Harvesting machine

Abstract

To provide a harvester which can preferably control heights of a reaping frame and a scraping reel, by simple operation, in reaping and work restart, and change a height position of the reaping frame to a proper position suitable for a work environment automatically, in restart of the work.SOLUTION: A harvester comprises: a first operation tool which is artificially operated, lifts up a reaping frame to a first height position by actuating a first actuator 10, and lowers a scraping reel 71 to a lowest position by actuating a second actuator 11; a second operation tool which is artificially operated, lowers the reaping frame to a second height position being lower than the first height position by actuating the first actuator 10, and lifts up the scraping reel 71 by actuating the second actuator 11; and a third operation tool 40 which is artificially operated, and can set and change a second height position of the reaping frame.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] The present invention relates to a harvester.

Background Art

[0002] Conventionally, in order to easily prevent the cut crop straw remaining on the cutting frame from falling off due to vibrations during traveling after cutting, there has been a harvester capable of automatically controlling the reel to lower automatically and sandwich the cut crop straw between the cutting frame and the gathering reel. And in such a harvester, between the end of turning in a turning area such as the outer periphery of the field and the arrival at the next cutting start position, the gathering reel is automatically raised so that the cutting operation can be resumed quickly.

[0003] In the combine described in Patent Document 1, when the reel one-touch switch is turned on, when the gathering reel is at a position below the lower limit position of a predetermined lifting range, it rises to a predetermined position, and when the gathering reel is at a position above the upper limit position of the lifting range, it descends to a predetermined position. In the combine described in Patent Document 1, there is no description regarding the height change of the cutting frame (cutting unit), and it is understood that the cutting frame rises or falls by manual operation such as a lifting operation tool.

[0004] In addition to this, there is also a harvester in which when a specific operation such as pressing a specific switch is performed, the cutting frame rises and the gathering reel descends to sandwich the cut crop straw, and then when a specific operation such as pressing the specific switch again is performed, the cutting frame descends and the gathering reel rises.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] By the way, when lowering the harvesting frame to resume work, depending on the working environment such as the field conditions and the operator's skill, if the harvesting frame is lowered too much, it may crash into the field. For this reason, as mentioned above, in the case of machines that automatically lower to a specific position, the lowering height is set higher, or the cutting height control is employed to sense the height of the harvesting frame above the ground and maintain an appropriate height to lower it to the lowest position. In addition, in the combine harvester described in Patent Document 1, the height of the harvesting frame is changed manually, and the operator checks the height of the harvesting frame above the ground by visual inspection, etc., and lowers the harvesting frame to the appropriate height position.

[0007] Thus, regarding the height of the harvesting frame when work resumes, introducing the aforementioned cutting height control would increase costs. Furthermore, if the frame is automatically lowered to a specific position, the lowering height may be too high or too low depending on the field. Moreover, if it is lowered manually, the harvesting frame is still operated manually despite the automatic raising and lowering of the reel, meaning that the reliance on the operator's skill cannot be completely reduced.

[0008] The object of the present invention is to provide a harvesting machine that allows for optimal height control of the harvesting frame and raking reel with simple operation during mowing and when resuming work, while also being able to automatically change the height position of the harvesting frame to an appropriate position that suits the working environment when work is resumed. [Means for solving the problem]

[0009] The harvesting machine according to the present invention is characterized by a harvesting section having: a raking reel for raking in planted grain stalks; a cutting device for cutting the planted grain stalks; a lateral conveying device for transporting the harvested material cut by the cutting device in the left-right direction of the machine body; and a harvesting frame configured to swing up and down, supporting the raking reel so as to swing up and down, and housing the lateral conveying device; a first actuator capable of swinging the harvesting frame up and down; a second actuator capable of swinging the raking reel up and down; a first operating tool that is manually operated to activate the first actuator to raise the harvesting frame to a first height position and to activate the second actuator to lower the raking reel to its lowest position; and a first operating tool that is manually operated to activate the first actuator to move the harvesting frame The aforementioned A second operating device that lowers the harvesting reel to a second height position lower than the first height position and activates the second actuator to raise the harvesting reel; and a third operating device that is manually operated and can set and change the second height position of the harvesting frame. The machine comprises a sensor capable of detecting the vertical position of the raking reel, the raking reel comprising left and right reel frames located on both the left and right sides of the raking reel, and a connecting frame that connects the base ends of the left and right reel frames and is rotatable around an axis extending in the left-right direction of the machine, the sensor provided across the connecting frame and the harvesting frame and detecting the rotation angle of the connecting frame It's at a single point.

[0010] With this invention, the operator can check the working environment and then change the height at which the harvesting frame descends using a third operating device. In other words, with this invention, the optimal height control of the harvesting frame and raking reel can be performed with simple operation when harvesting and when resuming work, and the height of the harvesting frame can be automatically changed to an appropriate position that suits the working environment when work is resumed. Because the scraping reel is a heavy object that is long from left to right, there is a slight difference in the weight of the scraping reel borne by the left and right reel frames, and the up and down movements of the reel frames may differ slightly on the left and right sides. Therefore, detecting the vertical position of the scraping reel from the up and down movement of either reel frame may result in errors. With this configuration, the vertical position of the scraping reel is detected from the rotation angle of the connecting frame, which can balance the up and down movements of the left and right sides, thus reducing errors.

