JP7377465B2 - combine - Google Patents

Description

The present invention relates to a combine harvester equipped with a continuously variable transmission device that increases and decelerates the traveling speed of a traveling device.

In conventional combine harvesters, a technique is known in which the traveling speed of a traveling device is increased or decreased by operating a speed change lever according to the conditions of the field or grain culm. (See Patent Document 1)

Japanese Patent Application Publication No. 2000-203468

However, in the technology of Patent Document 1, when the speed change lever is moved from the neutral position to the forward tilted position in order to increase the traveling speed of the traveling equipment, the crawler of the traveling equipment and the field slip, and a large load is placed on the engine. There is a possibility that the traveling speed may not be increased to the set traveling speed provided on the shift lever corresponding to the movement position due to conditions such as when the gear lever is moved. It has also been pointed out that this causes great discomfort to workers.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a combine harvester that can increase the actual traveling speed of the traveling device to the set traveling speed set by the speed change lever and reduce the discomfort of the operator. .

The present invention that solves the above problems is as follows.
That is, the invention according to claim 1 provides a traveling device (2) on the lower side of a body frame (1) on which an engine (E) is mounted, and a reaping device (3) on the front side of the body frame (1). In a combine harvester, a threshing device (4) is provided at the rear left side of the reaping device (3), and a control section (5) is provided at the rear right side of the reaping device (3),
A continuously variable transmission (20) that increases/decelerates the output rotation of the engine (E) and switches the rotation direction is provided downstream of the first transmission path (A) of the engine (E). A traveling device (2) and a reaping device (3) are provided downstream of the second transmission path (B) of the engine (E), a threshing device (4) is provided downstream of the second transmission path (B) of the engine (E), and a threshing device (4) is provided downstream of the second transmission path (B) of the engine (E). A speed change lever (16) is provided on the side panel (15) of (5) to operate the continuously variable transmission (20) to increase/decelerate the set traveling speed (V) of the traveling device (2). 2) In the case where the speed difference (S) between the set traveling speed (V) and the actual traveling speed (v) of the traveling device is larger than the predetermined speed difference (SA), the traveling speed (v) is set in advance. If the speed is higher than the set predetermined speed (VA), the driving means (42, 43) for rotating the trunnion shaft (40) of the continuously variable transmission (20) is driven to increase the traveling speed (v). driving means (42, 43) is configured to stop the combine harvester.

In the invention according to claim 2, when the speed change lever (16) is moved from the neutral position to the forward inclined position, the set traveling speed (V) is increased and the speed change lever (16) is moved from the forward inclined position to the neutral position. If the speed change lever (16) has not moved from the neutral position to the forward tilted position for more than a predetermined amount, the driving means (42, 43) 2. The combine harvester according to claim 1, wherein the combine harvester does not drive the combine harvester.

The invention according to claim 3 provides that when the layer thickness (T) of the grains transferred on the swinging rack of the threshing device (4) is thicker than a predetermined layer thickness (TA), the driving means (42 , 43) is not driven.

The invention according to claim 4 provides an angle sensor (16A) at the base of the speed change lever (16) for measuring an inclination angle when the speed change lever (16) is moved from a neutral position to a forward tilted position, The combine harvester according to any one of claims 1 to 3, wherein the set traveling speed (V) is linearly increased or decreased in correspondence to the measured value (θ) of the angle sensor (16A).

The invention according to claim 5 provides an angle sensor (16A) at the base of the speed change lever (16) for measuring an inclination angle when the speed change lever (16) is moved from a neutral position to a forward tilted position, and When the set traveling speed (V) is increased or decreased in a curved manner in accordance with the measured value (θ) of the angle sensor (16A), and the gear shift lever (16) at the set traveling speed (V) is located in a forward tilted position. 4. The combine harvester according to claim 1, wherein the increase/decrease speed of the gear shift lever (16) is greater than the increase/decrease speed when the shift lever (16) is in a neutral position.

According to a sixth aspect of the invention, when the speed change lever (16) is moved from the neutral position to the forward inclined position, the set traveling speed (V) is increased in a first step, and the speed change lever (16) is increased in a first step. ) is moved from the front inclined position to the neutral position, the set running speed (V) is decelerated in second steps, and the number of the first stairs is set to be higher than the second stairs. The combine harvester according to any one of the items.

