JP6725800B2 - General-purpose combine - Google Patents

Description

TECHNICAL FIELD The present invention relates to a general-purpose combine for lifting and lowering a reel with respect to a reaper connected to a traveling machine body.

A general-purpose combine for lifting and lowering a reel with respect to a mowing section connected to a traveling machine body, the traveling machine body, a mowing section connected to the traveling machine body so as to be able to move up and down, and a vertically movable and rotatable mowing section. A supported reel, a mowing-side elevating actuator that elevates and lowers the mowing section, a reel-side elevating and lowering actuator that elevates and lowers the reel with respect to the mowing section, and an ascending/descending height detecting unit that detects an ascending/descending height of the reel, A control unit and an operating unit are provided, and when the operation unit detects an operation, the control unit lowers the reel to a lower position within an ascending/descending range while the rotation of the reel is detected. A general-purpose combine configured to execute cutting control is known (see, for example, Patent Documents 1 and 2).

Japanese Patent No. 5809003 Japanese Patent No. 5809004

The general-purpose combine of the above document, forced scraping control or fall mowing control, which is a type of descending mowing control, can be executed quickly by the operation of the operation means, and thus is highly convenient, while being located on the lower side in the lifting range. The tine of the rotating reel may come into contact with the ground and scrape mud or the like, which causes a problem such as causing dirt when cutting crops such as soybeans.

INDUSTRIAL APPLICABILITY The present invention is capable of promptly performing descending mowing control such as forced scraping control or lodging mowing control by the operation of the operating means, and scraping mud or the like by the tines of the reel at the time of execution of the descending mowing control. An object is to provide a general-purpose combine that can be efficiently prevented.

In order to solve the above-mentioned problems, a general-purpose combine for controlling the reel to move up and down with respect to a mowing section connected to a traveling machine body, the traveling machine body, a mowing section that is vertically movable to the traveling machine body, and the mowing section. A reel that is vertically movable and rotatable, a mowing-side lifting actuator that lifts and lowers the mowing unit, a reel-side lifting actuator that lifts and lowers the reel with respect to the mowing unit, and a ground level of the mowing unit is detected. Ground height detecting means, a height detecting means for detecting the height of the reel with respect to the mowing section , a control section, and an operating means. When an operation is detected, it is configured to execute the descending reaping control for positioning the reel below the lifting range in a state where the rotation of the reel is detected or in a state where the reel is rotationally driven. The control section is arranged so that, when the descending mowing control is executed, the mowing-side elevating actuator is arranged so that the tine of the reel is not grounded based on the detection results of the ground height detecting means and the ascending/descending height detecting means. Alternatively, the operation of the reel-side lifting actuator is controlled.

When the descending reaping control is executed, the control unit adds or lowers the ascending/descending height so as to be higher than the ascending/descending height at which the tines are grounded in consideration of the ground height detected by the ground height detecting means. The operation of the reel-side lifting actuator may be controlled based on the detection result of the height detection means.

At the time of execution of the descending mowing control, the control unit controls the detection results of the ground height detecting means and the ascending/descending height detecting means so that the ground height is higher than the ground height at which the tines of the reel contact the ground. The operation of the cutting-side lifting actuator may be controlled based on the above.

According to the present invention, even when the descending mowing control such as the forced scraping control or the falling mowing control is promptly executed by the operation of the operation means, the state in which the tine of the spinning reel is not grounded is maintained. It is possible to effectively prevent the mud and the like from being scratched by the tines.

Further, the control unit, when performing the descending mowing control, in consideration of the ground height detected by the ground height detection means, so that the tine has a higher and lower height than the ground height. According to the one that controls the operation of the reel-side lifting actuator based on the detection result of the lifting height detection means, the mowing unit is configured to perform the adjustment to make the tines of the reels ungrounded when the descending mowing control is executed. Eliminates the need to raise and lower. In addition to this, since the vertical height of the mowing unit can be set lower, it is possible to mow the plant base side of the crop and maintain a good mowing state.

Further, the control section, based on the detection result of the ground height detecting means, makes the ground height higher than the ground height at which the tines of the reel contact the ground when the lowering mowing control is executed. According to the control of the operation of the lifting actuator, the reel can be freely lifted and lowered in the entire range even when the adjustment is performed so that the tines of the reels are not grounded when the lowering and mowing control is executed. In addition, the reel can be lowered to a lower position with respect to the mowing section, and the gap between the reel and the mowing section can be made narrower. The picked crop is effectively prevented from spilling from between the reel and the cutting section.

1 is an overall side view of a general-purpose combine to which the present invention is applied. It is a side view which shows the principal part structure of a mowing part and a reel. It is a side view showing a state in which the reel is moved forward and backward by a movable mechanism. It is a side view showing a state in which a reel moves up and down by a movable mechanism. It is a power transmission system diagram of this general-purpose combine. It is a perspective view of a control part. It is a top view of a switch panel. It is a block diagram which shows the structure of a control part. (A) is a perspective view showing a configuration of a soybean gutter, and (B) is a perspective view showing a configuration of a rice/wheat gutter. It is a main flowchart which shows the process sequence for performing the descending mowing control of a control part. It is a processing flow figure of the subroutine of descending reaping control. (A) is a side view showing the ascending/descending height of the reel before executing the special descending mowing control, (B) is a side view showing the ascending/descending height of the reel during execution of the special descending mowing control, FIG. 6C is a side view showing the ascending/descending height of the reel after the special descending mowing control is executed. FIG. 10A is a side view showing a vertical height of the reel before the special descending mowing control is executed, and FIG. 7B is a reel in which the special descending mowing control is executed. FIG. 6C is a side view showing the ascending/descending height of the reel, and FIG. 6C is a side view showing the ascending/descending height of the reel after the special descending mowing control is executed.

