof. The mounting bracket 102a and the horizontal portion 103a, which is the front part of the interlocking arm 103, are connected via a pivot pin 108, and the bracket 109 standing from the horizontal portion 103a and the mounting bracket 102a are connected to each other by an arc slot. It fixes with the volt | bolt 111 via 110, and it is comprised so that the up-and-down inclination attitude | position of the weed board 102 can be adjusted. As shown in FIG. 5, the interlocking arm 103 has an inclined portion extending in the direction of the pivot shaft 101 that is a rotation fulcrum with the length of the horizontal portion 103a close to the field scene inclined backward and upward from the horizontal portion 103a. It is set to be shorter than the length of 103b.

  Further, as an interlocking mechanism that allows the frame 107 to be selected between a posture capable of grounding with respect to a farm scene and a posture not grounding, the tip of the operation wire 113 is placed on the auxiliary arm 112 standing from the interlocking arm 103. The other end of the operation wire 113 is connected to the operation lever 116. The operation wire 113 is inserted into a flexible outer pipe 114 and guided, and the tip of the outer pipe 114 is fixed to a bracket 115 erected on the lower frame 4a, so that the outer pipe 114 and the operation wire 113 are operated as described above. The operation wire 113 is connected to an operation lever 116 that extends to a side operation portion in the chamber 11 and rotates along a guide groove 117 formed in the longitudinal direction of the operation panel (see FIG. 5 to FIG. 7). When the operation lever 116 is moved forward, the housing 107 can be grounded to the farm scene, and the interlocking arm 103 can be turned up and down in accordance with the unevenness of the farm scene. When the operation lever 116 is tilted rearward to be locked at any position of the locking groove of the guide groove 117, the interlocking arm 103 and eventually the frame 107 are largely separated from the field scene and are held at the raised position. ing.

  In addition, in the holder 100, in order to restrict the lower limit position when the front end side of the casing 107 rotates downward by the dead weight of the weed plate 102, the casing 107, and the interlocking arm 103, and to change the position, Bolts and nuts 119 are provided so that the position of the regulating piece 118 can be adjusted. In a normal case, the height position of the casing 107 in the rotating type weed body 10a is set to be appropriately lower than the fixed type weed body 10 so as to be lower than the fixed type weed body 10. As soon as possible, the ground is touched on the field and adjusted so that the grounding state can be sensed.

  Next, the configuration of the control device 70 as a lifting control means for performing the lifting / lowering control of the cutting unit 4 will be described with reference to FIG. As shown in FIG. 8, the control device 70 is an electronic control device such as a microcomputer, and includes a central processing unit (CPU) for executing various arithmetic processes and controls, and a storage device including a RAM and a ROM. A clock as a timer function is provided. A sensor body 98 of a grounding type cutting height sensor 90 is connected to the control device 70. Further, a manual switch 76 is connected to the control device 70 as an operation means for an operator to manually raise and lower the cutting unit 4. The control device 70 is connected to an electromagnetic solenoid 50a provided in the electromagnetic valve 50 for operating the hydraulic cylinder 9 as a lifting device. Also. A travel speed sensor 75 for detecting the travel speed is connected to the control device 70. Further, the control device 70 is connected to a lifting control start switch 74 for switching on / off of the cutting unit lifting control.

  The manual switch 76 is an operating means for an operator to manually raise and lower the cutting unit 4. The manual switch 76 can switch the cutting unit 4 to any one of the rising, stopping, and lowering states. The solenoid valve 50 is composed of an electromagnetic proportional valve, and can be configured to change the amount of oil supplied to the hydraulic cylinder 9 in accordance with a control signal (lift signal) from the control device 70, and the extension speed (rise speed) can be changed. It is said. The traveling speed sensor 75 is disposed in the vicinity of the axle and detects the traveling speed by detecting the rotational speed of the axle. However, the type and mounting position of the sensor are not limited.