[0011] In the present invention, it is preferable that the vehicle includes a driver's seat, the driver's seat is provided with a steering lever located diagonally in front of the driver's seat, an operating surface is provided on the upper part of the steering lever, and the first operating tool and the second operating tool are provided on the operating surface.

[0012] With this configuration, the steering lever (operated with the entire hand) and the first or second operating tool (operated with the thumb, etc.) can be operated simultaneously with one hand. Compared to using both hands, there is no need to unnecessarily move the body or gaze, and the instruction operation to change the height position of the harvesting frame and raking reel can be performed in a stable manner when turning the machine.

[0013] In the present invention, it is preferable that the first operating tool and the second operating tool are arranged side by side in the left-right direction on the operating surface.

[0014] Generally, the steering lever often has two operating switches, one for raising the raking reel and the other for lowering it, positioned side-by-side. With this configuration, the first operating tool to be operated during mowing and the second operating tool to be operated when resuming work are clearly separated and arranged in parallel on the left and right sides, making the layout easy to remember intuitively and reducing the likelihood of misoperation.

[0015] In the present invention, it is preferable that the third operating tool is provided in the operating unit at a position adjacent to the driver's seat.

[0016] Since the working environment does not change frequently, the lowering height of the harvesting frame only needs to be set once, for example, before entering the field to be worked on. In other words, the third operating device is operated less frequently than the first and second operating devices. Also, the area next to the driver's seat is difficult for the driver to reach and is usually relatively spacious. With this configuration, even if a third operating device is installed, it is unlikely to interfere with the operation of other operating devices or the driver's movements, and it is unlikely to affect the layout of other operating devices. Conversely, when operating the third operating device, other operating devices are unlikely to get in the way.

[0017] In the present invention, it is preferable that the third operating device is provided in a position adjacent to the rear of the driver's seat.

[0018] Since the position adjacent to the side of the driver's seat is difficult to access without significantly twisting the body horizontally, according to this configuration, even if a third operating tool is provided, it is less likely to interfere with the operation of other operating tools or the driver's movements, and is also less likely to affect the layout of other operating tools.

[0019] In the present invention, it is preferable that a side panel is provided adjacent to the side of the driver's seat, and the third operating tool is provided on the upper surface portion of the side panel.

[0020] Generally, many electrical components are provided in the side panel. By providing the third operating tool on the upper surface portion of the side panel as in this configuration, it can be arranged together with harnesses for other electrical components, etc., and the assembly work is reduced.

[0021] In the present invention, a traveling device for supporting the machine body and a posture control operation unit for changing the posture of the machine body with respect to the traveling device are provided, and the posture control operation unit is provided on the upper surface portion of the side panel and is preferably provided at a position adjacent to the third operating tool.

[0022] Conventionally, there is a harvesting machine that detects the ground clearance of the cutting unit and controls the height of the cutting unit in order to prevent the cutting unit from digging into the field. However, there are also harvesting machines that cannot perform such cutting height control. If it is a harvesting machine that cannot perform cutting height control and the lowering height position of the cutting frame is set higher by the third operating tool, the cutting height of the cutting unit can be adjusted by operating the posture control operation unit to raise and lower the height of the machine body. That is, the posture control operation unit and the third operating tool are operating tools with a high degree of relevance to each other. With this configuration, the posture control operation unit and the third operating tool with a high degree of relevance are arranged close to each other, so it is easy to intuitively grasp the layout of these operating tools, and a user interface that is easy to handle can be constructed.

[0023] In the present invention, it is preferable that the third operating tool is provided at a position closer to the driver's seat than the posture control operation unit.

[0024] In the side panel, especially in the position close to the driver's seat, it is easier to visually observe and operate when it is slightly away from the driver's seat. According to this configuration, in the side panel, by arranging the attitude control operation part with a high usage frequency farther from the driver's seat than the third operation tool with a low usage frequency, according to the operation frequency, it is possible to make it easier to visually observe and operate the attitude control operation part than the third operation tool.

[0025]

[0026]

[0027]

[0028]

[0029] In the present invention, a conveying device is provided which is connected to the rear part of the cutting frame and conveys the harvested product conveyed by the lateral feeding and conveying device rearward. The conveying device is offset in the left-right direction from the position at the left-right center of the cutting frame. It is preferable that the sensor is provided at a position away from the side opposite to the side where the conveying device is offset in the left-right direction by the smaller distance between the distance from the left end of the cutting frame to the left-right center of the conveying device and the distance from the right end of the cutting frame to the left-right center of the conveying device.

