JPH067769B2 - Harvester - Google Patents

Description

TECHNICAL FIELD The present invention relates to a harvester equipped with a threshing device.

[Prior art]

The harvester feeds the grain culm cut by the mowing unit to the threshing device with the transport device, threshes the grain culm with the threshing device, selects the grain that has undergone the threshing process, and produces the refined grains. It is something to take out.

In recent years, in harvesters, the load on the handling barrel of the threshing device is detected, the traveling speed of the aircraft is controlled so that the load is in an appropriate state, and the handling barrel is increased by increasing or decreasing the amount of harvested culm. Development of vehicle speed control that makes the load of the vehicle appropriate state is progressing.

With such a harvester capable of controlling the vehicle speed, at the start of work in the first stroke or at the start of work after traveling,
Since the grain culm is not conveyed to the threshing device and the handling cylinder has a light load, there is a possibility that the speed of the machine may be rapidly increased. When the grain culm reaches the handling barrel and threshing work is performed after the start of work in the first stroke or after traveling, the handling barrel load sharply increases, the aircraft decelerates rapidly, or the engine speed is reduced. There is a risk that the number will decrease sharply and the workability will decrease.

〔Purpose〕

The present invention has been made in view of such circumstances, the purpose is to prevent the decrease in the accuracy of the vehicle speed control at the start of any work, threshing accuracy in the threshing device, of the sorting accuracy The purpose of this is to provide a harvester that prevents the decline.

〔Constitution〕

The present invention is configured to automatically control the traveling speed based on the detected load in the threshing device, instructs to perform automatic control, and when the threshing clutch is in the jointed state, the cutting clutch is in the disengaged state. In this case, or when no grain culm to be threshed is detected, the engine speed is set to a predetermined speed.

〔Example〕

Hereinafter, the present invention will be described in detail with reference to the drawings showing an embodiment thereof. FIG. 1 is an external perspective view of a harvester according to the present invention.
In the figure, reference numeral 1 denotes a traveling crawler, and the driving force of the engine is transmitted to the traveling crawler 1 through a main clutch, a gear meshing auxiliary transmission, a main transmission using a power shift transmission, and a side clutch. While allowing the machine to run, it is configured to drive the handling cylinder, the Karako device, etc. in the threshing device 3 above the traveling crawler 1, and the cutting blade 2, the raising device 7, etc. in the cutting section 4 at the front of the machine. .

Further, in the figure, 9 is an operation column provided in front of the driver's seat 8,
6 is a sub-operation column provided on the side of the driver's seat 8,
The sub-operation column 6 is provided with a main shift lever 93 for changing the traveling speed stage of the main transmission and an auxiliary shift lever 95 for changing the traveling speed stage of the sub transmission. Further, 10 is a vertical conveying device, the end of which faces the beginning end of the feed chain 12 of the grain culling and shed transferring device 11, and in the vicinity of this and in front of the threshing device 3, the threshing device is fed. A grain culm sensor 62 is provided for detecting the transportation of the grain culm. Note that the grain culm sensor 62 is not limited to this position, but may be on the side of the starting end portion of the grain culm sacking transfer device 11 or in the transport path of the vertical transport device 10, and in a harvester equipped with a handling depth automatic adjusting device. It may be configured to be shared with a sensor provided for detecting the culm length. The grain culm removal transfer device is composed of a feed chain 12 and a separation rod 13, and is provided along the handle of the threshing device 3.

FIG. 2 is a partially cutaway vertical sectional view of the threshing device 3. In the threshing device 3, a handling cylinder 17 having a large number of handling teeth 16, 16, ... Is mounted on a handling chamber 15 formed in the upper part of the machine casing 14, and the handling mouth is parallel to the axial direction of the handling barrel 17. And a swinging netting device 19 provided in the lower part of the handling chamber 15 and extending substantially parallel to the axial direction of the handling barrel 17 at the lower part of the handling chamber 15. Is. The handling cylinder 17 is provided with a handling cylinder sensor 59 for detecting the number of rotations thereof. Further, at the position on the upper right side of the handling cylinder 17 (close to the center of the machine), a processing chamber 50 for reprocessing the second reduced product
Is provided in the processing chamber 50, and a processing motion 51 having a large number of handling teeth 52, 52 ... Is axially mounted in the processing chamber 50 such that the axial direction thereof coincides with the axial direction of the handling cylinder 17.

