Harvesting Machine

Abstract

To provide a harvesting machine which is capable of, even when a reaping part is replaced, preventing a change in a lowering speed of a reel.SOLUTION: A harvesting machine comprises a reaping part mounted on a machine body and reaping planted grain culm in a field. The reaping part includes a reel for raking the planted grain culm, while rotatingly driving the reel around a reel axis along a lateral width direction, an actuator 4 capable of lifting and lowering the reel, and a lifting / lowering control part 21 for controlling the actuator 4. The machine body is configured to be able to replace the reaping part mounted on the machine body with another reaping part having a different reaping width. When controlling the actuator 4 to lower the reel, the lifting / lowering control part 21 controls the actuator 4 to lower the reel at a constant speed regardless of a reaping width of the reaping part mounted on the machine body.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a harvester having a cutting unit that is attached to a machine body and cuts planted culms in a field. [Background technology]

[0002] A harvester such as the one described above is already known, for example, as described in Patent Document 1. The harvester (referred to as a "general-purpose combine" in Patent Document 1) has a reaping section that has a reel (referred to as a "raking reel" in Patent Document 1) that rakes in planted culms. This reel can be raised and lowered. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-83375 Summary of the Invention [Problem to be solved by the invention]

[0004] In the harvester described in Patent Document 1, it is conceivable to configure the cutting unit attached to the machine body to be replaceable with another cutting unit having a different cutting width, thereby making it possible to change the cutting width of the harvester.

[0005] However, the longer the cutting width of the cutting part, the heavier the reel tends to be. Therefore, the weight of the reel tends to change when the cutting part is replaced. When the weight of the reel changes, the speed at which the reel is lowered tends to change.

[0006] An object of the present invention is to provide a harvester in which the reel's lowering speed does not change even when the cutting unit is replaced. [Means for solving the problem]

[0007] The present invention is characterized in that the present invention comprises a reaping unit that is attached to a machine body and that reaps planted culms in a field, the reaping unit having a reel that rakes in the planted culms while rotating around a reel axis along the width direction, an actuator that can raise and lower the reel, and a lifting control unit that controls the actuator, the machine body is configured so that the reaping unit attached to the machine body can be replaced with another reaping unit having a different mowing width, and when controlling the actuator to lower the reel, the lifting control unit controls the actuator so that the reel descends at a constant speed regardless of the mowing width of the reaping unit attached to the machine body. The actuator is a hydraulic cylinder driven by a duty-controlled electromagnetic hydraulic valve, and the lift control unit is configured to control the hydraulic cylinder by controlling a duty ratio of the electromagnetic hydraulic valve, and the duty ratio is predetermined in accordance with the reaping unit. The point is...

[0008] According to this configuration, the actuator is controlled so that the reel descends at a constant speed regardless of the mowing width of the reaping part attached to the machine body. This makes it possible to realize a harvester in which the reel descending speed does not change even when the reaping part is replaced.

[0009] As a result, for example, when the harvester runs automatically, there is no need to adjust (change) the timing at which the reel starts lowering, the running speed, the running position, etc., depending on the mowing width of the reaping section attached to the machine body. In other words, uniform control is possible regardless of the mowing width of the reaping section attached to the machine body.

[0010] Furthermore, in the present invention, when the lifting control unit controls the actuator to lift the reel, it is preferable that the lifting control unit controls the actuator so that the reel lifts at a constant speed regardless of the cutting width of the cutting unit attached to the machine body.

[0011] According to this configuration, the actuator is controlled so that the reel rises at a constant speed regardless of the mowing width of the reaping part attached to the machine body. This makes it possible to realize a harvester in which the reel rise speed does not change even when the reaping part is replaced.

[0012] Furthermore, in the present invention ,beforeWhen the lifting / lowering control unit controls the hydraulic cylinder so that the reel descends, it is preferable that the lifting / lowering control unit controls the duty ratio so that the reel descends at a constant speed regardless of the cutting width of the cutting part attached to the machine body.