[0030] Since the cutting frame is long in the left-right direction, it can deflect downward more as it moves away from the left-right center of the conveying device which is the support center of the cutting frame. Assuming that the weight of the cutting part is uniform in the left-right direction, the amount of deflection at each position on the left and right of the cutting frame is considered to be proportional to the distance from the left-right center of the conveying device. With this configuration, compared with the case where the sensor is arranged at the left and right ends of the cutting frame, the left and right amounts of deflection are the same or almost the same, and the sensor is arranged at a position with a balanced deflection. Therefore, the influence of deflection is less likely to occur. And compared with the case where the sensor is arranged near the conveying device, since the sensor is closer to the periphery of the machine body, it is easier to access the sensor, and it is easier to perform maintenance work on the sensor.

Brief Description of the Drawings

[0031] [Figure 1] This is an overall left side view of the harvesting machine. [Figure 2] This is an overall plan view of the harvesting machine. [Figure 3] Plan view of the driver's compartment. [Figure 4] This is a rear view of the steering lever. [Figure 5] This is a left-side cross-sectional view of the area around the sensor. [Figure 6] A cross-sectional plan view of the area around the sensor. [Figure 7] This is a block diagram showing the lifting and lowering control of a rake reel and harvesting device. [Figure 8] This is a schematic diagram showing the movement of the raking reel and harvesting device during lifting and lowering control. [Modes for carrying out the invention]

[0032] In an embodiment of the present invention, a conventional combine harvester, which is an example of a harvesting machine, will be described based on the drawings. In the following description, the direction of arrow F is the "front side of the machine", the direction of arrow B is the "rear side of the machine", the direction of arrow L is the "left side of the machine", the direction of arrow R is the "right side of the machine", the direction of arrow U is the "upper side of the machine", and the direction of arrow D is the "lower side of the machine".

[0033] [Overall structure] As shown in Figures 1 and 2, the combine harvester comprises a machine body 1 and a pair of left and right crawler tracks (treads 2) that support the machine body 1. The machine body 1 comprises an operating unit 3, a threshing device 4, a grain tank 5, a discharge device 6, and an engine E.

[0034] At the front of the machine body 1 is a harvesting unit 7 for cutting planted grain stalks in the field. The harvesting unit 7 includes a raking reel 71 for raking in planted grain stalks, a cutting device 72 for cutting planted grain stalks, a lateral conveying device 73 for transporting the harvested material cut by the cutting device 72 in the left-right direction of the machine, a harvesting frame 74 that houses the lateral conveying device 73, and a pair of left and right dividers 75 provided at the ends of the left and right side walls of the harvesting frame 74 for separating planted grain stalks into those to be harvested and those not to be harvested. The harvesting frame 74 has a horizontally elongated shape that extends in the left-right direction of the machine.

[0035] A raking reel 71 is connected to the rear of the harvesting frame 74. The raking reel 71 has a horizontally elongated shape that extends in the left-right direction of the machine. The raking reel 71 is located above the harvesting frame 74. The raking reel 71 comprises left and right reel frames 71a located on both sides of the raking reel 71 and extending in the front-rear direction of the machine, and a connecting frame 71b at the rear of the raking reel 71 that is connected to the base ends of the left and right reel frames 71a. The connecting frame 71b extends in the left-right direction of the machine and is rotatable around an axis X1 that extends in the left-right direction of the machine. In this embodiment, the bottom of the harvesting frame 74 is not provided with a harvesting height sensor that detects the current height of the harvesting frame 74 from the ground using an acceleration sensor or the like. In other words, in this embodiment, harvesting height control that automatically adjusts the lowest position of the harvesting frame 74 to an appropriate height from the ground over time using a harvesting height sensor is not performed.

[0036] A conveying device 8 is connected to the rear of the harvesting frame 74 to transport the harvested crop, which has been transported by the lateral conveying device 73, to the rear. Specifically, the conveying device 8 is connected to the harvesting frame 74 at a position offset to the right in the left-right direction of the machine, from the left-right center position. The conveying device 8 is provided with a detachable side cover 81 on its right side (side). The side cover 81 is fixed by bolts (not shown).

[0037] Behind the conveying device 8, there is a threshing device 4 for threshing the entire stalk of the harvested crop conveyed by the conveying device 8. To the right of the threshing device 4 and behind the operating unit 3, there is a grain tank 5 for storing the grain obtained by the threshing device 4. Behind the grain tank 5, there is a discharge device 6 for discharging the grain stored in the grain tank 5 to the outside. The discharge device 6 has a vertical conveying section 61 connected to the grain tank 5 and extending vertically, and a horizontal conveying section 62 connected to the upper end of the vertical conveying section 61 so as to be able to swing up and down. The discharge device 6 is rotatable around a pivot axis that extends vertically.

[0038] The driver's unit 3 is located adjacent to the transport device 8 in the left-right direction of the machine body. Specifically, the driver's unit 3 is located to the right of the transport device 8. The driver's unit 3 includes a driver's seat 31 in which the driver sits, a steering lever 32, a front panel 33 located in front of the driver's seat 31, and a side panel 34 located to the side of the driver's seat 31.