The swing sorting device 19 includes a swing sorting disc 20 extending in an inclined shape, a chaff sheave 21 provided below a rear portion of the swing sorting disc 20, and
Straw rack 22 that is connected to the rear of this chaff sheave 21
And the like, and is configured to swing in the axial direction of the handling cylinder 17 by swinging arms 23 and 24 that swing in conjunction with a drive source.

Further, below the swing sorting device 19, the first grain extraction section (first port) 27 consisting of the first grain 25 and the first screw 26, and the second grain 28 and the second screw 29, A sorting air passage 31 having a second grain extracting portion (second opening) 30 is formed.

The grains dropped to the first grain extraction section 27 are fed from the first screw 26 to the paddy tank 5, and the grains dropped to the second grain extraction section 30 are fed from the second screw 29 to the blower 47 to the second thrower cylinder. It is blown up inside 48, and is dropped from the processing drum cover 53 projecting above the processing chamber 50 of the roof plate of the threshing device 3 onto the processing drum 51 for re-sorting. The second screw 29 is provided with a second rotation sensor 63 for detecting the number of rotations of the screw 29.
The 53 is provided with a second reduction sensor 64 for detecting the amount of the second reduction product reduced to the processing cylinder.

A grain sheave 32 is provided below the chaff sheave 21 in the air passage 31, and a Karako device 33 is provided on the windward side of the air passage 31.
Is provided. Then, the airflow from the Karato device 33 is rectified by the rectifying plates 34 and 35, and then is discharged to the outside of the machine through the air passage 31 and the dust outlet (third port) 36 at the rear of the aircraft. There is.

A dust suction / exhaust device 37 using an axial fan is provided above and behind the straw rack 22, while an upper suction cover 38 is provided above the dust suction / exhaust device 37 and a lower suction cover 39 is provided below.
Is provided, and the suction port 40 of the dust suction device 37 is connected to the air passage 31
The air outlet 41 is opened toward the side and the dust outlet 36 is opened.

Above the upper suction cover 38, a drain gutter, that is, a fourth gutter 43 is extended obliquely upward from both ends to form a fourth mouth 44, and a culm after threshing, that is, stab grains taken out from straw. It is configured to be returned to above the Straw rack 22.

FIG. 3 is a schematic block diagram of the control system of the machine of the present invention.
In the figure, reference numeral 80 is a control unit using a microcomputer, and an input port a in its input interface
₁ is provided with the output of a handling cylinder sensor 59 which is mounted on the rotary shaft of the handling cylinder 17 and detects the number of rotations of the handling cylinder 17.

The output of an engine sensor 60, which is attached to the output shaft of the engine 72 and detects the engine speed, is applied to the input port a ₂ .

The input ports a ₃ , a ₄ and a ₅ are mounted on the base end pivotal support of the main shift lever 93 in the main shift device using power shift and shift using a potentiometer that outputs a potential according to the amount of rotation. The sensor 61 is connected, and the output potential of the shift sensor 61 causes the main shift lever 93 to move the fourth forward speed "F4", the third forward speed "F3", the second forward speed "F2", the first forward speed " Judge whether it is in the "F1" or the neutral stage "N".

The input port a ₆ is provided with the output of a grain culm sensor 62 for detecting the conveyance of grain culms fed to the threshing device 3.

The input port a ₇ is provided with the output of the second sensor 63 for detecting the rotation speed of the second screw 29, and the second sensor 63 has the rotation speed of the second screw 29 equal to or lower than a predetermined value. In this case, a high level signal is output, the port a _{7 is set} to a high level, and the second screw alarm LED 71 is turned on.