According to the invention set forth in claim 1, a continuously variable transmission device (20) that increases/decelerates the output rotation of the engine (E) and switches the rotation direction is provided on the downstream side of the first transmission path (A) of the engine (E). A traveling device (2) and a reaping device (3) are provided downstream of the transmission path of the continuously variable transmission (20), and a threshing device (4) is provided downstream of the second transmission path (B) of the engine (E). ), and a speed change lever (16) is provided on the side panel (15) of the control section (5) to operate the continuously variable transmission (20) to increase or decelerate the set traveling speed (V) of the traveling device (2). provided, when the speed difference (S) between the set traveling speed (V) of the traveling device (2) and the actual traveling speed (v) of the traveling device is larger than the predetermined speed difference (SA) , the traveling speed ( v) is higher than a preset predetermined speed (VA), the driving means (42, 43) for rotating the trunnion shaft (40) of the continuously variable transmission (20) is driven to increase the traveling speed (VA). drive means (42) that rotates the trunnion shaft (40) of the continuously variable transmission (20) when the traveling speed (v) is lower than a predetermined speed (VA) set in advance; , 43) , the actual traveling speed (v) of the traveling device can be increased to the set traveling speed (V) set by the movement position of the speed change lever (16). Moreover, it is possible to reduce the discomfort of the operator and suppress stress during operation. Further, a plurality of pulling devices are provided on a pulling device that maintains a constant reaping speed of the reaping device (3) provided on the downstream side of the continuously variable transmission (20) and raises the grain culms of the reaping device (3). By suppressing the waving in the direction perpendicular to the moving direction of the hoisting chain to which the lug is attached, it is possible to prevent the lug from being damaged due to collision and from falling off the hoisting chain from the sprocket.

According to the invention set forth in claim 2, in addition to the effect of the invention set forth in claim 1, when the shift lever (16) is moved from the neutral position to the forward inclined position, the set traveling speed (V) increases. If the speed change lever (16) is not moved from the neutral position to the forward inclined position for more than a predetermined amount, Since the drive means (42, 43) are not driven, the waving phenomenon of the hoisting chain of the hoisting device of the reaping device (3) is suppressed, and damage to the lugs, etc. attached to the hoisting chain due to collisions is prevented. be able to.

According to the invention set forth in claim 3, in addition to the effects of the invention set forth in claim 1 or 2, the layer thickness (T) of the grains transferred on the swinging shelf of the threshing device (4) is set to a predetermined layer thickness. (TA), the driving means (42, 43) is not driven, so that an excessive increase in the load on the engine E can be suppressed and overheating of the engine (E) can be prevented.

According to the invention as set forth in claim 4, in addition to the effects achieved by the invention as set forth in any one of claims 1 to 3, the base of the speed change lever (16) is configured such that the speed change lever (16) is tilted forward from the neutral position. An angle sensor (16A) is provided to measure the inclination angle when moving to the posture, and the set traveling speed (V) is increased or decreased in a linear manner in accordance with the measured value (θ) of the angle sensor (16A). Control to increase the traveling speed (v) of the device (2) to the set traveling speed (V) can be easily performed.

According to the invention set forth in claim 5, in addition to the effects achieved by the invention set forth in any one of claims 1 to 3, the shift lever (16) is tilted forward from the neutral position at the base of the shift lever (16). An angle sensor (16A) is provided to measure the inclination angle when moving to the posture, and the set traveling speed (V) is increased or decreased in a curved manner in accordance with the measured value (θ) of the angle sensor (16A), and the set traveling speed is Since the increase/deceleration speed at speed (V) when the shift lever (16) is located in the forward tilted position is greater than the increase/deceleration speed when the shift lever (16) is located in the neutral position, the traveling speed of the traveling device (2) (v) can be quickly increased by the set traveling speed (V).

According to the invention set forth in claim 6, in addition to the effects achieved by the invention set forth in any one of claims 1 to 3, when the gear shift lever (16) is moved from the neutral position to the forward tilted position, the setting When the travel speed (V) is increased in the first step and the gear shift lever (16) is moved from the forward tilted position to the neutral position, the set travel speed (V) is decreased in the second step and Since the number of one staircase is set to be larger than the second staircase, it is possible to suppress the impact when the traveling speed (v) of the traveling device (2) increases, and the traveling speed (v) of the traveling device (2) can be quickly increased. The traveling device (2) can be stopped quickly in an emergency.