[0039] Below the driver's unit 3 are the engine E and the transmission 9, which transmits power from the engine E after shifting the gear ratio. The transmission 9 comprises a continuously variable transmission (not shown) as the main transmission device and a transmission case (not shown). The transmission case houses a sub-transmission device and the like. The power shifted by the transmission 9 is transmitted to the harvesting unit 7 and the travel device 2, which are working devices, via a clutch device (not shown).

[0040] [First Actuator] As shown in Figure 1, a first actuator 10 capable of vertically swinging the conveying device 8 and the harvesting unit 7 (harvesting frame 74) is provided at the front of the machine body 1. The first actuator 10 is a hydraulic cylinder. The conveying device 8 is supported by the front of the machine body 1 and the first actuator 10. The conveying device 8 can swing around an axis X2 extending in the left-right direction of the machine body by the first actuator 10. Specifically, the conveying device 8 swings up and down as the first actuator 10 extends and retracts. The harvesting unit 7 (harvesting frame 74) swings up and down as the conveying device 8 swings up and down.

[0041] A sensor 12 is provided at the rear of the conveying device 8. The sensor 12 has a potentiometer. The sensor 12 detects the oscillation angle of the conveying device 8.

[0042] [Second Actuator] As shown in Figure 1, a second actuator 11 capable of vertically swinging the raking reel 71 is provided on the harvesting frame 74. The second actuator 11 is a hydraulic cylinder. The raking reel 71 is supported by the harvesting frame 74 and the second actuator 11. When the second actuator 11 extends or retracts, the connecting frame 71b rotates around the axis X1. As a result, the raking reel 71 swings up and down relative to the harvesting frame 74. In other words, the harvesting frame 74 supports the raking reel 71 so that it can swing up and down.

[0043] A sensor 13 capable of detecting the vertical position of the raking reel 71 is provided in the left-right center portion of the harvesting frame 74. The sensor 13 detects the rotation angle of the connecting frame 71b relative to the harvesting frame 74. The output signal from the sensor 13 is sent to the control unit 14 (Figure 7). In response to this output signal, the control unit 14 (Figure 7) calculates the vertical position of the raking reel 71. In other words, the sensor 13 can detect the vertical position of the raking reel 71.

[0044] As shown in Figure 2, the sensor 13 is positioned at a distance L1, which is the smaller of the distance L1 from the left end of the harvesting frame 74 to the left-right center of the conveying device 8 and the distance L2 from the right end of the harvesting frame 74 to the left-right center of the conveying device 8.

[0045] Because the harvesting frame 74 is long from left to right, it can bend downwards the further it is from the left-right center of the conveying device 8, which serves as the support center for the harvesting frame 74. Specifically, the portion of the harvesting frame 74 to the right of the conveying device 8 is prone to bending downwards due to the weight of the harvesting unit 7. The portion of the harvesting frame 74 to the left of the conveying device 8 is prone to bending upwards as the portion of the harvesting frame 74 to the right of the conveying device 8 bends downwards.

[0046] Assuming that the weight of the harvesting unit 7 is uniform in the left-right direction, the amount of deflection at each point on the left and right of the harvesting frame 74 is considered to be proportional to the distance from the left and right centers of the conveying device 8. With this configuration, compared to the case where the sensors 13 are laid out at the left and right ends of the harvesting frame 74, the sensors 13 are positioned at locations where the amount of deflection on the left and right sides is the same or approximately the same, thus reducing the impact of deflection.

[0047] Sensor 13 is connected to harness 15. Harness 15 is connected to control unit 14 (Figure 7). From sensor 13 to the front of conveying device 8, harness 15 extends along the rear of harvesting frame 74 in the left-right direction of the machine. From the front of conveying device 8 to the front of machine body 1, harness 15 extends along the side of conveying device 8 in the front-rear direction of the machine.

[0048] [First operating tool and second operating tool] As shown in Figure 3, the upper part of the steering lever 32 is provided with an operating surface 32a that faces the driver's face when seated in the driver's seat 31. Specifically, the operating surface 32a is formed on the upper part of the steering lever 32 in a downward sloping manner towards the rear. The steering lever 32 is mounted on the front panel 33. The steering lever 32 is pivotable in the forward / backward and left / right directions. The steering lever 32 is positioned diagonally in front of the driver's seat 31.

[0049] As shown in Figure 4, the operating surface 32a is provided with a reel raise button 35, a reel lower button 36, a first operating tool 37, and a second operating tool 38. The reel raise button 35, the reel lower button 36, the first operating tool 37, and the second operating tool 38 are push buttons that are operated manually. The first operating tool 37 and the second operating tool 38 are aligned in the left-right direction. The reel raise button 35 and the reel lower button 36 are aligned in the front-back direction in a plan view. The first operating tool 37 and the second operating tool 38 are located below the reel raise button 35 and above the reel lower button 36. The first operating tool 37 is located to the right of the reel raise button 35 and the reel lower button 36. The second operating tool 38 is located to the left of the reel raise button 35 and the reel lower button 36.