FIG. 1 is an overall side view of a general-purpose combine to which the present invention is applied, and FIG. 2 is a side view showing a configuration of essential parts of a reaper and a reel. The general-purpose combine shown in the figure is for harvesting crops such as rice, wheat and beans. This general-purpose combine has a traveling machine body 2 having a pair of left and right crawler type traveling devices (traveling sections) 1, a mowing section 3 connected to a front portion of the traveling machine body 2 so as to be movable up and down, and formed into a tubular shape extending in the left-right direction. And a movable mechanism 6 that supports the reel 4 on the reaping unit 3 side so that the reel 4 can be moved up and down and moved forward and backward while being rotatable about its own axis.

The reaping unit 3 integrally has a rear half feeder 7 and a front half reaping frame 8. From the left and right side walls of the mowing frame 8, the grass bodies 9 are provided so as to project forward. A column-shaped scraping auger 11 extending in the left-right direction is supported by a portion near the lower rear portion between the left and right side walls so as to be rotatable about an axis. A reciprocating cutting blade 12 extending in the left-right direction is installed diagonally below and in front of the scraping auger 11. Incidentally, the reel 4 is disposed between the left and right side walls of the mowing frame 8 in a plan view.

The feeder 7 has a box-shaped case in which a feeder conveyor 13 that conveys the crop cut by the cutting blade 12 backward is installed. This feeder 7 is located on the left side of the control unit 14 provided on the right side portion of the traveling machine body 2 in the forward direction in a plan view. The above-mentioned mowing section 3 is supported by the front portion of the traveling machine body 2 so as to be vertically swingable with the swing shaft 3a at the rear end portion of the feeder 7 as a fulcrum. By the way, the above-mentioned mowing frame 8 is formed in front of the control unit 14 and the feeder 7 in a range occupying the entire left and right widths of the both in a front view.

A lift cylinder 16 is provided between the mowing section 3 and the front part of the traveling machine body 2, which is a hydraulic mowing-side elevating actuator that elevates and lowers the mowing section 3 with respect to the traveling machine body 2. There is. By expanding and contracting the lift cylinder 16, the cutting unit 3 is vertically swung (moved up and down) with respect to the traveling machine body 2 with the swing shaft 3a as a fulcrum.

The reel 4 is configured by a frame 17 formed in a prismatic shape (hexagonal prism in the illustrated example) extending in the left-right direction. A tine 18 is supported around the frame 17 in a suspended and supported state. The tines 18 are provided at the respective apexes of the polygonal side surface of the frame 17 in a state of being arranged side by side. Incidentally, the tine 18 is maintained in a state of being directed downward due to its own weight even while the reel 4 is rotating, and its movement locus D has a distorted arc shape as shown by a virtual line in FIG.

The grain culms of the crops in the field scraped backward by the tine 18 of the rotating reel 4 are cut by the cutting blade 12 which is slidably driven to reciprocate in the left-right direction, and sent to the rear (feeder 7 side) by the scraping auger 11. To be The crop introduced to the feeder 7 side is conveyed backward to the traveling machine body 2 side by the feeder conveyor 13.

In the left half of the traveling machine body 2, the crops such as rice, wheat and beans that have been conveyed to the traveling machine body 2 side by the feeder 7 are subjected to threshing treatment, and the processed products subjected to the threshing treatment are processed into grains such as paddy. A threshing unit (thresholding device) 19 for selecting grains is installed. On the right half of the traveling machine body 2, a grain tank 21 for storing grains that have been threshed and sorted by the threshing unit 19, and the above-mentioned control unit arranged in front of the grain tank 21 and operated by an operator. And 14 are provided.

Further, the traveling machine body 2 can be moved up and down with respect to the left and right crawler type traveling devices 1 to change the vehicle height by an actuator such as a hydraulic cylinder (not shown).

The threshing unit 19 has a handling chamber 22 into which the crop from the feeder conveyor 13 is introduced, and a sorting chamber 23 formed immediately below the handling chamber 22. In the handling chamber 22, a cylindrical handling cylinder 24 extending in the front-rear direction is rotatably supported around its own axis. An oscillating sorting body 26 that moves back and forth is installed in the upper portion of the sorting chamber 23, and a Kara-mino fan 27 that blows the sorting wind diagonally upward and rearward is disposed on the lower front side of the sorting chamber 23. The first helix 28 and the second helix 29 are provided in the lower part in the front-rear direction. By the way, the second spiral 29 is arranged rearward of the first spiral 28.

The crops totally introduced from the feeder 7 to the threshing unit 19 are threshed while being conveyed backward by the handling drum 24 rotating in the handling room 22, and the processed products fall into the sorting chamber 23. The processed products that have fallen into the sorting chamber 23 are swing-sorted by the swing sorting body 26, and sorted (wind selection) by the sorting wind.

Specifically, it is sorted into the first thing that drops to the side of the helix 28 most, the second thing that drops to the side of the second helix 29, and the discharged matter such as straw waste sent obliquely upward and backward. The first product is conveyed as grain by the first helix 28 into the grain tank 21, the second product is re-introduced into the sorting chamber 23 by the second helix 29 and sorted, and the discharged product is the traveling machine body. 2 is discharged out of the machine from the rear end side.