It is a front view of a combine. It is a top view of a combine. It is a left side view of a combine. 3 is a transmission diagram of output rotation of engine E. FIG. It is a transmission diagram of the output rotation of the engine E to the traveling device and the reaping device. It is an explanatory view of a main shift lever. It is an explanatory view of a continuously variable transmission. (a) is the relationship between the attitude of the main gear shift lever and the measurement value of the angle sensor, (b) is the relationship between the measurement value of the angle sensor and the opening of the trunnion shaft, and (c) is the relationship between the opening of the trunnion shaft and the setting of the traveling gear. It shows the relationship between traveling speed. It is a connection diagram of a controller. This is a method for increasing or decreasing the traveling device. (a) is the relationship between the attitude of the main gear shift lever and the measurement value of the angle sensor, (b) is the relationship between the measurement value of the angle sensor and the opening of the trunnion shaft, and (c) is the relationship between the opening of the trunnion shaft and the setting of the traveling gear. The relationship between traveling speeds is shown, and a case where the actual traveling speed of the traveling device is lower than the set traveling speed is illustrated. (a) shows the relationship between the attitude of the main shift lever and the measurement value of the angle sensor, and (b) shows another relationship between the measurement value of the angle sensor and the opening degree of the trunnion shaft. (a) shows the relationship between the attitude of the main shift lever and the measured value of the angle sensor; (b) shows the relationship between the measured value of the angle sensor and the opening of the trunnion shaft when the main shift lever is moved from neutral to forward tilt; (c) shows yet another relationship between the measurement value of the angle sensor and the opening degree of the trunnion shaft when the main shift lever is moved from the forward tilt to the neutral position.

As shown in FIGS. 1 to 3, the combine harvester is provided with a traveling device 2 consisting of a pair of right and left crawlers that runs on the soil surface under the body frame 1, and on the front side of the body frame 1 to harvest grain culms in the field. A reaping device 3 is provided. Further, a threshing device 4 for threshing and sorting the grain culms harvested by the reaping device 3 is provided on the rear left side of the reaping device 3, and a control section 5 on which an operator rides is provided on the rear right side of the reaping device 3. It is being

An engine room 6 in which an engine E is mounted is provided below the control section 5, and a grain tank 7 is provided at the rear of the control section 5 to store grains threshed and sorted by the threshing device 4. The grains stored in the grain tank 7 are discharged to the outside by a discharge auger (not shown) connected to the grain tank 7.

A front panel 10 is provided in front of the pilot's seat of the control section 5, and a side panel 15 is provided to the left of the pilot's seat.

A monitor 11 is provided on the left side of the front panel 10 to display output rotation of the engine E, etc., and an operating lever 12 for operating the rotation of the traveling device 2 and the raising and lowering of the reaping device 3 is provided on the right side. ing.

A main shift lever ("shift lever" in the claims) 16 is provided at the front of the side panel 15 for operating a continuously variable transmission 20 that increases/decelerates the output rotation of the engine E and switches the rotation direction. A sub-shift lever 17 is provided on the rear side of the shift lever 16 to operate a transmission 21 that increases/decelerates the output rotation of the continuously variable transmission device 20. A mower release lever 18 is provided to operate the connection and disconnection of the clutch 23.

As shown in FIG. 4, the output rotation output from the engine E is transmitted to a continuously variable transmission 20 provided on a transmission path ("first transmission path" in the claims) A. The output rotation of the engine E, which is transmitted to the input shaft of the continuously variable transmission 20, is increased or decreased and the rotation direction is switched by the continuously variable transmission 20, and then transmitted to the transmission 21.

It is transmitted to the transmission 21. The output rotation of the continuously variable transmission 20 that is transmitted to the input shaft 30 of the transmission 21 is increased or decreased by the multi-stage gears of the transmission 21, and is output from the output shaft 34 and transmitted to the traveling device 2. Note that the actual traveling speed v of the traveling device 2 is measured by a speed sensor 2A such as a tacho generator attached to a track wheel or a gyro attached to the body frame 1.

The output rotation output from the output shaft 31 of the transmission 21 is transmitted to the reaping device 3 via the reaping clutch 22.

Further, the output rotation output from the engine E is transmitted to the threshing device 4 via the threshing clutch 23 provided on the transmission path ("second transmission path" in the claims) B.

As shown in FIG. 5, the output rotation of the continuously variable transmission 20 is transmitted to the input shaft 30 of the transmission 21.

The output rotation transmitted to the input shaft 30 is transmitted to the counter shaft 32 via a gear 30A, a gear 31A, and a gear 32A. The gear 30A is provided on the input shaft 30, the gear 31A is rotatably provided on the output shaft 31, and the gear 32A is provided on the counter shaft 32.