[0050] As shown in Figure 3, the side panel 34 has a plate-shaped upper surface 34a. The height of the upper surface 34a from the floor of the driver's unit 3 is above the seat surface of the driver's seat 31 and below the upper end of the rear (back) of the driver's seat 31. The side panel 34 is located to the left of the driver's seat 31. The upper surface 34a of the side panel 34 is provided with a main shift lever 41 for shifting the continuously variable transmission, a sub-shift lever 42 for shifting the sub-transmission, a harvesting / threshing clutch lever 43 for simultaneously switching the harvesting clutch and threshing clutch, which are part of the clutch device, on and off, a posture control operation unit 39, and a third operating tool 40. The main shift lever 41, sub-shift lever 42, and harvesting / threshing clutch lever 43 are pivotable in the front-rear direction.

[0051] The wiring harness for the electrical components located on the upper surface 34a is routed inside the side panel 34. In this embodiment, sensors (not shown) for detecting the oscillation angles of the main transmission lever 41, the sub-transmission lever 42, and the harvesting / threshing clutch lever 43 are located inside the side panel 34. For example, wiring harnesses connected to these sensors and wiring harnesses (not shown) connected to the attitude control operation unit 39 and the third operating tool 40 are routed inside the side panel 34.

[0052] [Attitude control operation unit] As shown in Figure 3, the attitude control operation unit 39 is operated manually. The attitude control operation unit 39 is located adjacent to the third operating tool 40. The attitude control operation unit 39 changes the attitude of the machine 1 relative to the running device 2. Specifically, the attitude control operation unit 39 has a left / right manual operation switch 39a, a front / rear manual operation switch 39b, and an automatic operation switch 39c. The left / right manual operation switch 39a is a button for manually adjusting the attitude of the machine 1 to a horizontal state in the left / right direction. The front / rear manual operation switch 39b is a button for manually adjusting the attitude of the machine 1 to a horizontal state in the front / rear direction. The automatic operation switch 39c is a button for automatically adjusting the attitude of the machine 1 to a horizontal state in both the left / right and front / rear directions.

[0053] [Third operating tool] As shown in Figure 3, the third operating device 40 is a manually operated dial-type switch. A signal corresponding to the position indicated by the third operating device 40 is sent to the control unit 14 (Figure 7). In response to this signal, the control unit 14 (Figure 7) sets the lowest position (second height position H2) of the harvesting frame 74. The second height position H2 can be arbitrarily set by the third operating device 40 within the movable range of the conveying device 8. The third operating device 40 is located to the side of the rear of the driver's seat 31.

[0054] The third control device 40 is located closer to the driver's seat 31 than the attitude control control unit 39. Specifically, the third control device 40 is located closer to the driver's seat 31 than the left / right manual operation switches 39a and the front / rear manual operation switches 39b. Furthermore, the third control device 40 is located behind the left / right manual operation switches 39a and the automatic operation switches 39c. In other words, the third control device 40 is located in a position surrounded by the left / right manual operation switches 39a, the front / rear manual operation switches 39b, and the automatic operation switches 39c.

[0055] [Sensor] As shown in Figures 5 and 6, the sensor 13 comprises a casing 13a, a detection rod 13b, an arm member 13c, and a potentiometer 13d. The casing 13a is connected to the harvesting frame 74. The casing 13a is a rectangular parallelepiped cover that covers the detection rod 13b, the arm member 13c, and the potentiometer 13d from above. This prevents the harvested crops from coming into contact with the detection rod 13b, the arm member 13c, and the potentiometer 13d, thus preventing malfunctions.

[0056] The detection rod 13b is connected to the connecting frame 71b by a stay (not shown). The detection rod 13b is capable of swinging up and down as the connecting frame 71b rotates. The arm member 13c is pivotably connected to the potentiometer 13d. The arm member 13c and the potentiometer 13d are connected to the harvesting frame 74 by a stay (not shown). In other words, the sensor 13 is installed across the connecting frame 71b and the harvesting frame 74.

[0057] The arm member 13c extends from the potentiometer 13d toward the rear of the aircraft. The arm member 13c is positioned above the detection rod 13b. The arm member 13c is biased downward. The detection rod 13b, the arm member 13c, and the potentiometer 13d are aligned in the left-right direction of the aircraft.

[0058] As shown in Figure 5, at position S1 of the scraping reel 71, the arm member 13c is tilted upward and backward. The lower part of the arm member 13c is in contact with the upper part of the detection rod 13b. When the scraping reel 71 rises to position S2, the detection rod 13b descends as the connecting frame 71b rotates. As the detection rod 13b descends, the arm member 13c swings downward due to the biasing force.