[0013] With this configuration, it is easy to reliably realize a configuration in which the actuator is controlled so that the reel descends at a constant speed regardless of the mowing width of the mowing section attached to the machine body. [Brief description of the drawings]

[0014] [Figure 1] FIG. [Diagram 2] FIG. 2 is a plan view of the first and second reaping units. [Diagram 3] FIG. 2 is a block diagram showing the configuration of a control unit and the like. [Figure 4] FIG. 4 is a diagram showing a hydraulic circuit for raising and lowering the reel. [Diagram 5] FIG. 4 is a diagram illustrating a control signal for duty control. [Figure 6] FIG. [Figure 7] FIG. 7 is a cross-sectional view taken along the line VII-VII in FIG. [Figure 8] 8 is a cross-sectional view taken along the line VIII-VIII in FIG. 6. [Figure 9] FIG. 2 is a plan view showing the configuration of the tines. [Figure 10] FIG. 2 is a left side view showing the configuration of the tines. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] The embodiment of the present invention will be described with reference to the drawings. In the following description, unless otherwise specified, the direction of the arrow F in the drawing is "forward", the direction of the arrow B is "backward", the direction of the arrow L in the drawing is "left", and the direction of the arrow R is "right". In addition, the direction of the arrow U in the drawing is "upward", and the direction of the arrow D is "downward".

[0016] [Combine configuration] As shown in Figure 1, the combine harvester 1 (corresponding to the "harvest machine" according to the present invention) in this embodiment has a body 10 equipped with a crawler-type running device 11, a driving unit 12, a threshing device 13, a grain tank 14, a conveying unit 16, and a grain discharge device 18.

[0017] The traveling device 11 is provided on the lower part of the machine body 10. The traveling device 11 is driven by power from an engine (not shown). The combine harvester 1 can travel by the traveling device 11.

[0018] The driving section 12, the threshing device 13, and the grain tank 14 are provided on the upper side of the traveling device 11. An operator can ride in the driving section 12. The operator may monitor the operation of the combine harvester 1 from outside the combine harvester 1.

[0019] As shown in FIG. 1, the grain discharge device 18 is provided on the upper side of the grain tank 14.

[0020] The combine harvester 1 includes a reaping unit H. The reaping unit H is attached to the front end of the transport unit 16. As a result, the reaping unit H is provided at the front of the combine harvester 1. The reaping unit H also includes a header 6, a cutting blade 15, and a reel 17.

[0021] The cutting blade 15 cuts the planted culms in the field. The cut culms are received by the header 6. The reel 17 rotates around a reel axis 17b that runs along the width direction (left-right direction) of the machine body 10 to rake in the planted culms to be harvested.

[0022] That is, the reaping section H has a reel 17 that rakes in the planted stalks while being driven to rotate about a reel axis 17b along the width direction.

[0023] As shown in Figs. 1 and 2, the reaping unit H has an auger 2. The auger 2 is cylindrical and extends in the left-right direction of the machine body. The auger 2 rotates about an axis extending in the left-right direction of the machine body. The reaped stalks received by the header 6 are sent to the conveying unit 16 by the auger 2.

[0024] With this configuration, the reaping unit H harvests crops in the field. The combine harvester 1 is capable of reaping travel, traveling on the traveling device 11 while reaping planted culms in the field with the cutting blade 15.

[0025] That is, the combine 1 is attached to a body 10 and has a reaping section H that reaps planted stalks in a field.

[0026] The reaped stalks harvested by the reaping section H are transported rearward by the transport section 16. As a result, the reaped stalks are transported to the threshing device 13.

[0027] The harvested stalks are threshed in the threshing device 13. The grains obtained by the threshing process are stored in a grain tank 14. The grains stored in the grain tank 14 are discharged outside the machine by a grain discharge device 18 as necessary.

[0028] The machine body 10 also has a lifting cylinder 3. The lifting cylinder 3 is configured to be extended and retracted by hydraulic pressure. The lifting cylinder 3 is provided below the conveying unit 16. When the lifting cylinder 3 extends, the conveying unit 16 and the reaping unit H rise. When the lifting cylinder 3 contracts, the conveying unit 16 and the reaping unit H descend.

[0029] As shown in FIG. 2, the machine body 10 is configured so that the cutting unit H attached to the machine body 10 can be replaced with another cutting unit H having a different cutting width. For example, FIG. 2 shows a first cutting unit H1 and a second cutting unit H2. The first cutting unit H1 and the second cutting unit H2 are both cutting units H. The cutting width of the first cutting unit H1 is wider than the cutting width of the second cutting unit H2. The machine body 10 is configured so that the first cutting unit H1 attached to the machine body 10 can be replaced with the second cutting unit H2. The machine body 10 is also configured so that the second cutting unit H2 attached to the machine body 10 can be replaced with the first cutting unit H1.