The output rotation transmitted to the counter shaft 32 is transmitted to the counter shaft 33 via the gear 32B and the gear 33A. The gear 32B is provided on the counter shaft 32, and the gear 33A is provided on the counter shaft 33.

The output rotation transmitted to the counter shaft 33 is transmitted to the output shaft 34 via a pair of left and right gears 33B and a pair of left and right gears 34A provided on both sides of the gear 33A. The gear 33B is provided on the counter shaft 33, and the gear 34A is provided on the output shaft 34 so as to be slidable in the left-right direction.

The output rotation transmitted to the output shaft 34 is transmitted to the input shaft 35 of the traveling device 2 via a pair of left and right gears 34B and a pair of left and right gears 35A provided outside the gear 34A. The gear 34B is provided on the output shaft 34 so as to be slidable in the left-right direction, and the gear 35A is provided on the input shaft 35.

The output rotation transmitted to the counter shaft 32 is transmitted to the output shaft 31 via the gear 32C and the gear 31B, or the gear 32D and the gear 31C. Gear 32C and gear 32D are provided on counter shaft 32, and gear 31B and gear 31C are provided on output shaft 31 so as to be slidable in the left and right direction. Further, the gear 31B and the gear 31C can be moved in the left-right direction via the shifter 36 by operating a shifter device (not shown).

The output rotation transmitted to the output shaft 31 is transmitted to the input shaft 37 of the reaping device 3 via the reaping clutch 22.

As shown in FIG. 6, when the main shift lever 16 is in the neutral position, the output rotation of the continuously variable transmission 20 becomes zero. When the main shift lever 16 is moved from the neutral position to the forward tilted position, the rotation direction of the output rotation of the continuously variable transmission 20 becomes the same forward rotation as the output rotation direction of the engine E, and the tilt angle of the front tilted position is increased. Then, the output rotation of the continuously variable transmission 20 is increased, and when the inclination angle of the front tilted position is decreased, the output rotation of the continuously variable transmission 20 is decelerated. On the other hand, when the main gear shift lever 16 is moved from the neutral position to the rearward tilted position, the rotational direction of the output rotation of the continuously variable transmission 20 becomes a reverse rotation that is opposite to the rotational direction of the output rotation of the engine E, and the rearward tilted position When the inclination angle of the continuously variable transmission 20 is increased, the output rotation of the continuously variable transmission 20 is increased, and when the inclination angle of the rear side inclined position is decreased, the output rotation of the continuously variable transmission 20 is decelerated. Note that the attitude of the main shift lever 16 is measured by an angle sensor 16A such as a potentiometer attached to the lower part of the main shift lever 16.

When the sub-shift lever 17 is in the neutral position, the output rotation transmitted from the continuously variable transmission 20 is not increased or decreased. When the sub-shift lever 17 is moved from the neutral position to the forward tilted position, the output rotation transmitted from the continuously variable transmission 20 is decelerated, and when the sub-shift lever 17 is set to the rear tilted position, the continuously variable transmission is The output rotation transmitted from device 20 is sped up. Note that the attitude of the sub-shift lever 17 is measured by an angle sensor 17A such as a potentiometer attached to the lower part of the sub-shift lever 17.

When the reaping lever 18 is placed in the forward tilted position, the reaping clutch 22 and the threshing clutch 23 are disconnected. When the reaping lever 18 is in the rearward inclined position, the reaping clutch 22 and the threshing clutch 23 are connected. Further, when the reaping lever 18 is placed in a neutral position between the forward inclined position and the rear inclined position, the reaping clutch 22 is disconnected and the threshing clutch 23 is connected. Note that the attitude of the mower lever 18 is measured by an angle sensor 18A such as a potentiometer mounted on the lower part of the mower lever 18.

<Continuously variable transmission>
As shown in FIG. 7, a fan-shaped gear 41 is supported on the trunnion shaft 40 of the continuously variable transmission 20, and a gear formed on the outer periphery of the fan-shaped gear 41 is connected to a forward motor ("driving means" in the claims). '') 42 and a gear 43A provided on the output shaft of a reverse motor ("driving means" in the claims) 43 are engaged. As a result, the forward motor 42 and the reverse motor 43 are driven based on the attitude of the main shift lever 16, that is, the measured value of the angle sensor 16A, and the trunnion shaft 40 of the continuously variable transmission 20 is rotated to rotate the engine E. It is possible to increase/decrease the output rotation and switch the rotation direction. Note that the output rotation of the engine E is transmitted to the input shaft 44 of the continuously variable transmission 20.