[0059] At position S2 of the raking reel 71, the arm member 13c is tilted downwards and backwards. When the raking reel 71 descends to position S1, the detection rod 13b rises as the connecting frame 71b rotates. As the detection rod 13b rises, the arm member 13c swings upward against the biasing force, pushed by the detection rod 13b. The potentiometer 13d detects the swing angle of the arm member 13c, thereby detecting the rotation angle of the connecting frame 71b relative to the harvesting frame 74. As a result, the sensor 13 can detect the vertical position of the raking reel 71 relative to the harvesting frame 74.

[0060] [Control Unit] As shown in Figure 7, the machine 1 is equipped with a control unit 14. The control unit 14 includes a harvesting control unit 14a, a steering control unit 14b, and a storage unit 14c. The control unit 14 is an ECU (Electronic Control Unit). The control unit 14 controls the machine 1 by executing a pre-set program. The storage unit 14c is a storage device such as an HDD, ROM, or non-volatile memory.

[0061] When the steering lever 32 is swung to the right from the neutral position, a signal corresponding to the operation is sent to the steering control unit 14b. In response to this signal, the steering control unit 14b controls the running gear 2 to turn to the right. As a result, the machine 1 turns to the right.

[0062] When the steering lever 32 is swung to the left from the neutral position, a signal corresponding to the operation is sent to the steering control unit 14b. In response to this signal, the steering control unit 14b controls the traveling device 2 to turn to the left. As a result, the machine 1 turns to the left.

[0063] When the steering lever 32 is swung backward from the neutral position, a signal corresponding to the operation is sent to the harvesting control unit 14a. In response to this signal, the harvesting control unit 14a controls the first actuator 10 in the extension direction. As a result, the harvesting frame 74 rises.

[0064] When the steering lever 32 is swung forward from the neutral position, a signal corresponding to the operation is sent to the harvesting control unit 14a. In response to this signal, the harvesting control unit 14a controls the first actuator 10 in the retraction direction. As a result, the harvesting frame 74 descends. The harvesting control unit 14a calculates the swing angle of the harvesting frame 74 based on the detection signal from the sensor 12. Based on this, the harvesting control unit 14a determines whether or not the harvesting frame 74 has reached the second height position H2, which is the lowest position. When the harvesting frame 74 reaches the second height position H2, the harvesting control unit 14a stops the movement of the first actuator 10.

[0065] When the reel lift button 35 is pressed, a signal corresponding to the operation is sent to the harvesting control unit 14a. In response to this signal, the harvesting control unit 14a controls the second actuator 11 in the extension direction. As a result, the grafting reel 71 rises relative to the harvesting frame 74. When the operator's finger is released from the reel lift button 35, the grafting reel 71 stops.

[0066] When the reel lowering button 36 is pressed, a signal corresponding to the operation is sent to the harvesting control unit 14a. In response to this signal, the harvesting control unit 14a controls the second actuator 11 in the retraction direction. As a result, the grafting reel 71 descends relative to the harvesting frame 74. When the operator's finger is released from the reel lowering button 36, the grafting reel 71 stops.

[0067] When the third operating tool 40 is rotated to one side (clockwise), a signal corresponding to the rotation angle is sent to the control unit 14. In response to this signal, the control unit 14 changes the lowest position (second height position H2) of the harvesting frame 74 to an upward position. The set second height position H2 is stored in the memory unit 14c. When the third operating tool 40 is rotated to the other side (counterclockwise), a signal corresponding to the rotation angle is sent to the control unit 14. In response to this signal, the control unit 14 changes the lowest position (second height position H2) of the harvesting frame 74 to a downward position. The set second height position H2 is stored in the memory unit 14c. Thus, the third operating tool 40 allows the second height position H2 of the harvesting frame 74 to be set and changed manually. The setting of the second height position H2 of the harvesting frame 74 by the third operating tool 40 is performed once, after checking the field conditions, before the machine 1 enters the field to be worked on.

[0068] [Lifting and lowering control of the rake reel and harvesting device] In the following section, we will describe an example of the lifting and lowering control of the harvesting frame 74 and the raking reel 71, specifically when the combine harvester is traveling as shown in Figure 8.

[0069] Furthermore, in the example shown in Figure 8, neither the reel raising button 35 nor the reel lowering button 36 are operated manually. Also, the raising and lowering of the harvesting frame 74 is not performed by swinging the steering lever 32 in the forward and backward directions.

[0070] In the example shown in Figure 8, the traveling device 2 is moving in a straight line. Position P2 in Figure 8 indicates the height of the cutting unit 7 when cutting the planted grain stalks CR and when resuming work. Position P1 indicates the height of the cutting unit 7 after cutting the planted grain stalks CR.

[0071] When the cutting unit 7 is in position P2 during cutting, the first operating tool 37 is pushed when the cutting unit 7 cuts through the planted grain stalks CR. This causes the first actuator 10 to move in the extension direction, and the cutting frame 74 rises to the first height position H1. Specifically, the cutting control unit 14a calculates the swing angle of the cutting frame 74 based on the detection signal from the sensor 12. Based on this, the cutting control unit 14a determines whether or not the cutting frame 74 has reached the first height position H1, which is a preset maximum height position. When the cutting frame 74 reaches the first height position H1, the cutting control unit 14a stops the movement of the first actuator 10.