A chaff sheave 31 including a plurality of fins 31a arranged in parallel in the front-rear direction is installed in the rear half of the swing selecting body 26. The chaff sheave 31 has a large opening degree during the opening operation in which the fins 31a are oriented more vertically, and has a smaller opening degree during the closing operation in which the fins 31a are oriented more horizontally. The air volume of the sorting wind that blows through the swing sorting body 28 increases when the opening is large, but decreases when the opening is small. By adjusting the air volume in this way, it becomes possible to perform the optimum air selection according to the amount of the processed material.

The grains in the grain tank 21 are discharged outside the machine by a discharge auger 32 supported at the rear end of the traveling machine body 2. Specifically, the base end portion of the discharge auger 32 is supported by the traveling machine body 2 so that the whole body can be vertically swung and horizontally rotated, and the discharge portion that discharges grains is provided at the tip end portion of the discharge auger 32. 32a is provided, and the discharge part 32a of the discharge auger 32 can be moved to a predetermined position by vertical swing or horizontal rotation, and the grain can be discharged on the spot.

FIG. 3 is a side view showing a state where the reel is moved forward and backward by the movable mechanism, and FIG. 4 is a side view showing a state where the reel is moved up and down by the movable mechanism. The movable mechanism 6 has a lower end supported by the feeder 7 so as to be capable of swinging back and forth, and has a plurality of forward and backward moving arms 33 arranged side by side in parallel, and swings up and down on the upper ends of the forward and backward moving arms 33 located at both left and right ends. A single hydraulic forward/reverse cylinder (a reel side front/rear cylinder) that oscillates the pair of lifting arms 34 whose rear ends are movably supported, and all the forward/backward arms 33 by the expansion/contraction operation in the same posture. (Advance actuator) 36, and a pair of hydraulic lifts which are respectively disposed between the middle part of the left and right lifting arms 34 and the mowing frame 8 and which vertically swings the left and right lifting arms 34 in the same posture by expansion and contraction operation. And a cylinder (reel side lift actuator) 37.

Between the front ends of the left and right lifting arms 34, the above-described left-right reel 4 is erected and supported so as to be rotatable about its own axis.

The forward/backward swing position of the forward/backward movement arm 33 (the forward/backward movement position of the reel 4) is detected by the reel forward/backward movement position detection means 38 including a potentiometer provided on the lower end (swing fulcrum) side of the forward/backward movement arm 33. ..

The vertical swing position of the elevating arm 34 (the elevating position of the reel 4) is detected by the reel elevating height detecting means 39 including a potentiometer. Specifically, the angle of the connecting portion of the pair of detection links 41 and 42, which are connected so as to rotate in a state of being bent in a dogleg shape, increases or decreases as the lifting cylinder 37 expands and contracts. Further, the pair of detection links 41, 42 are provided on the elevating cylinder 37. The increase/decrease in the angle of the connecting portion is detected by the reel elevation height detecting means 39.

In the illustrated example, the reel elevation height detecting means 39 detects the elevation height of the reel 4 by detecting the bending angle of the detection links 41, 42. (Not shown). Specifically, the lifting cylinder 37 and a detection arm (not shown) are connected by a wire, and the detection arm is urged by the elastic member in the one-side swing direction. Then, the detection arm is swung to the other side against the elastic force of the elastic member by the pulling operation of the wire accompanying the extension drive of the elevating cylinder 37 (elevation drive of the reel 4). By detecting the swing position of the detection arm having the above configuration by the reel elevation height detection means 39 such as a potentiometer, the elevation height of the reel 4 can be detected. With such a configuration, the reel elevation height detecting means 39 can be arranged at a position further away from the elevation cylinder 37.

FIG. 5 is a power transmission system diagram of the general-purpose combine. The power output from the engine 43 is branched into the power for the traveling system and the power for the working system on the most upstream side of the transmission. The power of the traveling system is transmitted to the left and right crawler type traveling devices 1, 1 via the traveling HST 44 and the transmission 46. The power of the work system is intermittently transmitted to the threshing drive shaft 48 via the threshing clutch 47. The rotational drive of the threshing drive shaft 48 drives each part of the threshing section 19 and is intermittently transmitted to the mowing section 3 and the reel 4 side via the mowing clutch 49.

The traveling HST 44 has a function of switching the rotational power input from the engine 43 side between forward and reverse rotations and outputting the rotational power, and also a function of steplessly shifting and outputting the rotational power. The power output from the traveling HST 44 is input to the transmission 46. The transmission 46 brakes and shifts the input rotational power, and distributes and transmits the driving force or the braking force to the left and right crawler type traveling devices 1, 1. For example, if the transmission 46 transmits rotational power of the same rotational speed to the left and right crawler type traveling devices 1 and 1, the traveling vehicle body 2 travels straight, while rotational power of different rotational speeds is transmitted, The traveling machine body 2 turns around on the side to which the low-speed power is transmitted.

The power intermittently transmitted by the reaping clutch 49 is transmitted to the feeder drive shaft 51. The feeder drive shaft 51 conveys and drives the feeder conveyor 13, and is also transmitted to the branch shaft 52. The power of the branch shaft 52 is transmitted to the scraping auger drive shaft 53 to drive the scraping auger 11 to scrape, and is transmitted to the cutting blade drive shaft 54 to drive the cutting blade 12 to be cut.

The power of the branch shaft 52 is also transmitted to the reel transmission 55. The reel transmission 55 includes an input shaft 56 to which the power of the branch shaft 52 is transmitted in a chain, an input pulley 57 that rotates integrally with the input shaft 56, an output shaft 58, and an output pulley that rotates integrally with the output shaft 58. 59 and a V belt 61 around which the input pulley 57 and the output pulley 59 are wound.