Further, FIG. 7 shows a configuration in which the trunnion shaft 40 of the continuously variable transmission 20 is rotated by the forward motor 42 and the reverse motor 43 via the sector gear 41. An arm extending in the radial direction may be supported on the trunnion shaft 40, and a forward cylinder driven by a forward solenoid and a reverse cylinder driven by a reverse solenoid may be connected to the outer periphery of this arm. can.

<Setting traveling speed of traveling device>
In FIG. 8(a), the horizontal axis shows the attitude of the main shift lever 16, and the vertical axis shows the measured value θ of the angle sensor 16A. When the main shift lever 16 is moved from the neutral position to the forward tilted position, the measured value θ of the angle sensor 16A increases. In this embodiment, when the main shift lever 16 is moved to the neutral position, the measured value θ of the angle sensor 16A is set to θ1, and when the main shift lever 16 is moved to the maximum forward tilted position, , the measured value θ of the angle sensor 16A is set to θ2.

In FIG. 8(b), the horizontal axis shows the measured value θ of the angle sensor 16A, and the vertical axis shows the opening degree β of the trunnion shaft 40 of the continuously variable transmission 20. When the main shift lever 16 is moved from the neutral position to the maximum forward tilt position and the measured value θ of the angle sensor 16A increases linearly from θ1 to θ2, the opening degree β of the trunnion shaft 40 also increases linearly. When the main shift lever 16 is moved from the maximum forward tilted position to the neutral position and the measured value θ of the angle sensor 16A decreases linearly from θ2 to θ1, the opening degree β of the trunnion shaft 40 also decreases linearly. do. In this embodiment, when the measured value θ of the angle sensor 16A is θ1, the opening degree β of the trunnion shaft 40 is set to β1, and when the measured value θ of the angle sensor 16A is θ2, the opening degree β of the trunnion shaft 40 is set to β1. The opening degree β is set to β2. Note that the opening degree β of the trunnion shaft 40 is set to increase linearly from β0, which is smaller than β1, to β3, which is larger than β2. As a result, when the main shift lever 16 is moved to the maximum forward tilt position, if the actual traveling speed v2 of the traveling device 2 is lower than the set traveling speed V2, the opening degree β of the trunnion shaft 40 is set to be lower than β2. can be further increased to increase the actual traveling speed V2 to the set traveling speed V2.

In FIG. 8(c), the horizontal axis shows the opening degree β of the trunnion shaft 40 of the continuously variable transmission 20, and the vertical axis shows the set traveling speed V of the traveling device 2. When the opening degree β of the trunnion shaft 40 increases linearly from β1 to β2, the set traveling speed V of the traveling device 2 also increases linearly. Further, when the opening degree β of the trunnion shaft 40 is β1, the set traveling speed V of the traveling device 2 is set to V1, and when the opening degree β of the trunnion shaft 40 is β2, the set traveling speed V of the traveling device 2 is set to V1. Speed V is set to V2. The set running speed V of the traveling device 2 is set to V0, which is smaller than V1 when the opening β of the trunnion shaft 40 is β0, and is set to V3, which is smaller than V1 when the opening β of the trunnion shaft 40 is β3, linearly up to V3, which is larger than V2. is set to increase. As a result, when the main shift lever 16 is moved from the neutral position to the maximum forward tilt position, the set traveling speed V of the traveling device 2 increases from V1 to V2, and the actual traveling speed V of the traveling device 2 also changes from v1 to v2. The speed can be increased to Note that FIG. 8(C) illustrates a case where the sub-shift lever 17 is moved to the neutral position and the transmission 21 does not increase or decrease the output rotation.

<Controller connection diagram>
As shown in FIG. 9, the combine controller 50 includes a processing section 51 made up of a CPU, etc., and a storage section 52 made up of ROM, RAM, hard disk drive, flash memory, etc.

The processing unit 51 drives the forward motor 42 and the reverse motor 43, which rotate the trunnion shaft 40 of the continuously variable transmission 20, based on the deviation between the set traveling speed V and the traveling speed v of the traveling device 2.

The storage unit 52 stores measurement values θ1, θ2 of the angle sensor 16A, set travel speeds V1, V2, and the like.