The output of the second reduction sensor 64 that detects the amount of second reduction product is given to the input port a ₈ , and when the amount of second reduction product exceeds a predetermined value, the second reduction sensor 64 outputs a high level signal, The port a _{8 is set} to high level and the second reduction warning LED 72 is turned on.

An automatic switch 65 for controlling the vehicle speed is connected to the input port a _9, and the vehicle speed control is performed by turning on the switch 65.

Input port a ₁₀ is connected with reaper switch 66 which is turned on when the engaged state of the clutch cutting, also to the input port a ₁₁ is threshing switch 67 which is turned on when the threshing clutch the engaged state Is connected, and when the switches 66 and 67 are turned on, the input ports a ₁₀ and a _{11 respectively} become high level.

At the input ports a ₁₂ and a _13, there are provided auxiliary shift lever switches 68 which are provided at the base end pivotal support portions of the auxiliary shift lever 95 in the gear meshing type auxiliary transmission device and which operate in accordance with the rotational position of the auxiliary shift lever 95. If the auxiliary shift lever 95 is in the low speed state “L”, the input port a ₁₂ is at the low level.
When a ₁₃ is at the high level and the medium speed stage state is “M”, both input ports a ₁₂ and a ₁₃ are at high level, and when the high speed stage state is “H”, the input port a ₁₂ is at high level. Level, the input port a ₁₃ becomes low level.

At the input port a ₁₄ , the regulator lever 73a of the engine 73 is at the rotation limit position (engine output maximum state).
A regulator switch 69 that is turned on when it reaches the
₁₄ goes high.

The input port a _15, emergency switch 70 which is turned on when stopping the running of the vehicle body in an emergency is connected, the input port a ₁₅ by turning on of the switch 70
Goes low.

On the other hand, a shift motor 74 for turning the main shift lever 93 is connected to the output ports b ₁ and b ₂ of the output interface in the control unit 80, and the output port b ₁ is at a high level and the output port b ₂ is at a low level. Becomes a shift motor
74 rotates in the forward direction and the main gear shift lever 93 is rotated to the high speed stage side. On the contrary, the output port b ₁ is low level,
_{When 2} becomes high level, the motor 74 reversely rotates and the main gear shift lever 93 is rotated to the low speed stage side.

The output port b ₃ and b ₄ are connected an accelerator motor 75 for the accelerator lever 94 rotates the output port b ₃ is a high level, the output port b ₄ becomes low, the accelerator motor 75 is rotated forward accelerator lever 94 Te is rotated at a high rotation side, the output port b ₃ is low on the contrary, the accelerator motor 75 and the output port b ₄ becomes a high level accelerator lever 94 is reversed is pivoted to the low rotation side It

The output port b ₅ is connected to an automatic lamp 76 that lights up when in the automatic control state, and the low level output of the output port b ₅ causes the automatic lamp 76 to light up.

The output port b ₆ and the auxiliary transmission lever 68 is connected to a speed increasing instruction lamp 77 to prompt that it should rotating operation to the high speed side, also to the output port b ₇ rotates the subtransmission lever 68 to the low speed side A deceleration instruction lamp 78 that prompts you to operate is connected,
Each lamp 77 and 78 respectively turned by the low level signal of the output port b _6, b _7.

The output port b _8, the alarm buzzer 79 is connected, buzzer 79 is sounded by the high level signal of the output port b _8.

An alarm LED 90 is connected to the output port b ₉ , and the LED 90 is turned on by the high level signal of the port b ₉ .

A load monitor 91 for displaying the number of rotations of the handling cylinder is connected to the output port b ₁₀ , and the output port b ₁₁ is connected to the load monitor 91.
When an abnormality is found by the self-diagnosis of the control unit 80, a self-diagnosis LED 92 for performing a predetermined display related to the abnormality is connected.