[0030] The weight of the first cutting part H1 is greater than the weight of the second cutting part H2. The weight of the reel 17 of the first cutting part H1 is greater than the weight of the reel 17 of the second cutting part H2.

[0031] [Hydraulic cylinder] As shown in FIG. 1, the machine body 10 has an actuator 4. Specifically, the actuator 4 is configured by a hydraulic cylinder 5. The hydraulic cylinder 5 is configured to be extended and contracted by hydraulic pressure. The hydraulic cylinder 5 is provided in the reaping section H. When the hydraulic cylinder 5 extends, the reel 17 rises relative to the header 6. When the hydraulic cylinder 5 contracts, the reel 17 descends relative to the header 6.

[0032] That is, the combine 1 is provided with an actuator 4 capable of raising and lowering the reel 17.

[0033] As shown in Fig. 3, the combine harvester 1 includes an operating tool 7, a control unit 20, and a valve mechanism 30. The operating tool 7 is provided in a driving unit 12 (see Fig. 1). An operator can operate the operating tool 7. Although not particularly limited, the operating tool 7 may be, for example, a lever that can be operated to swing back and forth, or may be composed of one or a plurality of push buttons.

[0034] The control unit 20 has a lift control unit 21. In addition, the valve mechanism 30 is configured to be able to change the hydraulic pressure applied to the hydraulic cylinder 5. The lift control unit 21 is configured to be able to control the extension and contraction of the hydraulic cylinder 5 by controlling the valve mechanism 30.

[0035] That is, the combine harvester 1 is equipped with a lift control unit 21 that controls the actuator 4.

[0036] When the operating tool 7 is operated, a signal corresponding to the operation of the operating tool 7 is sent to the lift control unit 21. The lift control unit 21 controls the extension and contraction of the hydraulic cylinder 5 in response to this signal. For example, if the operating tool 7 is a lever that can be swung back and forth, when the operating tool 7 is swung rearward, the lift control unit 21 controls the extension and contraction of the hydraulic cylinder 5 so that the hydraulic cylinder 5 extends. As a result, the reel 17 rises relative to the header 6. On the other hand, when the operating tool 7 is swung forward, the lift control unit 21 controls the extension and contraction of the hydraulic cylinder 5 so that the hydraulic cylinder 5 contracts. As a result, the reel 17 descends relative to the header 6.

[0037] The control unit 20 and each functional unit such as the lift control unit 21 included in the control unit 20 may be a physical device such as a microcomputer, or may be a functional unit in software. For example, a configuration may be adopted in which a program corresponding to each functional unit included in the control unit 20 is stored in a ROM or non-volatile memory (not shown), and the program is loaded into and executed by a CPU to execute a process corresponding to each functional unit.

[0038] [Valve mechanism] 4, the combine harvester 1 includes a first pump 41 and a second pump 42. Both the first pump 41 and the second pump 42 are driven by the power of an engine (not shown) provided in the combine harvester 1. The first pump 41 and the second pump 42 supply pressure oil to the valve mechanism 30.

[0039] The valve mechanism 30 has a main spool 31, an ascending duty valve 32 (corresponding to the "electromagnetic hydraulic valve" of the present invention), a descending duty valve 33 (corresponding to the "electromagnetic hydraulic valve" of the present invention), and a pilot-operated check valve 34. The ascending duty valve 32 and the descending duty valve 33 are both duty-controlled hydraulic valves.

[0040] The main spool 31 is configured as a neutral return type that operates forward or reverse when supplied with pilot pressure. A first control oil chamber 35 is provided at one end of the main spool 31. A second control oil chamber 36 is provided at the other end of the main spool 31. The up duty valve 32 supplies pilot oil pressure for up to the first control oil chamber 35. The down duty valve 33 supplies pilot oil pressure for down to the second control oil chamber 36.

[0041] The main spool 31 shown in Fig. 4 is in a neutral state (reference symbol "N" in Fig. 4). When pilot pressure is not supplied to either the first control oil chamber 35 or the second control oil chamber 36, the main spool 31 is maintained in the neutral state.