On the input side of the controller 50, there are a speed sensor 2A that measures the traveling speed v of the traveling device 2, and a layer thickness sensor 4A that measures the layer thickness of the grains conveyed backward on the swinging shelf of the threshing device 4. An angle sensor 16A that measures the attitude of the main shift lever 16, an angle sensor 17A that measures the attitude of the auxiliary shift lever 17, and an angle sensor 18A that measures the attitude of the mowing release lever 18 are connected via a predetermined input interface circuit. connected.

A reaping clutch 22, a threshing clutch 24, a forward motor 42 and a reverse motor 43 that rotate a trunnion shaft 40 of a continuously variable transmission 20 are connected to the output side of the controller 50 via a predetermined output interface circuit. has been done.

<Method of increasing the traveling speed of the traveling device>
As shown in FIG. 10, in step S1, the processing unit 51 of the controller 50 reads the measured value θ of the angle sensor 16A provided at the bottom of the main shift lever 16 in order to measure the movement position of the main shift lever 16. The process then proceeds to step S2.

In step S2, the processing unit 51 reads the opening degree β of the trunnion shaft 40 of the continuously variable transmission 20 corresponding to the measured value θ of the angle sensor 16A, and proceeds to step S3.

In step S3, the processing unit 51 reads the set traveling speed V of the traveling device 2 corresponding to the opening degree β of the trunnion shaft 40, and proceeds to step S4.

In step S4, the processing unit 51 reads the actual traveling speed v of the traveling device 2, which is a measured value by the speed sensor 2A attached to the traveling device 2, and proceeds to step S5.

In step S5, the processing unit 51 determines whether the speed difference S between the set traveling speed V and the actual traveling speed v of the traveling device 2 is larger than a predetermined speed difference SA, and determines whether the speed difference S is a predetermined speed. If it is determined that the speed difference S is greater than the predetermined speed difference SA, the process proceeds to step S6, and if it is determined that the speed difference S is less than or equal to the predetermined speed difference SA, the process returns to step S1.

In step S6, the processing unit 51 determines whether the measured value θ of the angle sensor 16A is larger than a predetermined angle θA, and if it is determined that the measured value θ is larger than the predetermined angle θA, The process proceeds to step S7, and if it is determined that the measured value θ is less than or equal to the predetermined angle θA, the process returns to step S1.

FIG. 11(a) is the same drawing as FIG. 8(a), with the horizontal axis showing the attitude of the main shift lever 16 and the vertical axis showing the measured value θ of the angle sensor 16A.

In FIG. 11(b), the horizontal axis shows the measured value θ of the angle sensor 16A, and the vertical axis shows the opening degree β of the trunnion shaft 40 of the continuously variable transmission 20. When the measured value θ is a predetermined angle θA, , is the same drawing as FIG. 8(b) except that the opening degree β of the trunnion shaft 40 is shown to be set to a predetermined opening degree βA.

P1 in FIG. 11(c) indicates a case where the speed difference S between the set traveling speed V and the actual traveling speed V is larger than the predetermined speed difference SA, and the measured value θ of the angle sensor 16A is larger than the predetermined angle θA, P2 indicates a case where the speed difference S between the set running speed V and the actual running speed V is larger than the predetermined speed difference SA, but the measured value θ of the angle sensor 16A is less than or equal to the predetermined angle θA. Further, when the opening degree β of the trunnion shaft 40 is the predetermined opening degree βA, the set traveling speed V of the traveling device 2 is set to the predetermined speed VA.

As a result, in the case of P2 shown in FIG. A mechanism is provided in the pulling device 3A that stops the rotation of the forward motor 42 and the backward motor 43 that open and close the opening β to maintain the reaping speed of the reaping device 3 at a constant level, thereby raising the grain culm of the reaping device 3. The plurality of lugs 3B attached to the lugs 3B can suppress the waving in the direction perpendicular to the moving direction of the hoisting chain (not shown), thereby preventing the lugs 3B from being damaged due to collisions and the hoisting chain from falling off the sprocket. can.

In step S7, the processing unit 51 determines whether the layer thickness T of the threshed grains moving on the swinging shelf, which is the measured value of the layer thickness sensor 4A, is smaller than the predetermined layer thickness TA set in advance. However, if it is determined that the layer thickness T is smaller than the predetermined layer thickness TA, the process proceeds to step S8, and if it is determined that the layer thickness T is greater than or equal to the predetermined layer thickness TA, the process returns to step S1. As a result, when the layer thickness T is greater than or equal to the predetermined layer thickness TA, that is, when a large amount of grain culm is being conveyed to the threshing device 4, the forward motor 42 for opening and closing the opening β of the trunnion shaft 40 and the reverse motor By stopping the rotation of the motor 43, an increase in the load on the engine E can be suppressed.