The operation of the machine of the present invention constructed as described above will be explained based on the flowcharts of FIGS. 4 to 9 and the time chart of FIG. When the key switch is turned on, a flag K indicating the start of cutting, an engine flag S indicating that the engine speed control at the start of work has been performed, and a storage of the traveling speed stage of the main shift lever 95 in the main transmission device. The value Pm,
Further, all stored values Ps of the speed stages of the auxiliary shift lever 95 are set to the reset state (= 0). Then, it is determined from the output of the engine sensor 60 whether or not the engine 73 has been started.

When the engine is started, the automatic switch 65 is turned on to perform the vehicle speed control, and the threshing switch 67 is turned on with the threshing clutch engaged, the control device 80 is in a preparation state for vehicle speed control.

That is, since the harvesting clutch is in the disengaged state, the harvesting switch 66 is in the off state, and the harvesting work is not performed, there is no transport grain culm, the grain culm sensor 62 is in the off state, and the engine flag S Is in the reset state S = 0, the control device 80 blinks the automatic lamp 76 to notify that the automatic control based on the handling cylinder rotation speed has not started, and at the same time, sets the engine rotation speed to the appropriate rotation speed during the work. The range is (α to β). This is to determine whether the rotation speed of the engine 73 is within the proper range (α to β) from the detection value of the engine sensor 60, and the detection value is equal to or less than the minimum value α of the proper range (or the maximum value β). Above), the control unit
Reference numeral 80 continuously outputs a predetermined signal to continuously drive the accelerator motor 75 in the normal direction (or reverse direction), and rotates the accelerator lever 94 in a direction in which the engine speed increases (or decreases) to rotate the engine speed. Is the proper range (see Fig. 4 and Fig. 10). Even when the engine speed is within the proper range, the engine flag S remains in the reset state without being set.

In this case, if the driving of the accelerator motor 75 continues for an abnormally long time t ₁₅ or longer than the time required to bring it into the proper range, it is determined that an abnormality has occurred in the accelerator lever 94 or the accelerator motor 75, and self-diagnosis is performed. The LED 92 displays a predetermined display indicating an abnormality of the accelerator lever 94 or the accelerator motor 75, and stops driving the accelerator motor 75.
Therefore, even if the accelerator motor 75 etc. is abnormal, the engine
There is no danger of 73 going out of control. Note that the driving of the accelerator motor 75 and the display of the self-diagnosis LED 92 continue until the key switch is turned off, but the vehicle speed control state continues.

Now, when the reaping clutch is engaged with the engine speed within the proper range, and the main shift lever 93 is manually operated to set a predetermined traveling speed stage to start the work, the reaper 4 is The harvested grain culms are sent to the threshing device 3,
The grain culm sensor 62 is turned on, the automatic lamp 76 is turned on, and the accelerator motor 75 is driven in the normal direction for a predetermined time t ₂ to slightly increase the engine speed from an appropriate range. This is because if work is started with the engine running at an appropriate speed, the load will suddenly be applied to the handling cylinder 17, the first screw 26, etc., and the engine speed will drop, bringing the engine speed back within the proper range. In the meantime, there is a risk that the threshing processing accuracy, the selection accuracy, etc. may be deteriorated and the grain loss etc. may be caused. Therefore, this is done in order to avoid such a situation.

When the engine speed reaches a value slightly higher than the appropriate range, the engine flag S indicating that the predetermined control of the engine speed at the start of work is performed is in the set state S =
It is assumed to be 1. And since this bush start flag K is the reset state K = 0, waiting for a predetermined time t ₄ has elapsed, the automatic control of the vehicle speed and the engine speed based on the threshing drum speed is performed. The time t ₄ does not constant grain稈量conveyed during work start, for threshing work it is also unstable, when to perform automatic control based on the threshing drum rotary speed in such an unstable state, Since the speed of the airframe is controlled to be very dangerous, such a state is avoided. Figure 5 is the case if the threshing drum speed becomes abnormally low, or the double-dip rotation sensor 63 clogging or the like occurs in the double-dip screw 29 during the time t ₄ is turned on during this time t ₄ As shown in (4), the shift motor 74 is reversely driven to stop the traveling of the machine body and continuously downshifted to the neutral position "N". When the amount of the second reduction product becomes too large and the second reduction sensor 64 is turned on, the shift motor 74 is reversely driven to shift down as shown in FIG.