The power of the input shaft 56 is steplessly changed and transmitted to the output shaft 58 by the operation of the input pulley 57, the output pulley 59, and the V belt 61 via the speed change actuator 62 (see FIG. 8). Specifically, the input pulley 57 and the output pulley 59 are split pulleys that are split in the width direction, and a pair of split bodies of the split pulleys 57 and 59 are separated and approached by the speed change actuator 62. By moving, the speed ratio of the power transmitted from the input shaft 56 to the output shaft 58 is continuously changed.

Then, the power of the output shaft 58 is transmitted to the rotation shaft 63 of the reel 4 in a chain and drives the reel 4 to rotate. That is, the reel transmission device 55 is configured to continuously change the number of rotations of the reel 4. Incidentally, the left and right lifting arms 34 become a transmission case 34A that houses various transmission members that transmit power to the reel 4.

FIG. 6 is a perspective view of the control unit. The control unit 14 includes a seat 64 (see FIG. 1) on which an operator is seated, a main shift lever (shift operation tool) 66 and an auxiliary shift lever 67 arranged on the side of the seat 64, and a front portion of the seat 64. The multi-steering lever (steering operation tool, lifting operation tool) 68, and a switch panel 69 arranged behind the main speed change lever 66 and the auxiliary speed change lever 67 are provided.

The main speed change lever 66 performs a travel speed change operation via the travel HST 44. The main shift lever 66 can swing forward from the neutral position by swinging from the front-rear neutral position that sets the traveling HST 44 to the neutral state to the left or right side, while moving the neutral position to the other left or right side. The rocking allows rocking backward from the neutral position. Then, forward swing from the neutral position of the main speed change lever 66 performs a speed increasing operation to the forward traveling side via the traveling HST44, while backward swing from the neutral position of the main speed change lever 66 causes the traveling HST44. Speed up operation to the reverse traveling side via.

A grip 66a that is long in the left-right direction is formed at the upper end of the main shift lever 66. A momentary type take-in switch (operating means) 71 that can be pushed while gripping the grip 66a is provided on the side of the grip 66a, and an alternate fall switch ( An operating means) 72 is provided.

The sub-transmission lever 67 performs traveling gear shift switching via the transmission 46 by swinging back and forth.

The multi-steering lever 68 performs an up-and-down operation of the mowing unit 3 by the lift cylinder 16 by swinging back and forth, and a swinging operation by the left-right swinging operation (steering) via the transmission 46 described above when the traveling machine body 2 travels. Operation).

FIG. 7 is a plan view of the switch panel. On the switch panel 69, a crop switch dial (crop switch detection) capable of selecting at least two types of crops to be mowed, bean and rice (specifically, soybean, rice and wheat) can be selected. Means) 73, and a reel descending height setting for setting the relative height of the reel 4 to the mowing section 3 as the most descending position when executing the forced scraping control (falling reaping control) or the lying cutting control (falling reaping control) described later. A dial (reel lowering height setting means) 74 and a threshing/rearing clutch switch (threshing clutch connecting/disconnecting operating means, cutting clutch connecting/disconnecting operating means) 76 which is a seesaw switch are provided.

A disengaged state in which both the threshing clutch 47 and the reaping clutch 49 are disengaged by switching the threshing/mowing clutch switch 76 to one of the one side, the horizontal state, and the other side. , The threshing state in which only the threshing clutch 47 is connected to disconnect the harvesting clutch 49, and the connected state in which both the threshing clutch 47 and the harvesting clutch 49 are connected are switched.

According to the general-purpose combine, the traveling machine body 2 is moved forward while the cutting unit 3 is lowered and the reel 4 is rotated, thereby performing the cutting work. Specifically, during the mowing operation, the crops in the field that are scraped backward by the reels 4 are mowed by the cutting blade 12, and the cropped crops are scraped by the scraping auger 11 and the feeder conveyor 13 to the threshing section 19 of the traveling machine body 2. Is transported backwards. The crop conveyed to the threshing section 19 side is threshed and sorted by the threshing section 19, and the grains are stored in the grain tank 21, while other wastes such as waste are discharged from the rear end of the traveling machine body 2. Is discharged from the aircraft. The control unit 77 controls the rotational speed (rotational speed) of the reel 4, the vertical movement, the forward/backward movement, and the like during the mowing work.

Next, the configuration of the controller 77 will be described based on FIGS. 1, 5, 6, 8, and 9.

FIG. 8 is a block diagram showing the configuration of the control unit. The control unit 77 includes one or a plurality of microcomputers and the like, and has a storage unit 77a such as a ROM that stores various information.

To the output side of the control unit 77, the lift cylinder 16, the elevating cylinder 37, the forward/rearward movement cylinder 36, and the speed change actuator 62, and the threshing/mowing clutch actuator 78 that connects and disconnects the threshing clutch 47 and the mowing clutch 49 are connected. ing.