In step S8, the processing unit 51 drives the forward motor 42 and the reverse motor 43 to increase the opening degree β of the trunnion shaft 40 of the continuously variable transmission 20, and increases the opening degree β of the trunnion shaft 40 of the continuously variable transmission 20. The transmitted output rotation is increased to increase the actual traveling speed v of the traveling device 2 to the set traveling speed V corresponding to the movement position of the main shift lever 16, and the process returns to step S1. As a result, the actual traveling speed v of the traveling device 2 can be set to the same speed as the set traveling speed V corresponding to the movement position of the main shift lever 16, so that the actual traveling speed v of the traveling device 2 when the main shifting lever 16 is operated can be made the same speed. The response performance of the traveling speed v can be improved, and the operator's discomfort can also be reduced.

<Other methods of setting the trunnion shaft opening>
FIG. 12(a) is the same drawing as FIG. 8(a), with the horizontal axis showing the attitude of the main shift lever 16 and the vertical axis showing the measured value θ of the angle sensor 16A.

In FIG. 12(b), the horizontal axis shows the measured value θ of the angle sensor 16A, and the vertical axis shows the opening degree β of the trunnion shaft 40 of the continuously variable transmission 20. When the main shift lever 16 is moved from the neutral position to the maximum forward tilt position and the measured value θ of the angle sensor 16A increases linearly from θ1 to θ2, the opening β of the trunnion shaft 40 is curved, that is, When the measured value θ is θ1, the opening degree β is small, and when the measured value θ is θ2, the opening degree β increases greatly, and when the main shift lever 16 is moved from the maximum forward tilt position to the neutral position, the measured value θ of the angle sensor 16A is When the opening degree β of the trunnion shaft 40 decreases linearly from θ2 to θ1, the opening degree β of the trunnion shaft 40 is also curved, that is, when the measured value θ is θ2, the opening degree β is large, and when the measured value θ is θ1, the opening degree β decreases small. do. Note that the opening degree β of the trunnion shaft 40 is set to increase in a curve from β0, which is smaller than β1, to β3, which is larger than β2. As a result, the opening degree β of the trunnion shaft 40 can be changed significantly when the main shift lever 16 is moved near the front inclined position compared to when it is moved near the neutral position, so that the opening degree β of the trunnion shaft 40 can be changed significantly. The actual traveling speed v of the device 2 can be easily made to be the same as the set traveling speed V corresponding to the movement position of the main shift lever 16. Note that FIG. 8(b) shows that the opening degree β of the trunnion shaft 40 of the continuously variable transmission 20 is linearly adjusted in accordance with the increase/decrease or deceleration of the measured value θ of the angle sensor 16A that measures the attitude of the main shift lever 16. It is increasing or decreasing.

<Another method for setting the trunnion shaft opening>
FIG. 13(a) is the same drawing as FIG. 8(a), with the horizontal axis showing the attitude of the main shift lever 16 and the vertical axis showing the measured value θ of the angle sensor 16A.

In FIG. 13(b), the horizontal axis shows the measured value θ of the angle sensor 16A, and the vertical axis shows the opening degree β of the trunnion shaft 40 of the continuously variable transmission 20. When the main shift lever 16 is moved from the neutral position to the maximum forward tilt position and the measured value θ of the angle sensor 16A increases linearly from θ1 to θ2, the opening degree β of the trunnion shaft 40 increases stepwise, as shown in the figure. In the example, the number increases in four steps. Note that the opening degree β of the trunnion shaft 40 can be set to increase in a curve from β0, which is smaller than β1, to β3, which is larger than β2. Thereby, when moving the main shift lever 16 from the neutral position to the maximum forward tilt position, it is possible to suppress the impact when the traveling speed v of the traveling device 2 increases. Note that FIG. 8(b) shows that the opening degree β of the trunnion shaft 40 of the continuously variable transmission 20 is linearly increased or decreased in response to the increase or decrease in the measured value θ of the angle sensor 16A that measures the attitude of the main shift lever 16. ing.