When the predetermined time t _{4 has} elapsed, the mowing start flag K is set (K = 1), and when the main shift lever 93 is in the neutral state “N” in the machine traveling state, it is based on the handling cylinder rotation speed. The automatic control is carried out, and if the machine body is in the stopped state, the control device 80 is in the standby state.

Next, automatic control of the vehicle speed and the engine speed based on the handling cylinder speed will be described based on the flowcharts of FIGS. 6 to 8 and Tables 1 and 2. Table 1 summarizes the relationship between the handling cylinder rotation speed X and the control contents.

The vehicle speed and the engine speed are controlled on the basis of the handling cylinder rotation speed, but the handling cylinder rotation speed X is within a proper range (c <X <d), and a first low rotation range (b <X ≦ c) lower than the proper range. ), And a second low rotation range (a <X which is lower than the first low rotation range).
≦ b), an abnormal low rotation range lower than the second low rotation range (X ≦ a), a first high rotation range higher than the appropriate range (d ≦)
X <e) and a second high rotation range (c ≦ X) higher than the first high rotation range are discriminated into 6 stages.

Now, the control content in each range will be described. When the number of rotations of the handling cylinder falls within the second high rotation range (e ≦ X), the control device 80 drives the shift motor 74 in the normal direction to drive the main shift lever 93.
Is rotated to the high speed side and upshifted by one speed step. This is because the load on the handling barrel is very light, so the speed of the aircraft is increased to increase the grain culm fed to the handling barrel.

On the other hand, when the handling cylinder rotational speed is within the second low rotational speed range (a <X ≦ b), the shift motor 74 is reversely driven to rotationally drive the main shift lever 93 to the low speed side, and downshifting one speed stage. At the same time, the accelerator motor 75 is driven forward for a predetermined time to increase the engine speed by a predetermined amount. This is because the load on the handling cylinder is very heavy, so the aircraft is decelerated to reduce the grain culms fed to the handling barrel, and the engine speed is increased slightly to increase the handling cylinder speed slightly. It is something to try. After such vehicle speed change, after waiting for a predetermined time t ₇ (or t ₈ ) to elapse, the handling cylinder rotation speed is checked, and the handling cylinder rotation speed is still within the second high rotation speed range (e ≦ X) [ Or second low speed range (a <X ≦ b)]
If so, the same control is repeated.

By repeating this control, the traveling speed stage of the main shift lever 93 changes to 4
Even if the shift speed becomes “F4” (or the first shift “F1”), the handling cylinder rotation speed is in the second high rotation speed range (e ≦ X) [or the second low rotation speed range (a <X ≦ b )], The accelerator motor 75 is driven in reverse (or forward) for a predetermined time to decrease (or increase) the engine speed by a predetermined amount. And the predetermined time t
_Even after ₁₁ times, the handling cylinder rotation speed is in the second high rotation speed range (e ≦
X) [or within the second low rotational speed range (a <X ≦ b)], it is recommended to change the auxiliary shift lever 95 in the auxiliary transmission to the high speed side (or the low speed side). The speed (or deceleration) instruction lamp 77 (or 78) is made to blink.

When the auxiliary shift lever 95 is changed and the auxiliary shift lever switch 68 is switched, or when the auxiliary shift lever 95 is in the high speed stage "H".
In the case of (or low speed stage “L”), the speed increase (or deceleration) instruction lamp 77 (or 78) is not blinked.

When the handling cylinder rotation speed is within the first high rotation speed range (d ≦ X <e) [or the first low rotation speed range (b <X ≦ c)], the accelerator motor 75 is operated for a predetermined time. Reverse rotation (or forward rotation) over the engine to slightly reduce (or increase) the engine speed
Let As a result, the number of rotations of the handling cylinder is set within the proper range from c to d. Then, a predetermined time t ₅ (or t ₆ )
After the elapse of time, the handling cylinder rotation speed is checked, and the handling cylinder rotation speed is still in the first high (or low) rotation speed range d ≦ X <e (or b
When it is within <X ≦ c), the shift motor 74 is driven to shift up (or down) the traveling speed stage of the main transmission. In this case, when the handle cylinder rotation speed is in the first high rotation speed range d ≦ X <e, the accelerator motor 75 is driven for a predetermined time to increase the engine rotation speed.