On the input side of the control unit 77, the reel forward/backward position detecting means 38, the reel up/down height detecting means 39, the scraping switch 71, the fall switch 72, the crop switching dial 73, the reel lowering height setting dial 74 and the threshing are described. In addition to the reaping clutch switch 76, a reaper raising/lowering operation detecting means 79 such as a potentiometer for detecting the raising/lowering operation of the reaper 3 by the multi-steering lever 68, and a reel raising switch (reel raising operating means) for raising the reel 4. 81A, a reel lowering switch (reel lowering operation means) 81B for performing a lowering operation of the reel 4, a reel forward switch (reel forward operating means) 82A for performing a forward operation of the reel 4, and a reel backward movement for performing a backward movement operation of the reel 4. A switch (reel reverse operation means) 82B, a vehicle height detecting means 83 such as a potentiometer for detecting a vehicle height, a cutting height detecting means 84 for detecting a cutting height, and a vertical height of the mowing section 3 are detected. In the above-mentioned rocking shaft 3a side, a mowing section elevation height detecting means 86 such as a potentiometer, a reel rotation speed detecting means 87 such as a rotation sensor detecting the rotation speed of the reel 4, and a threshing/mowing clutch actuator. Threshing/mowing clutch for detecting the states of the threshing clutch 47 and the reaping clutch 49 that are switched by 78 (specifically, detecting whether the state is the “disconnected state”, the “threshing state”, or the “connection state”). Sensors (through clutch engagement/disconnection detection means, cutting clutch engagement/disengagement detection means) 88, crop switching detection sensor (crop switching detection means) 89, and vehicle speed sensors (vehicle speed) such as a rotation sensor for detecting the traveling speed (vehicle speed) of the traveling vehicle body 2 (Detection means) 91 is connected.

On the rear side of the upper part of the multi-steering lever 68, a momentary reel raising switch 81A and a reel lowering switch 81B are arranged vertically, and a reel forward switch 82A and a reel backward switch 82B are vertically arranged on the other side. It is arranged.

As shown in FIG. 2, the cutting height detecting means 84 is a vertical swing position of a detection plate (detection body) 93 that vertically swings around a support shaft 92 in the left-right direction formed on the lower surface side of the cutting section 3 as a fulcrum. It is composed of a potentiometer for detecting. Then, with the free end of the detection plate 93 being in contact with the farm scene G, the vertical swing position of the detection plate 93 is detected by the cutting height detection means 84, whereby the ground level of the cutting unit 3 is detected. (Cut height) is detected.

Further, when the free end of the detection plate 93 projects downward of the mowing section 3 and is vertically swingable (the detection plate 93 shown by a solid line in FIG. 2), the free end is stored on the mowing section 3 side. It is configured such that it can be switched to a locked state in which it can be locked and disengaged (detection plate 93 shown by a virtual line in FIG. 2). The operating state and the locked state can also be detected by the cutting height detecting means 84.

The ground height of the mowing unit 3 can be detected by the cutting height detection means 84 only in the state where the detection plate 93 is in contact with the field scene G, and in other states, vehicle height detection is performed. The ground height of the mowing unit 3 is calculated using the detection results of the means 83 and the mowing unit elevation height detecting unit 86. That is, the vehicle height detection means 83, the cutting height detection means 84, and the mowing section elevation height detection means 86 serve as ground height detection means for detecting the ground height of the mowing section 3.

FIG. 9(A) is a perspective view showing the structure of a soybean gutter, and FIG. 9(B) is a perspective view showing the structure of a rice/wheat gutter. Below the first helix 28 and the second helix 29 extending in the left-right direction, a trough 94 having a U-shape in a side cross section and extending in the left-right direction is detachably provided. In addition, the gutter 94 can be attached/detached to/from the carrying device that takes over the first item from the first spiral 28 and carries it upward, or directly below the carrying device that takes the second item from the second spiral 29 and carries it upward. It is installed in.

In this trough 94, mounting seats 96, 96 are integrally formed in a protruding manner in a direction in which they are separated from both upper end portions in the front-rear direction which is the width direction. Each trough 94 is detachably attached to the threshing unit 19 by fixing the pair of front and rear mounting seats 96, 96 with bolts or the like.

Two types of troughs 94A for soybean and 94B for rice and wheat are prepared for this trough 94. The soybean trough 94A is provided with a large number of holes 94a for dropping mud. On the other hand, the rice/barley trough 96B is not provided with such holes, and this difference enables efficient treatment according to the crop.

When the rice-and-barley trough 94B is installed on the threshing device 19 side, the trough 94B is brought into contact with a crop switching detection sensor 89 which is a detection switch provided on the threshing device 19 side to be turned on. Thus, a cutout portion 96a is formed in the mounting seat 96 of the soybean trough 94A, and even if this trough 94A is installed on the threshing device 19 side, the cutout portion 96a allows the crop switching. The detection sensor 89 does not contact the mounting seat 96 and is held in the OFF state. By detecting ON/OFF of the crop switching detection sensor 89, the control unit 77 can identify whether the harvested crop is rice/wheat or soybean.

A vehicle speed sensor (vehicle speed detecting means) 91 shown in FIG. 8 is configured to detect the vehicle speed by detecting the rotational speed of the drive shaft of the left and right crawler type traveling devices 1 or the transmission shaft in the middle of the transmission path thereof. ing.

The control unit 77 detects the forward swinging operation of the multi-steering lever 68 by the mowing section elevating/lowering operation detecting means 79, and based on the detection result, the lift cylinder 16 is extended/contracted to vertically move the mowing section 3. That is, the operator performs the raising/lowering operation of the mowing unit 3 by swinging the multi-steering lever 68 back and forth.

In addition, the control unit 77 raises and lowers the reel 4 with respect to the reaping unit 3 by expanding and contracting the raising and lowering cylinder 37 based on operation signals from the reel raising switch 81A and the reel lowering switch 81B, and the reel forward switch 82A and the reel backward movement. Based on the operation signal from the switch 82B, the reel 4 is moved forward and backward with respect to the reaping section 3 by the expansion and contraction operation of the forward and backward movement cylinder 36. That is, the operator adjusts the vertical and front/rear positions of the reel 4 by the four switches 81A, 81B, 82A, 82B arranged on the upper back surface side of the multi-steering lever 68.