  Next, ascent control of the cutting unit 4 using the grounding type cutting height sensor 90 will be described with reference to FIGS. 9 and 10. As shown in FIGS. 9 and 10, first, it is determined whether or not the cutting unit automatic ascent control is started (step S <b> 10). Specifically, it is determined whether or not the ascending control start switch 74 provided on the operation panel in the cab 11 is turned on. Further, it is determined whether or not the auxiliary transmission lever 86 is turned on. In addition, it is determined whether or not the work state is a cutting state. Whether or not the work state is in the cutting state is determined, for example, based on whether or not the cutting clutch 49 is in the ON state. Further, it is determined whether or not the manual switch 76 has failed. In addition, it is also determined whether a communication state or disconnection / failure has occurred. Further, it is determined whether or not the vehicle speed v is equal to or higher than the first set speed V1. The first set speed V1 is the minimum speed required to start the ascent control. For example, V1 is set to 0.03 m / s. When it is determined in step S10 that the ascending control has not been started, in other words, the ascending control start switch 74 is in the OFF state, or the auxiliary transmission lever 86 is in the OFF state, or the working state is Either the state is not in the cutting state, the manual switch 76 has failed, the communication state, the disconnection or failure has occurred, or the vehicle speed v is less than the first set speed V1. If this is true, the process proceeds to step S10 again.

  If it is determined in step S10 that the ascending control has been started, in other words, the ascending control start switch 74 is in the ON state, the auxiliary transmission lever 86 is in the ON state, and the working state is the cutting state. All conditions that the manual switch 76 is not broken, that no communication state or disconnection / failure has occurred, and that the vehicle speed v is equal to or higher than the first set speed V1. If is established, it is determined whether or not it is in a grounded state (step S20). Specifically, it is determined whether or not the grounding type cutting height sensor 90 senses a grounding state. If it is determined in step S20 that the grounding state is not established, the process proceeds to step S20 again.

  In step S20, when it is determined that the grounding state is established, the cutting unit 4 starts to rise (step S30). Specifically, the mowing unit 4 is raised by extending a single-acting hydraulic cylinder 9.

  After starting the raising of the cutting unit 4 in step S30, it is determined whether or not the traveling speed v detected by the traveling speed sensor 75 is equal to or higher than the second set speed V2 as a threshold (step S40). Here, the second set speed V2 is a speed at which the housing 107 may be submerged in the ground when the traveling speed v is higher than this value. Or it is the speed | rate which the rotary type weed body 10a cannot follow the unevenness | corrugation of the ground, and thrusts.

  If it is determined in step S40 that the traveling speed v is equal to or higher than the second set speed V2, the ascent speed of the reaping unit 4 is increased (step S50). That is, the oil supply amount per unit time to the hydraulic cylinder is increased. Thereafter, it is determined whether or not the trimming unit automatic ascent control is terminated (step S57).

  If it is determined in step S40 that the traveling speed v is less than the second set speed V2, it is determined whether or not the grounding state continues for a predetermined time T1 or more (step S55). Specifically, in step S20, the time point determined to be in the grounding state is stored, and whether the grounding-type cutting height sensor 90 continuously senses the grounding state for a predetermined time T1 from that time point. Judge whether or not. If it is determined in step S55 that the grounding state has continued for a predetermined time T1 or more, the ascent speed of the cutting unit 4 is increased (step S56). That is, since the rotary weed body 10a is still in contact with the ground, the ascent speed is increased in order to escape quickly. Thereafter, the process proceeds to step S60. If it is determined in step S55 that the grounding state has not continued for a predetermined time T1 or longer, the process proceeds to step S57.

  In step S57, specifically, it is determined whether or not the ascending control start switch 74 provided on the operation panel in the cab 11 is turned off. Further, it is determined whether or not the auxiliary transmission lever 86 is turned off. Further, it is determined whether or not the working state is no longer a cutting state. Whether or not the working state is no longer in the cutting state is determined based on, for example, whether or not the cutting clutch 49 is in the OFF state. Further, it is determined whether or not the manual switch 76 has failed. Also, it is determined whether a communication state, disconnection, failure, or the like has occurred. Further, it is determined whether or not the vehicle speed v is less than the first set speed V1. The first set speed V1 is the minimum speed required to start the ascent control. For example, V1 is set to 0.03 m / s.