The shift up and the increase in engine speed are due to the following reasons. That is, even if the engine rotation speed reduction operation is performed in the first high rotation speed range, it means that the handling cylinder load is too light,
Therefore, in order to achieve high-efficiency harvest, shift up and speed increase by increasing engine speed are aimed at.

On the other hand, the shift down is intended to increase the number of rotations of the handling cylinder and shift it to an appropriate range by further reducing the load of the handling cylinder. Even when the main transmission and the engine speed are controlled as described above, the handling cylinder speed is in the first high (or low) speed range d.
If ≦ X <e (or b <X ≦ c), then a predetermined time t ₇
(Or t ₈ ) waits until the same control is performed. When the traveling speed gear of the main transmission is fourth speed "F4" (or first speed "F1"), a predetermined time t _{5 (or} t ₆₎ has elapsed after the threshing drum speed is the first high (or Low) Revolution range d ≦ X <
Acceleration (or deceleration) instruction lamp for urging the operation of changing the traveling speed stage of the auxiliary transmission when e (or b <X ≦ c) is satisfied.
Flash 77 (or 78). This lamp 77 (or 78) is operated when the auxiliary shift lever 95 is operated and the auxiliary shift lever switch 68 is switched, or the auxiliary shift lever 95 is in the high speed traveling stage “H” (or the low speed traveling stage “L”). If not, it will not blink.

When the handling cylinder rotation speed is within the proper range (c <X <d), the accelerator motor 75 is normally driven for a predetermined time to increase the engine rotation speed. And the predetermined time t ₂
After that, if it is within the proper range (c <X <d), the accelerator motor 75 is further driven in the normal direction to increase the engine speed, and eventually the engine speed is increased to the maximum speed of the engine 73 at which the regulator switch 69 is turned on. Increase the number and work in such a state.

Therefore, the threshing work is performed in a state where the handling cylinder rotation speed is within an appropriate range and the engine output is maximum, and the threshing treatment work is performed with high efficiency. Further, when the engine rotation speed is increased by a predetermined amount, if the handling cylinder rotation speed is increased to be within the first high rotation range, the control as described above is performed, and if possible, the shift is upshifted. It is possible to increase the efficiency of the threshing process by increasing the speed of the machine.

During such an automatic control, when changing the vehicle speed, when the output of the shift motor 74 the time after rotated t ₁₄ is shift sensor 61 even after a lapse is not the predetermined gear driving position, the shift motor 74 or Assuming that an abnormality has occurred in the main shift lever 93, the alarm buzzer 79 is sounded and the automatic control is prohibited. And LED92 for self-diagnosis
Then, a predetermined display is performed (see FIG. 9).

Further, in this case, when the output voltage of the shift sensor 61 using the potentiometer is not within the range during normal use, it is determined that the shift sensor 61 is disconnected or short-circuited, and automatic control is prohibited and self-diagnosis is performed. The LED 92 is caused to perform a predetermined display (see FIG. 9).

In the control of the vehicle speed and the engine speed described above,
The handling cylinder rotation speed becomes abnormally low during a predetermined time after the main transmission is upshifted or downshifted, or during a predetermined time after the engine speed is changed When the range (X ≦ a) is reached or when the second screw 29 is clogged and the second rotation sensor 63 is turned on, as shown in FIG. The automatic control of the rotation speed is not performed, and the shift motor 74 is driven in the reverse direction to set the main transmission 6 to the neutral stage "N" and the traveling of the machine body is stopped. When the amount of the second reduction product becomes too large and the second reduction sensor 64 is turned on, the shift motor 74 is reversely driven to shift down as shown in FIG. In either case, when the emergency switch 70 is turned on, the main transmission is set to the neutral stage "N" and the traveling of the aircraft is stopped.