Further, the control unit 77 uses the vehicle speed sensor 91 and the speed change actuator 62 to perform reel rotation automatic control for linking the rotation speed (rotation speed) of the reel 4 with the vehicle speed. Specifically, during execution of this reel rotation automatic control, the rotation speed of the reel 4 increases when the vehicle speed is increased, while the rotation speed of the reel 4 decreases when the vehicle speed is reduced. In this way, it is applied to the change in the amount of mowing processing due to the increase or decrease in vehicle speed.

Further, the control unit 77 executes the forced scraping control under a predetermined condition due to the pushing operation of the scraping switch 71, and executes the lying cutting control under the predetermined condition due to the pushing operation of the lodging switch 72. When the forced scraping control or the fall mowing control is executed, the execution of the reel rotation automatic control described above is stopped. More specifically, the forced scraping control, the fall mowing control, and the reel rotation automatic control are exclusively executed, and when one control is being executed, the execution of the other two controls is stopped. ..

When the forced scraping control, which is a type of descending reaping control, is executed, the control unit 77 moves the reel 4 to a position below the up/down range and to the rear side of the forward/backward travel range (forced scraping position), and the reel 4 moves. Is maintained at a rotation speed within a predetermined range (forced scraping rotation speed) independent of the vehicle speed. By such a forced scraping control, even when the vehicle speed is low or the traveling is stopped, the reels 4 which are rotationally driven at a predetermined speed forcibly scrape the crops on the spot and mow the crops. It will be possible to take.

By the way, the forced scraping position is different between the case of cutting beans and the case of cutting rice or the like. Specifically, when cutting rice or the like (specifically, rice or wheat), the lowest position set by the reel lowering height setting dial 74 with respect to the reaper 3 or a physically set fixed position. The position of the reel 4 which is the lowest position and the rearmost position is the forced scraping position. On the other hand, when beans (specifically, soybeans) are mowed, the position of the reel 4 which is the lowermost position and the rearmost position where the tine 18 of the rotating reel 4 is always ungrounded is the forced scraping position. Become.

Further, the forced scraping rotation speed is set to be higher when cutting rice etc. than when cutting beans. Specifically, when cutting rice or the like (specifically rice or wheat), the reel 4 is rotationally driven at the maximum speed. On the other hand, when cutting beans (specifically, soybean), the reel 4 is rotationally driven while maintaining the rotational speed of the reel 4 immediately before executing the forced scraping control.

By setting the forced scraping position and the forced scraping rotation speed as described above, it is possible to prevent the tines 18 from scratching the mud in the field when cutting a crop such as beans, which causes a grain. .. Further, since the number of rotations of the reel 4 is also set to be low, it is possible to efficiently prevent the granules from being shredded in a state of being split by the reel 4 rotating at a high speed.

At the time of performing the lodging cutting control, which is a type of descending mowing control, the control unit 77 moves the reel 4 to a position below the up-and-down range and to the front side of the forward and backward movement range (the lodging cutting position), and sets the reel 4 to the vehicle speed. It is maintained at a predetermined range of rotation speed (rotation speed for felling cutting). Such fall mowing control makes it possible to efficiently mow crops lying in the field while scraping them by the reel 4 that is rotationally driven at a predetermined speed.

By the way, the above-mentioned lodge cutting position is different between when cutting beans and when cutting rice. Specifically, when cutting rice or the like (specifically, rice or wheat), it is the lowest position set by the reel lowering height setting dial 74 or the fixed lowest physical position. The position of the reel 4, which is the frontmost position, is the forced scratching position. On the other hand, when cutting beans (specifically, soybeans), the position of the reel 4 at the lowermost position, where the tine 18 of the rotating reel 4 is always ungrounded, and at the forefront position is the lying cutting position. ..

Further, the lodging cutting rotation speed is set to be higher when cutting rice or the like than when cutting beans. Specifically, when cutting rice or the like (specifically rice or wheat), the reel 4 is rotationally driven at the maximum speed. On the other hand, when cutting beans (specifically, soybean), the reel 4 is rotationally driven while maintaining the rotational speed of the reel 4 immediately before executing the forced scraping control.

By setting the lodging mowing position and the lodging mowing rotation speed as described above, it is possible to prevent the tines 18 from scratching the mud in the field when cutting a crop such as beans, which causes a grain. Further, since the number of rotations of the reel 4 is also set to be low, it is possible to efficiently prevent the granules from being shredded in a state of being split by the reel 4 rotating at a high speed.

In other words, in the falling reaping control such as forced scraping control and lodging cutting control, the processing contents are controlled by the control when cutting rice etc. (normal lowering cutting control) and the control when cutting beans (special lowering cutting control). Be different.

Next, based on FIG. 8 and FIGS. 10 to 12, the processing content of the control unit 77 for executing the lowering and mowing control will be described in detail.

FIG. 10 is a main flowchart showing a processing procedure for executing the descending mowing control of the control unit. When the processing is started, the control unit 77 starts the processing from step S101. In step S101, it is confirmed whether or not the take-in switch 71 or the fall switch 72 is being operated (ON), and if it is confirmed that it is being operated, the process proceeds to step S102.

In step S102, the threshing/cutting clutch sensor 88 confirms the state where the cutting clutch 49 is connected (specifically, whether it is in the “connected state”), the cutting clutch 49 is connected, and the cutting unit 3 is connected. If the reel 4 is being driven, the process proceeds to step S103, while if the mowing clutch 49 is disengaged and the mowing unit 3 and the reel 4 are not driven, the process returns to step S101.