[0042] A load pressure is applied to the hydraulic cylinder 5 by the gravity of the reel 17. However, when the main spool 31 is in a neutral state, the pilot check valve 34 closes automatically to prevent the hydraulic oil from flowing out of the hydraulic cylinder 5. Therefore, the reaping part H and the conveying part 16 are maintained at the current height position.

[0043] When the lift duty valve 32 is intermittently driven, pilot pressure for lift operation is supplied to the first control oil chamber 35. This causes the main spool 31 to displace to the lift side (the "S1" side in FIG. 4). As a result, the pilot check valve 34 opens and the hydraulic cylinder 5 receives pressure oil. This causes the hydraulic cylinder 5 to extend. That is, the reel 17 rises relative to the header 6.

[0044] When the lowering duty valve 33 is intermittently driven, pilot pressure for lowering operation is supplied to the second control oil chamber 36. This causes the main spool 31 to be displaced to the lowering side (the "S2" side in FIG. 4). As a result, the pilot check valve 34 opens and hydraulic oil flows out of the hydraulic cylinder 5. This causes the hydraulic cylinder 5 to contract. That is, the reel 17 descends relative to the header 6.

[0045] With the above configuration, the hydraulic cylinder 5 is driven by the ascending duty valve 32 and the descending duty valve 33. That is, the actuator 4 is the hydraulic cylinder 5 driven by the ascending duty valve 32 and the descending duty valve 33 of a duty control type.

[0046] [Duty ratio control] As shown in FIG. 3, the control unit 20 has an acquisition unit 22. The acquisition unit 22 acquires information indicating the mowing width of the mowing unit H attached to the machine body 10. Although not particularly limited, for example, the acquisition unit 22 may store the mowing widths of multiple types of mowing units H, and the acquisition unit 22 may automatically recognize the type of mowing unit H attached to the machine body 10. Alternatively, information indicating the type or mowing width of the mowing unit H attached to the machine body 10 may be input by an operator, and the acquisition unit 22 may acquire the information. In addition, the acquisition unit 22 may be configured to automatically recognize whether the mowing unit H attached to the machine body 10 is the first mowing unit H1 or the second mowing unit H2, for example.

[0047] The acquisition unit 22 sends information indicating the mowing width of the mowing unit H attached to the machine body 10 to the lift control unit 21. The lift control unit 21 controls the duty ratios of the lift duty valve 32 and the lowering duty valve 33 based on the information. In this way, the lift control unit 21 controls the hydraulic cylinder 5.

[0048] That is, the lift control unit 21 is configured to control the hydraulic cylinder 5 by controlling the duty ratio of the lift duty valve 32 and the lowering duty valve 33 .

[0049] More specifically, the lifting control unit 21 determines the duty ratio of the ascent duty valve 32 or the descent duty valve 33 to be one of two duty ratios, large and small, shown in Figure 5, based on information indicating the mowing width of the cutting part H attached to the machine body 10.

[0050] The duty ratio of the duty control shown in the upper part of Fig. 5 is a first duty ratio D1. The first duty ratio D1 may be, for example, 80%. When the duty ratio is 80%, the raising duty valve 32 or the lowering duty valve 33 is in the ON state (a state in which pilot pressure is supplied) for 80% of one cycle T, and in the OFF state (a state in which pilot pressure is not supplied) for 20% of one cycle T.

[0051] The duty ratio of the duty control shown in the lower part of Fig. 5 is a second duty ratio D2. The second duty ratio D2 is smaller than the first duty ratio D1. The second duty ratio D2 may be, for example, 40%. When the duty ratio is 40%, the raising duty valve 32 or the lowering duty valve 33 is in the ON state (a state in which pilot pressure is supplied) for 40% of one cycle T, and in the OFF state (a state in which pilot pressure is not supplied) for 60% of one cycle T.

[0052] [Control of reel descent] 3 is preferably configured to reduce the duty ratio of the lowering duty valve 33 as the mowing width of the mowing part H attached to the machine body 10 increases when the hydraulic cylinder 5 is controlled so that the reel 17 descends. By appropriately determining the relationship between the mowing width of the mowing part H and the duty ratio of the lowering duty valve 33, the reel 17 descends at a constant speed regardless of the mowing width of the mowing part H attached to the machine body 10.