  In step S57, when it is determined that the ascending control is finished, in other words, the ascending control start switch 74 is in the OFF state, the auxiliary transmission lever 86 is in the OFF state, or the working state is cut. Either the state is not set, the manual switch 76 is broken, the communication state or the disconnection / fault occurs, or the vehicle speed v is less than the first set speed V1. When is established, the process proceeds to step S80 to be described later, and the reaping part ascent is stopped.

  If it is determined in step S57 that the ascending control is continued, in other words, the ascending control start switch 74 is in the ON state, the auxiliary transmission lever 86 is in the ON state, and the working state is All of being in the cutting state, that the manual switch 76 has not failed, that there is no communication state or disconnection / failure, and that the vehicle speed v is equal to or higher than the first set speed V1. If the above condition is satisfied, it is determined whether or not it is in a grounded state (step S60). Specifically, it is determined whether or not the ground contact cutting height sensor 90 senses the ground contact state even after the cutting unit 4 is raised.

  If it is determined in step S60 that the grounding state is established, the mowing unit 4 is continuously raised (step S65). When the rising speed of the cutting unit 4 is increased in step S50 or step S56, the cutting unit 4 is raised while the rising speed is increased. Thereafter, in step 57 again, it is determined whether or not the cutting part automatic ascent control is terminated.

  If it is determined in step S60 that the grounding state is not established, in other words, if the cutting unit 4 is raised to a position where it does not ground, it is determined whether or not the cutting unit automatic ascent control is terminated (step S67).

  In step S67, specifically, it is determined whether or not the ascending control start switch 74 provided on the operation panel in the cab 11 is turned off. Further, it is determined whether or not the auxiliary transmission lever 86 is turned off. Further, it is determined whether or not the working state is no longer a cutting state. Whether or not the working state is no longer in the cutting state is determined based on, for example, whether or not the cutting clutch 49 is in the OFF state. Further, it is determined whether or not the manual switch 76 has failed. Also, it is determined whether a communication state, disconnection, failure, or the like has occurred. Further, it is determined whether or not the vehicle speed v is less than the first set speed V1. The first set speed V1 is the minimum speed required to start the ascent control. For example, V1 is set to 0.03 m / s.

  If it is determined in step S67 that the ascending control is finished, in other words, the ascending control start switch 74 is in the OFF state, the auxiliary transmission lever 86 is in the OFF state, or the work state is cut. Either the state is not set, the manual switch 76 is broken, the communication state or the disconnection / fault occurs, or the vehicle speed v is less than the first set speed V1. When is established, the process proceeds to step S80 to be described later, and the reaping part ascent is stopped.

  If it is determined in step S67 that the ascending control is continued, in other words, the ascending control start switch 74 is in the ON state, the auxiliary transmission lever 86 is in the ON state, and the working state is All of being in the cutting state, that the manual switch 76 has not failed, that there is no communication state or disconnection / failure, and that the vehicle speed v is equal to or higher than the first set speed V1. If the above condition is satisfied, it is determined whether or not a predetermined time T2 has elapsed since the start of the rise (step S70). The predetermined time T2 is the minimum time during which the cutting unit 4 is lifted when the lifting of the cutting unit 4 is started by the lift control. The mowing unit 4 is raised. The predetermined time T2 is set in advance. Specifically, the time when the cutting unit 4 is raised in step S30 is stored, and it is determined whether or not a predetermined time T2 has elapsed from that time.

  If it is determined in step S70 that the predetermined time T2 has not elapsed since the start of the rise, the reaping unit 4 is continuously raised (step S75). When the rising speed of the cutting unit 4 is increased in step S50 or step S56, the cutting unit 4 is raised while the rising speed is increased. Thereafter, in step S67, it is determined whether or not the trimming unit automatic ascent control is terminated. If it is determined in step S70 that the predetermined time T2 has elapsed since the start of the lift, the lift of the cutting unit 4 is stopped (step S80), and the control is terminated.