In step S103, ON/OFF of a flag indicating whether or not the descending mowing control (forced scraping control or fallen mowing) is being executed is confirmed, and a state not being executed (OFF state) is confirmed. If so, the process proceeds to step S104. In step S104, the raising/lowering position of the mowing unit 3, the raising/lowering position of the reel 4, and the forward/backward moving position at that time are detected by the cutting unit raising/lowering height detecting unit 86, the reel raising/lowering height detecting unit 39, and the reel forward/backward moving position detection. It is detected by the means 38, the detection result is stored in its own storage unit 77a, and the process proceeds to step S105. In step S105, the flag is set to ON, and the process proceeds to step S106.

In step S106, a subroutine of descending mowing control (forced scraping control or fallen mowing control) is executed (execution of descending mowing control), and when this process ends, the process returns to step S101. When it is confirmed in step S103 that the flag is already ON, the process proceeds to step S106.

When it is confirmed in step S101 that the take-in switch 71 or the fall switch 72 is not operated (ON), the process proceeds to step S107. In step S107, it is confirmed whether the flag is ON or OFF. If the flag is ON, it is regarded as immediately after the scraping switch 71 or the fall switch 72 is switched from ON to OFF, and the process proceeds to step S108 while it is OFF. If so, the process returns to step S101.

In step S108, the reaper 3 is moved up and down to the ascent/descent height stored in the storage 77a in step S104, and the reel 4 is driven up/down or moved forward/backward to the ascending/descending height and forward/backward position stored in the storage 77a. It proceeds to S109. In step S109, the flag is set to OFF, and the process is returned to step S101.

Incidentally, when this flag is switched from OFF to ON, the descending mowing control (forced scraping control or fallen mowing control) is being executed, so execution of the reel rotation automatic control is stopped. On the other hand, when this flag is switched from ON to OFF, the execution of the descending mowing control (the forced scraping control or the falling mowing control) is stopped, and the execution of the reel rotation automatic control is restarted.

FIG. 11 is a process flow chart of a descending mowing control subroutine. The control unit 77, when the descending mowing control subroutine process is started, starts the process from step S201. In step S201, whether the crop to be cut is beans or rice is detected based on the operation signal from the crop switching dial 73, and when the crop to be cut is beans (soybean in this example). On the other hand, when it is rice or the like (rice or wheat in this example), the process proceeds to step S203.

In step S203, the above-described normal lowering mowing control is executed, the processing of this lowering mowing control is ended, and the process is returned to the main routine shown in FIG. During execution of the normal lowering mowing control, in the forced scraping control in the state where the scraping switch 71 is pushed (ON state), the forward/backward movement position of the reel 4 is set to the rearmost position while the fall switch 72 is set. In the lying cutting control in the state where is pressed (ON state), the forward/rearward movement position of the reel 4 is the frontmost position.

In step S202, the special descending mowing control described above is executed, the processing of this descending mowing control is terminated, and the process is returned to the main routine shown in FIG.

FIG. 12A is a side view showing the ascending/descending height of the reel before executing the special descending mowing control, and FIG. 12B is a side view showing the ascending/descending height of the reel during execution of the special descending mowing control. , (C) are side views showing the ascending/descending height of the reel after the special descending mowing control is executed. At the time of executing the special lowering control, the control unit 77 first uses the ground height detecting means (vehicle height detecting means 83, cutting height detecting means 84, and reaper height detecting means 86 for detecting the height of the cutting portion 3). Is detected (see FIG. 12A).

Subsequently, the control unit 77 calculates the ground height of the reel 4 from the ground height of the mowing unit 3 detected as described above, and is equal to or lower than the ascending/descending height at which the tines 18 contact (ground) the field scene G. To the mowing section 3 in a state in which the descending movement is restricted (the movement trajectory D is located above the field scene G), and during the execution of the special descending mowing control, the regulation is performed. The state is held (see FIG. 12B). At this time, the lowered position of the reel 4 is the forced scraping position or the lying cutting position. By the way, during the execution of the special lowering mowing control, in the forced scraping control in which the scraping switch 71 is pushed, the forward/backward movement position of the reel 4 is set to the rearmost position, while the falling switch 72 is pushed to perform the lying cutting. In the control, the forward/rearward movement position of the reel 4 is the forwardmost position.

Finally, when the execution of the special lowering mowing control is stopped, the reel 4 is returned to the ascending/descending position and the forward/backward position stored in the storage unit 77a by the process of step S108 (see FIG. 12C). ..

During the execution of the special lowering mowing control, in the forced scraping control in the state where the scraping switch 71 is pushed (ON state), the forward/backward movement position of the reel 4 is set to the rearmost position, while the fall switch 72 is set. In the lying cutting control in the state where is pressed (ON state), the forward/rearward movement position of the reel 4 is the frontmost position.

According to the general-purpose combine having the above-described configuration, the reel switch automatic control, the forced trapping control, and the lodge cutting control are swiftly switched by operating the raking switch 71 and the lodging switch 72, and Optimal processing is performed depending on the crop to be mowed, so that the crop cutting work can be performed efficiently and quickly.

The process of step S102 shown in FIG. 10 can be omitted, and the process may directly proceed from step S101 to step S103. In this case, the threshing/rearing clutch actuator 78 is controlled by turning the flag ON/OFF regardless of the operating state of the threshing/rearing clutch switch 76.

Specifically, in the ON state of the flag, which is the state in which the descending mowing control is executed, the threshing/mowing clutch actuator 78 causes the threshing/mowing clutch switch 76 to operate regardless of the operating state of the threshing/mowing clutch switch 76. The control unit 77 is configured to execute the switching.