[0053] For example, when the lifting control unit 21 controls the hydraulic cylinder 5 to lower the reel 17, if the first cutting part H1 is attached to the machine body 10, the duty ratio of the lowering duty valve 33 is determined to be the second duty ratio D2.

[0054] In addition, when the lifting control unit 21 controls the hydraulic cylinder 5 to lower the reel 17, if the second cutting part H2 is attached to the machine body 10, the duty ratio of the lowering duty valve 33 is determined to be the first duty ratio D1.

[0055] As a result, if the first duty ratio D1 and the second duty ratio D2 are appropriately determined, the descent speed of the reel 17 when the first cutting part H1 is attached to the body 10 will be the same as the descent speed of the reel 17 when the second cutting part H2 is attached to the body 10.

[0056] That is, when the lift control unit 21 controls the actuator 4 so that the reel 17 descends, the lift control unit 21 controls the actuator 4 so that the reel 17 descends at a constant speed regardless of the mowing width of the mowing part H attached to the machine body 10. More specifically, when the lift control unit 21 controls the hydraulic cylinder 5 so that the reel 17 descends, the lift control unit 21 controls the duty ratio so that the reel 17 descends at a constant speed regardless of the mowing width of the mowing part H attached to the machine body 10.

[0057] Furthermore, the first duty ratio D1 and the second duty ratio D2 may be experimentally determined, for example, so that the descent speed of the reel 17 when the first cutting part H1 is attached to the body 10 is the same as the descent speed of the reel 17 when the second cutting part H2 is attached to the body 10.

[0058] Furthermore, when the hydraulic cylinder 5 is controlled so as to lower the reel 17, if the duty ratio of the lowering duty valve 33 is constant regardless of the cutting width (weight of the reel 17) of the cutting part H attached to the body 10, the longer the cutting width of the cutting part H attached to the body 10 (the heavier the reel 17), the faster the descent speed of the reel 17 will be.

[0059] [Control of reel rise] The lift control section 21 shown in Fig. 3 is preferably configured to increase the duty ratio of the lift duty valve 32 as the mowing width of the mowing part H attached to the machine body 10 increases when controlling the hydraulic cylinder 5 so that the reel 17 rises. As a result, by appropriately determining the relationship between the mowing width of the mowing part H and the duty ratio of the lift duty valve 32, the reel 17 will rise at a constant speed regardless of the mowing width of the mowing part H attached to the machine body 10.

[0060] For example, when the lifting control unit 21 controls the hydraulic cylinder 5 to lift the reel 17, if the first cutting part H1 is attached to the machine body 10, the duty ratio of the lifting duty valve 32 is determined to be the first duty ratio D1.

[0061] In addition, when the lifting control unit 21 controls the hydraulic cylinder 5 to lift the reel 17, if the second cutting part H2 is attached to the machine body 10, the duty ratio of the lifting duty valve 32 is determined to be the second duty ratio D2.

[0062] As a result, if the first duty ratio D1 and the second duty ratio D2 are appropriately determined, the rising speed of the reel 17 when the first cutting part H1 is attached to the body 10 will be the same as the rising speed of the reel 17 when the second cutting part H2 is attached to the body 10.

[0063] In other words, when the lifting control unit 21 controls the actuator 4 to lift the reel 17, it controls the actuator 4 so that the reel 17 lifts at a constant speed regardless of the mowing width of the cutting part H attached to the body 10.

[0064] Furthermore, the first duty ratio D1 and the second duty ratio D2 may be experimentally determined, for example, so that the rising speed of the reel 17 when the first cutting part H1 is attached to the body 10 is the same as the rising speed of the reel 17 when the second cutting part H2 is attached to the body 10.

[0065] Furthermore, when the hydraulic cylinder 5 is controlled so that the reel 17 rises, if the duty ratio of the lift duty valve 32 is constant regardless of the cutting width (weight of the reel 17) of the cutting part H attached to the body 10, the longer the cutting width of the cutting part H attached to the body 10 (the heavier the reel 17), the slower the lifting speed of the reel 17 will be.

[0066] [First opening] 6 and 7, a first opening 44 is provided in a lower part in the front part of the transport section 16. The first opening 44 is closed from below by a first plate-shaped portion 45. The first plate-shaped portion 45 is a plate-shaped member in a horizontal position.