  While the raising control of the cutting unit 4 using the grounding-type cutting height sensor 90 is performed, the lifting control unit 4 controls the cutting unit 4 by the lifting control in preference to the raising / lowering operation of the cutting unit 4 by the manual switch 76. A rise is made. In other words, while the ascent control start switch 74 is in the ON state, the control device 70 does not perform switching of the solenoid valve 50 based on switching of ascending / stopping and descending of the manual switch 76, but based on the ascent control. Only the solenoid valve 50 is opened and closed, and the hydraulic cylinder 9 is slid.

  As described above, the combine is based on the detection result of the hydraulic cylinder 9 that raises and lowers the cutting unit 4, the grounding-type cutting height sensor 90 that detects the grounding of the cutting unit 4, and the grounding-type cutting height sensor 90. A control device 70 that drives the hydraulic cylinder 9 to control the lifting of the cutting unit 4. When the traveling speed v when the cutting unit 4 is grounded is equal to or higher than the second set speed V 2, the control device 70 Control for increasing the ascending speed of the unit 4 is performed. With this configuration, when the traveling speed v when the cutting unit 4 is grounded is high, the speed at which the cutting unit 4 is raised can be increased, so that the cutting unit 4 is stuck in the ground. The cutting part 4 can be raised.

  Further, when the traveling speed v when the cutting unit 4 is grounded is less than the second set speed V2, and when the grounding-type cutting height sensor 90 detects that the grounding state is in the grounded state for a predetermined time T1 or more, the control device 70 Performs control to increase the ascending speed of the cutting unit 4. With this configuration, even when the traveling speed v when the cutting unit 4 is grounded is slow and the time during which the cutting unit 4 is grounded is long, the speed of raising the cutting unit 4 is high. Therefore, the cutting unit 4 can be raised before the cutting unit 4 is pierced into the ground.

  In addition, a manual switch 76 for moving up and down the mowing unit 4 is provided. The manual switch 76 is connected to the control device 70, and the control device 70 controls the raising of the mowing unit 4 based on the detection result of the ground-type mowing height sensor 90. When performing, the control apparatus 70 of the cutting part 4 by the raising control of the cutting part 4 based on the detection result of the grounding type cutting height sensor 90 rather than the raising / lowering of the cutting part 4 by the operation of the manual switch 76. Priority is given to rising. With this configuration, the raising / lowering of the cutting unit 4 by the operation of the manual switch 76 is performed when the raising control of the cutting unit 4 is performed based on the detection result of the grounding type cutting height sensor 90. Even in this case, priority is given to the raising control of the cutting unit 4 based on the detection result of the grounding-type cutting height sensor 90, so that the cutting unit 4 can be prevented from being stuck into the ground.

4 Cutting part 9 Hydraulic cylinder (lifting device)
50 Solenoid valve 50a Electromagnetic solenoid 70 Control device 76 Manual switch (operating means)
90 Grounding type cutting height sensor (grounding sensor)
v Traveling speed V1 First set speed V2 Second set speed (set speed)
T1 predetermined time

Claims (2)

Elevating device that raises and lowers the mowing unit, a grounding sensor that detects the grounding of the mowing unit, and an elevating control means that drives the elevating device and controls the raising of the mowing unit based on the detection result of the grounding sensor,
If the traveling speed at which the reaper is grounded is equal to or greater than the preset speed, the lift control means is the combine for performing control to increase the rising speed of the reaper,
When the traveling speed when the cutting unit is in contact with the ground is less than a set speed and the grounding sensor detects that the grounding state is in contact with the ground for a certain time or longer, the lifting control means increases the lifting speed of the cutting unit. A combine characterized by performing control . The operation means for performing the lifting operation of the harvesting unit, the operation means is connected to the lifting control means, and when the lifting control means is performing the lifting control of the cutting part based on the detection result of the ground sensor, 2. The combine according to claim 1 , wherein the lifting control means gives priority to the raising of the cutting part by the raising control of the cutting part based on the detection result of the ground sensor rather than the raising / lowering of the cutting part by operation of the operating means. .

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