In FIG. 13(c), the horizontal axis shows the measured value θ of the angle sensor 16A, and the vertical axis shows the opening degree β of the trunnion shaft 40 of the continuously variable transmission 20. When the main shift lever 16 is moved from the maximum forward tilt position to the neutral position and the measured value θ of the angle sensor 16A decreases linearly from θ2 to θ1, the opening degree β of the trunnion shaft 40 changes stepwise, as shown in the figure. In the example, it is moved to an oblique position and decreased in two steps, half of the four steps. As a result, when the main shift lever 16 is moved from the maximum forward tilted position to the neutral position, the opening degree β of the trunnion shaft 40 is greatly moved by a small movement of the main shift lever 16, and the traveling device 2 is quickly moved. The speed v can be reduced. Note that FIG. 8(b) shows that the opening degree β of the trunnion shaft 40 of the continuously variable transmission 20 is linearly increased or decreased in response to the deceleration of the measured value θ of the angle sensor 16A that measures the attitude of the main shift lever 16. ing.

1 Aircraft frame 2 Traveling device 3 Reaping device 4 Threshing device 5 Control section 16 Main gear shift lever (shift lever)
16A Angle sensor 20 Continuously variable transmission 40 Trunnion shaft 42 Forward motor (drive means)
43 Reverse motor (drive means)
A Transmission path (first transmission path)
B Transmission path (second transmission path)
E Engine S Speed difference SA Predetermined speed difference T Layer thickness TA Predetermined layer thickness θ Measured value V Set traveling speed v Traveling speed

Claims (6)

A traveling device (2) is provided on the lower side of the aircraft frame (1) on which the engine (E) is mounted, a reaping device (3) is provided on the front side of the aircraft frame (1), and a rear left side of the reaping device (3) is provided. A combine harvester in which a threshing device (4) is provided at the rear of the harvesting device (3), and a control section (5) is provided at the rear right side of the reaping device (3),
A continuously variable transmission (20) that increases/decelerates the output rotation of the engine (E) and switches the rotation direction is provided downstream of the first transmission path (A) of the engine (E). A traveling device (2) and a reaping device (3) are provided downstream of the transmission path of 20),
A threshing device (4) is provided downstream of the second transmission path (B) of the engine (E),
A speed change lever (16) is provided on the side panel (15) of the control section (5) to operate the continuously variable transmission (20) to increase or decrease the set travel speed (V) of the travel device (2),
When the speed difference (S) between the set traveling speed (V) of the traveling device (2) and the actual traveling speed (v) of the traveling device is larger than the predetermined speed difference (SA), the traveling speed ( v) is higher than a preset predetermined speed (VA), the driving means (42, 43) for rotating the trunnion shaft (40) of the continuously variable transmission (20) is driven to increase the traveling speed. (v), and when the traveling speed (v) is lower than a preset predetermined speed (VA), a drive that rotates the trunnion shaft (40) of the continuously variable transmission (20). A combine harvester characterized in that the means (42, 43) are configured to be stopped . When the speed change lever (16) is moved from the neutral position to the forward inclined position, the set traveling speed (V) increases, and when the gear lever (16) is moved from the forward inclined position to the neutral position, the set traveling speed increases. The speed (V) is configured to decrease,
The combine harvester according to claim 1, wherein the drive means (42, 43) is not driven when the speed change lever (16) has not moved from the neutral position to the forward inclined position for a predetermined amount or more. The driving means (42, 43) is not driven when the layer thickness (T) of the grains transferred on the swinging shelf of the threshing device (4) is thicker than a predetermined layer thickness (TA). The combine harvester according to 1 or 2. An angle sensor (16A) is provided at the base of the speed change lever (16) to measure a tilt angle when the speed change lever (16) is moved from a neutral position to a forward tilted position,
The combine harvester according to any one of claims 1 to 3, wherein the set traveling speed (V) is linearly increased or decreased in correspondence to the measured value (θ) of the angle sensor (16A). An angle sensor (16A) is provided at the base of the speed change lever (16) to measure a tilt angle when the speed change lever (16) is moved from a neutral position to a forward tilted position,
The set traveling speed (V) is increased or decreased in a curved manner in accordance with the measured value (θ) of the angle sensor (16A),
According to any one of claims 1 to 3, the speed of increase/decrease when the speed change lever (16) is located in the forward tilted position at the set traveling speed (V) is greater than the speed of increase/deceleration when the speed change lever (16) is located in the neutral position. The combine harvester according to any one of the items. When the speed change lever (16) is moved from the neutral position to the forward tilted position, the set traveling speed (V) is increased in a first step;
When the speed change lever (16) is moved from the forward tilted position to the neutral position, the set traveling speed (V) is decelerated in a second step,
The combine harvester according to any one of claims 1 to 3, wherein the number of first steps is greater than the number of second steps.

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