[0072] Furthermore, when the first operating tool 37 is pushed, the second actuator 11 is operated in the retraction direction, causing the raking reel 71 to descend to its lowest position. Specifically, the harvesting control unit 14a calculates the oscillation angle of the raking reel 71 based on the detection signal from the sensor 13. Based on this, the harvesting control unit 14a determines whether or not the raking reel 71 has reached the preset lowest position. When the raking reel 71 reaches the preset lowest position, the harvesting control unit 14a stops the movement of the second actuator 11. As a result, after harvesting is complete, the harvesting frame 74 and the raking reel 71 are automatically repositioned to position P1.

[0073] When the harvesting control unit 14a receives a signal from the first operating tool 37, it outputs the vertical position of the raking reel 71 at the time the signal was received from the first operating tool 37 to the storage unit 14c. As a result, the storage unit 14c stores the height position of the raking reel 71 relative to the harvesting frame 74 at position P2 when the crop is completed.

[0074] With the cutting unit 7 in position P1 after mowing, the second operating tool 38 is pushed before the cutting unit 7 begins to cut the planted grain stalks CR (before work resumes). This causes the first actuator 10 to move in the retraction direction, and the cutting frame 74 descends to a second height position H2, which is lower than the first height position H1. Specifically, the cutting control unit 14a calculates the swing angle of the cutting frame 74 based on the detection signal from the sensor 12. The cutting control unit 14a determines whether or not the cutting frame 74 has reached the second height position H2. When the cutting frame 74 reaches the second height position H2 set by the third operating tool 40, the cutting control unit 14a stops the movement of the first actuator 10. As a result, the cutting frame 74 stops at the second height position H2.

[0075] Furthermore, when the second operating tool 38 is pushed, the second actuator 11 is actuated in the extension direction, causing the raking reel 71 to rise. Specifically, the harvesting control unit 14a calculates the oscillation angle of the raking reel 71 based on the detection signal from the sensor 13. Based on this, the harvesting control unit 14a determines whether or not the raking reel 71 has reached the height of the raking reel 71 at the previous harvesting position P2 stored in the memory unit 14c. When the raking reel 71 reaches the predetermined height, the harvesting control unit 14a stops the movement of the second actuator 11. As a result, when work is resumed, the harvesting frame 74 and the raking reel 71 are automatically repositioned to position P2.

[0076] As described above, the operations performed by the first operating tool 37 and the second operating tool 38 are carried out multiple times during work in the field being worked on. In other words, the third operating tool 40 is operated less frequently than the first operating tool 37 and the second operating tool 38.

[0077] [Another embodiment] [1] The present invention is not limited to the embodiments described above. For example, it may be configured as in the following alternative embodiments. In the alternative embodiments described below, components that are the same as those in the embodiments are denoted by the same numbers and reference numerals as in the embodiments.

[0078] [2] In the above embodiment, the first actuator 10 and the second actuator 11 are hydraulic cylinders. The first actuator 10 and the second actuator 11 may be in other forms. For example, the first actuator 10 and the second actuator 11 may be electric actuators.

[0079] [3] In the above embodiment, the first operating device 37 and the second operating device 38 are push buttons. The forms of the first operating device 37 and the second operating device 38 may be other forms. For example, the first operating device 37 and the second operating device 38 may be levers or toggle switches provided separately from the steering lever 32.

[0080] [4] In the above embodiment, the third operating device 40 is a dial switch. The form of the third operating device 40 may be other forms. For example, the third operating device 40 may be a push button, a lever, a toggle switch, etc.

[0081] [5] In the above embodiment, the first operating tool 37 and the second operating tool 38 are arranged in the left-right direction. The first operating tool 37 and the second operating tool 38 may be in other forms. For example, the first operating tool 37 and the second operating tool 38 may be arranged in the vertical direction. Also, the first operating tool 37 and the second operating tool 38 may be provided at separate locations.

[0082] [6] In the above embodiment, the third operating tool 40 is provided on the upper surface 34a of the side panel 34 and is located next to the driver's seat 31. The form of the third operating tool 40 may be other. For example, the third operating tool 40 may be provided on the front panel 33. Alternatively, the third operating tool 40 may be provided behind the driver's seat 31.

[0083] [7] In the above embodiment, the third operating device 40 is located closer to the driver's seat 31 than the attitude control operating unit 39. The third operating device 40 may take other forms. For example, the third operating device 40 may be located further away from the driver's seat 31 than the attitude control operating unit 39.

[0084] [8] In the above embodiment, the attitude control operation unit 39 is located adjacent to the third operating tool 40. The attitude control operation unit 39 may take other forms. For example, the attitude control operation unit 39 may be located away from the third operating tool 40.

[0085] [9] Sensor 13 may be of other forms. For example, sensor 13 may detect the rotation angle of the connecting frame 71b based on signals from a vibration gyroscope and an accelerometer. Alternatively, sensor 13 may detect the rotation angle of the connecting frame 71b based on the extension amount of the second actuator 11, or detect it using an encoder, etc.