In other words, it is necessary to be in the "connection state" at the time of execution of the descending mowing control, but the descending mowing control may be executed only when this condition is satisfied. The threshing/reaping clutch actuator 78 may forcibly switch to the “connected state”.

In step S201 shown in FIG. 11, it is determined based on the operation state of the crop switching dial 73 whether the crop to be mowed is beans, rice, or the like, and if the crop is beans. Explained the example of advancing the processing to step S202 and advancing the processing to step S203 in the case of rice or the like. The crop switching detection sensor determines whether the crop to be cut is beans or rice or the like. You may judge by ON/OFF of 89.

Specifically, while the crop switching detection sensor 89 is in the ON state, the crop to be cut is determined to be rice or the like (see FIG. 9B), while the crop to be cut in the OFF state is beans. It is determined that

In addition to this, when the crop to be mowed is beans, it is desirable to set the rotation speed of the reel 4 and the rotation speed of the Karato fan 27 to be lower than in the case of rice and the like. The determination may be made in S201.

Specifically, a rotation speed switching operation means 97 for adjusting the rotation speed of the reel 4 or the Karatsuo fan 27 is connected to the input side of the control unit 77 (see FIGS. 7 and 8), and the output side for the reel 4 described above is connected. In addition to the gear change actuator 62, the Karatake fan gear change actuator 98 for changing the rotation speed of the Karashino fan 27 is connected and provided.

Then, in step S201, when it is detected by the rotation speed switching operation means 97 that the rotation speeds of the reel 4 and the Karatsuo fan 26 are set to be low, it is determined that the object to be cut is beans or the like and step S202. While advancing the process to step S21, in other cases it is determined that the object to be harvested is rice or the like, and the process advances to step S203.

Further, when the object to be cut is rice or the like, the detection plate 93 is brought into a locked state, and when the object is beans, the detection plate 93 is brought into an activated state, and in step S201, the cutting height detection means 84 is provided. If the locked state is detected by, it is determined that the object to be cut is rice or the like and the process proceeds to step S203, while if the operating state is detected, the object to be cut is determined to be beans. Then, the process may proceed to step S202.

Next, with reference to FIG. 13, a modified example of the special lowering mowing control will be described on the part different from the above example.

FIG. 13 relates to a modified example of the special lowering mowing control, (A) is a side view showing the ascending/descending height of the reel before executing the special lowering mowing control, and (B) is the special lowering mowing control. It is a side view which shows the raising/lowering height of the reel in execution, (C) is a side view which shows the raising/lowering height of the reel after performing special descending mowing control.

At the time of executing the special lowering control, the control unit 77 first uses the ground height detecting means (vehicle height detecting means 83, cutting height detecting means 84, and reaper height detecting means 86 for detecting the height of the cutting portion 3). Is detected (see FIG. 13A).

Subsequently, the control unit 77 lowers the reel 4 to the lowest position which is set by the reel lowering height setting dial 74 or the physically lowest position which is fixedly set at the detected ground height. It is assumed that the tine 18 of the reel 4 is in contact with the ground (the movement trajectory D is located below the field scene G), and if it is calculated that the tine 18 is in contact with the tine, it is assumed to be the lowest descent. While the tine 18 is driven to ascend and descend to a height where the tine 18 is not grounded (see FIG. 13B), in other cases, the reaper 3 is stopped on the spot.

Finally, when the execution of the special descending mowing control is stopped, the mowing unit 3 is returned to the ascending/descending position stored in the storage unit 77a by the process of step S108, and the stored ascending/descending position and forward/backward moving position are performed. The reel 4 is returned to (see FIG. 13C).

2 Traveling machine 3 Mowing section 4 Reel 16 Shift cylinder (mowing side lifting actuator)
18 tine 37 lifting cylinder (reel side lifting actuator)
39 Reel elevation height detection means (elevation height detection means)
71 Scratch switch (operating means)
72 Luck switch (operating device)
77 Control unit 83 Vehicle height detection means (ground height detection means)
84 Cutting height detecting means (ground height detecting means)
86 Mowing section elevation height detection means (ground height detection means)

Claims (3)

A general-purpose combine for controlling the reel up and down with respect to the reaper connected to the traveling body,
A traveling aircraft,
A reaper connected to the traveling body so as to be able to move up and down,
A reel supported by the reaper so as to be vertically movable and rotatable;
A reaper side lifting actuator for raising and lowering the reaper,
A reel side lift actuator for moving the reel up and down with respect to the mowing unit,
Ground height detecting means for detecting the ground height of the reaping unit,
An elevation height detecting means for detecting an elevation height of the reel with respect to the mowing unit ,
A control unit,
With operating means,
When the control section detects an operation by the operation means, the controller moves the reel to a lower position within the lifting range in a state where the rotation of the reel is detected or a state where the reel is rotationally driven. Configured to perform reaping control,
At the time of execution of the descending mowing control, the controller is based on the detection results of the ground height detecting means and the ascending/descending height detecting means so that the tine of the reel is not grounded, A general-purpose combine that controls the operation of the reel-side lift actuator. When the descending reaping control is executed, the control unit adds or lowers the ascending/descending height so as to be higher than the ascending/descending height at which the tines are grounded in consideration of the ground height detected by the ground height detecting means. The mixed combine according to claim 1, wherein the operation of the reel-side lifting actuator is controlled based on the detection result of the height detection means. At the time of execution of the descending mowing control, the control unit controls the detection results of the ground height detecting means and the ascending/descending height detecting means so that the ground height is higher than the ground height at which the tines of the reel are grounded. The combine combine harvester according to claim 1, wherein the operation of the cutting-side lifting actuator is controlled based on the above.

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