[0067] The first plate-like portion 45 is supported by the first support frame 46. The first support frame 46 is supported at the lower part of the conveying unit 16 in a swingable state around a swing axis P along the extending direction (front-rear direction) of the conveying unit 16. The swing axis P is located at the right end of the first support frame 46. The left end of the first support frame 46 is detachably fastened to the lower part of the conveying unit 16 by a plurality of first bolts b1.

[0068] By removing the plurality of first bolts b1 and swinging the first support frame 46 downward, the first plate-like portion 45 can be removed. Thereby, the operator can perform maintenance work inside the conveying unit 16 through the first opening 44.

[0069] Also, thereby, the first plate-like portion 45 can be replaced with another member. For example, the first plate-like portion 45 shown in FIGS. 6 and 7 is configured to close the entire first opening 44. This first plate-like portion 45 can be replaced with a plate-like member (not shown) having one or more holes. As a result, a configuration can be realized in which the sand inside the conveying unit 16 is discharged through the holes.

[0070] In addition, as shown in FIG. 6, the first opening 44, the first plate-like portion 45, and the first support frame 46 are all located in front of the front end of the lifting cylinder 3.

[0071] Also, as shown in FIGS. 7 and 8, the conveying unit 16 has a conveying frame 16a and a plurality of conveyors 16b. The conveying frame 16a is formed in a cylindrical shape extending in the front-rear direction of the machine body. The plurality of conveyors 16b are housed in the conveying frame 16a. The plurality of conveyors 16b are rotated by the power of an engine (not shown). The cut crop straw inside the conveying frame 16a is conveyed rearward by the plurality of conveyors 16b. Since such a conveyor 16b is well-known, a detailed description of the conveyor 16b will be omitted.

[0072] 〔Second opening〕 6 and 8, a second opening 48 is provided in the lower part at the rear of the transport section 16. The second opening 48 is closed from below by a second plate-shaped section 49. The second plate-shaped section 49 is a plate-shaped member in a horizontal position.

[0073] A second support frame 50 is provided at the lower end of the right end of the transport section 16. As shown in Fig. 8, the second support frame 50 has an L-shaped cross section in a front view. The right end of the second plate-shaped portion 49 is supported by the second support frame 50. The left end of the second plate-shaped portion 49 is detachably fastened to the lower end of the left end of the transport section 16 by a plurality of second bolts b2.

[0074] The second plate-shaped portion 49 can be removed by removing the second bolts b2. This enables a worker to perform maintenance work on the inside of the transfer portion 16 through the second opening 48.

[0075] This also allows the second plate-shaped portion 49 to be replaced with another member. For example, the second plate-shaped portion 49 shown in Figs. 6 and 8 is configured to completely block the second opening 48. This second plate-shaped portion 49 can be replaced with a plate-shaped member (not shown) having one or a plurality of holes formed therein. As a result, a configuration can be realized in which sand inside the transport section 16 is discharged through the holes.

[0076] 6, both of the second opening 48 and the second plate-shaped portion 49 are located above the lift cylinder 3. In other words, both of the second opening 48 and the second plate-shaped portion 49 overlap with the lift cylinder 3 in a bottom view (plan view).

[0077] [Tyne] 1 and 2, the reel 17 has a plurality of tine support bars 52 and a plurality of tines 60. A single tine support bar 52 supports a plurality of tines 60 in a state where they are aligned in the left-right direction of the machine body.

[0078] As shown in Figures 9 and 10, the tine support bar 52 is a cylindrical member extending in the left-right direction of the vehicle body. The tines 60 are made of resin and are flexible. A clamping portion 61 is formed at the upper end of the tine 60. The clamping portion 61 has a shape that follows the outer shape of the tine support bar 52 and is configured to clamp the tine support bar 52.

[0079] The tine 60 has a notch 62 that extends rearward from the front end at the upper end of the tine 60 and communicates with the clamping portion 61. The notch 62 is formed between a first portion 63 and a second portion 64. The first portion 63 is located above the second portion 64. A fixing bolt G is attached to connect the first portion 63 and the second portion 64. The fixing bolt G prevents the tine 60 from deforming so that the first portion 63 and the second portion 64 move away from each other.