[0086]

[10] In the above embodiment, the sensor 13 is provided in the left and right central portion of the harvesting frame 74. The form of the sensor 13 may be other. For example, the sensor 13 may be provided on the side of the harvesting frame 74.

[0087]

[11] In the above embodiment, the sensor 13 is located at a distance L1 from the left-right center of the conveying device 8, on the left-right center side of the harvesting frame 74. The form of the sensor 13 may be other. For example, the sensor 13 may be located at a distance greater than L1 to the right from the left-right center of the conveying device 8.

[0088]

[12] In the above embodiment, when the second operating tool 38 is pushed, the harvesting control unit 14a raises the raking reel 71 to the height position of the previous harvest stored in the memory unit 14c. However, when the second operating tool 38 is pushed, the harvesting control unit 14a may raise the raking reel 71 to a preset height relative to the ground.

[0089]

[13] The configurations disclosed in the above embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with configurations disclosed in other embodiments, insofar as they do not cause a contradiction, and the embodiments disclosed herein are illustrative, and the embodiments of the present invention are not limited thereto and can be modified as appropriate without departing from the object of the present invention. [Industrial applicability]

[0090] This invention is applicable to a harvesting machine that harvests planted grain stalks while moving along the road. [Explanation of Symbols]

[0091] 1: Aircraft 2: Running gear 3: Driver's Unit 31: Driver's seat 32: Steering lever 32a: Operation surface 34: Side Panel 34a:Top part 37:First operating tool 38:Second operating tool 40: Third operating tool 7: Reaping part 71: Scraping reel 71a: Reel frame 71b: Connecting frame 72: Cutting device 73: Lateral conveying device 74: Harvesting frame 8: Conveying device 10: First Actuator 11: Second Actuator 13: Sensor CR: Planted grain culm H1: First height position H2: Second height position L1: distance L2: distance X2: Axial center

Claims

1. A harvesting unit comprising: a raking reel for raking in planted grain stalks; a cutting device for cutting the planted grain stalks; a lateral conveying device for transporting the harvested material cut by the cutting device in the left-right direction of the machine; and a harvesting frame configured to swing up and down, supporting the raking reel so as to swing up and down, and housing the lateral conveying device; The harvesting frame is provided with a first actuator capable of vertically swinging, A second actuator capable of vertically swinging the aforementioned scraping reel, A first operating device that is manually operated to activate the first actuator to raise the harvesting frame to a first height position and to activate the second actuator to lower the raking reel to its lowest position, A second operating device that is manually operated to activate the first actuator to lower the harvesting frame to a second height position lower than the first height position, and to activate the second actuator to raise the raking reel, A third operating tool that is manually operated and capable of setting and changing the second height position of the harvesting frame, The system includes a sensor capable of detecting the vertical position of the aforementioned scraping reel, The scraping reel comprises left and right reel frames located on both the left and right sides of the scraping reel, and a connecting frame that connects the base ends of the left and right reel frames and is rotatable around an axis extending in the left-right direction of the machine body. The sensor is provided across the connecting frame and the harvesting frame, and the harvesting machine detects the rotation angle of the connecting frame.

2. It is equipped with a driver's seat and a driver's compartment. The aforementioned driving unit includes a steering lever located diagonally in front of the driver's seat, An operating surface is provided on the upper part of the steering lever, The harvesting machine according to claim 1, wherein the first operating tool and the second operating tool are provided on the operating surface.

3. The harvesting machine according to claim 2, wherein the first operating tool and the second operating tool are arranged in the left-right direction on the operating surface.

4. The harvesting machine according to claim 2, wherein the third operating device is provided in the operating section at a position adjacent to the driver's seat.

5. The harvesting machine according to claim 4, wherein the third operating device is provided in a position adjacent to the rear of the driver's seat.

6. A side panel is provided next to the driver's seat. The harvesting machine according to claim 4, wherein the third operating tool is provided on the upper surface of the side panel.

7. It comprises a traveling device that supports the aircraft body, and an attitude control operation unit that changes the attitude of the aircraft body relative to the traveling device, The harvesting machine according to claim 6, wherein the attitude control operation unit is provided on the upper surface of the side panel and is located adjacent to the third operating tool.

8. The harvesting machine according to claim 7, wherein the third operating device is located closer to the driver's seat than the attitude control operating unit.

9. It is equipped with a conveying device connected to the rear of the harvesting frame, which conveys the harvested material transported by the lateral conveying device to the rear, The conveying device is offset to the left and right from the center position of the harvesting frame. The harvesting machine according to claim 1, wherein the sensor is located at a distance from the left-right center of the conveying device to the side opposite to the side to which the conveying device is deviated in the left-right direction, by the smaller of the distance from the left end of the harvesting frame to the left-right center of the conveying device and the distance from the right end of the harvesting frame to the left-right center of the conveying device.

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