[0080] An upwardly projecting protrusion 65 is formed at the lower end of the clamping portion 61. A fitting hole 53 is formed at the lower end of the tine support bar 52. The protrusion 65 fits into the fitting hole 53 from below.

[0081] The tine 60 has left and right plate-like portions 66. Each plate-like portion 66 is in a substantially vertical position and extends in the left-right direction. A protrusion 67 that protrudes to the right is provided at the right end of the right plate-like portion 66. A recess 68 that recesses to the right is provided at the upper and lower ends of the left end of the left plate-like portion 66. The protrusion 67 has a shape that can fit into the recess 68.

[0082] As a result, the protrusion 67 of one tine 60 fits into the recess 68 of another tine 60 adjacent to the right side of the tine in question.

[0083] According to the configuration described above, the actuator 4 is controlled so that the reel 17 descends at a constant speed regardless of the mowing width of the cutting unit H attached to the machine body 10. This makes it possible to realize a combine harvester 1 in which the descending speed of the reel 17 does not change even if the cutting unit H is replaced.

[0084] As a result, for example, when the combine harvester 1 runs automatically, there is no need to adjust (change) the timing at which the reel 17 starts descending, the running speed, the running position, etc., depending on the mowing width of the reaping unit H attached to the machine body 10. In other words, uniform control is possible regardless of the mowing width of the reaping unit H attached to the machine body 10.

[0085] Other embodiments (1) The actuator 4 does not have to be the hydraulic cylinder 5. For example, the actuator 4 may be an electric motor.

[0086] (2) The lifting control unit 21 may be configured to control the actuator 4 so that, when controlling the actuator 4 to lift the reel 17, the lifting speed of the reel 17 changes depending on the mowing width of the cutting part H attached to the body 10.

[0087] (3) The hydraulic cylinder 5 does not have to be driven by a duty-controlled electromagnetic hydraulic valve.

[0088] (4) The types of cutting parts H that can be attached to the machine body 10 may be three or more.

[0089] (5) The lift control unit 21 may be configured to determine the duty ratio of the ascent duty valve 32 or the descent duty valve 33 to be any one of three or more different duty ratios, or may be configured to be steplessly (continuously) changeable.

[0090] The configurations disclosed in the above-mentioned embodiments (including other embodiments, the same applies below) can be applied in combination with configurations disclosed in other embodiments, unless a contradiction occurs. In addition, the embodiments disclosed in this specification are merely examples, and the present invention is not limited to these embodiments, and can be appropriately modified within the scope of the present invention. [Industrial Applicability]

[0091] INDUSTRIAL APPLICABILITY The present invention can be used in a harvester having a cutting unit that is attached to a machine body and cuts planted stalks in a field. [Explanation of symbols]

[0092] 1: Combine (harvest machine) 4: Actuator 5: Hydraulic cylinder 10: Aircraft 17: Reel 17b: Reel shaft core 21: Lift control section 32: Lift duty valve (electrohydraulic valve) 33: Duty valve for lowering (electrohydraulic valve) H: Reaping part

Claims

1. The machine is equipped with a reaping unit that is attached to the machine body and that reaps planted stalks in the field. The reaping unit has a reel that rakes in the planted stalks while rotating around a reel axis along the width direction, an actuator capable of raising and lowering the reel; A lift control unit that controls the actuator, The machine body is configured so that the cutting unit attached to the machine body can be replaced with another cutting unit having a different cutting width, When controlling the actuator so that the reel descends, the lift control unit controls the actuator so that the reel descends at a constant speed regardless of the mowing width of the mowing unit attached to the machine body, The actuator is a hydraulic cylinder driven by a duty-controlled electromagnetic hydraulic valve, The lift control unit is configured to control the hydraulic cylinder by controlling a duty ratio of the electromagnetic hydraulic valve, A harvester, wherein the duty ratio is predetermined corresponding to the reaping unit.

2. The harvester according to claim 1, wherein the lifting control unit, when controlling the actuator to lift the reel, controls the actuator so that the reel lifts at a constant speed regardless of the cutting width of the cutting part attached to the body.

3. A harvester as described in claim 1 or 2, wherein the lifting control unit, when controlling the hydraulic cylinder so that the reel descends, controls the duty ratio so that the reel descends at a constant speed regardless of the cutting width of the cutting part attached to the machine body.

Images