When the harvesting work for one stroke is completed, the grain culm sensor 62 is turned off, and the control device 80 stores the traveling speed stage of the main transmission at the time when the grain culm sensor 62 is turned off as Pm and the traveling of the auxiliary transmission. The speed is stored as Ps, and the automatic lamp 76 is blinked while prohibiting automatic control based on the cylinder speed. At this time, the same operation is performed when the reaping clutch is disengaged. Then, a predetermined round trip operation is performed, and after the grain culm sensor 62 is turned off, the round trip operation is considered to be completed for a predetermined time t ₃
After that, the engine speed is controlled to be in an appropriate range (α to β). This control is similar to the above-described control for setting the engine speed at the start of cutting to the proper range, and continuously drives the accelerator motor 75 so that the engine speed is within the proper range. This is because the culm remains in the threshing device at the start of the circulation, and thus the handling cylinder load is added, and at the time of the circulation, the load for the circulation (the load added when the traveling crawler is stopped, etc.) is also added. Therefore, after turning off the grain culm sensor 62,
When the engine speed is immediately controlled, the engine is rotated at a high speed, but thereafter the grain culms in the threshing device 3 are threshed to reduce the load on the handling cylinder, and after the traveling operation is completed, the traveling load is reduced. Since the engine speed becomes abnormally high, the engine speed is set within an appropriate range after the traveling operation is completed.

When the traveling operation is completed and the grain culm sensor 62 detects the transported grain culm, the automatic lamp 76 is turned on, the accelerator motor 75 is normally driven for a predetermined time t _2, and the engine speed is slightly higher than the appropriate value. After the predetermined time t ₉ , the predetermined traveling speed stage setting control is performed so that the main transmission device and the auxiliary transmission device are set to the optimum traveling speed stage.

FIG. 8 is a flowchart of the traveling speed stage setting control.
The control device 80 first determines whether or not the shift operation of the sub-transmission device has been performed by comparing the detection result of the sub-transmission lever switch 68 with the stored value Ps. Assuming that the shift lever 95 is not operated, the traveling speed stage of the main transmission is set to the speed stage before traveling. That is, the current traveling speed stage is determined from the output signal of the shift sensor 61, and if the speed stage and the stored value Pm of the speed stage before traveling do not match, the traveling speed stage becomes the stored value Pm. The shift motor 74 is driven. Then, when the traveling speed stage of the main shift becomes equal to that before traveling, the automatic control of the vehicle speed and the engine rotation speed based on the handling cylinder rotation speed is performed after the elapse of the predetermined time t ₄ .

On the other hand, when the traveling speed stages of the auxiliary transmission before and after traveling do not match, the acceleration or deceleration instruction lamp 77 or 78
Lights up and the traveling speed stage before traveling is the fourth speed “F4” or the first speed stage “F1”, the main shift is performed so that the traveling speed after traveling becomes substantially equal to the traveling speed of the aircraft before traveling. The traveling speed stage of the device is set. Table 2 shows the set speed stages of the main shift in this case.

That is, when the main transmission before traveling is the fourth speed “F4” and the auxiliary transmission is at the low speed traveling stage “L”, the auxiliary transmission after traveling becomes the medium speed traveling stage “M”. The main transmission is set to the second speed "F2" while the main transmission is set to the first speed "F1" when the sub transmission after traveling is in the high-speed running "H". The shift motor 74 is driven in reverse. In addition, the main transmission before traveling is the fourth gear "F4",
When the auxiliary transmission is in the middle speed stage “M” and the sub-transmission after traveling is in the high speed stage “H”, the main transmission is set to the first speed stage “F1”.

On the other hand, when the main transmission before traveling is in the first speed "F1" and the auxiliary transmission is in the high speed traveling "H", the auxiliary transmission after traveling is in the middle travel "M". When the main transmission is in the 3rd speed "F3", the main transmission is in the 4th speed "F4" when the auxiliary transmission after traveling is in the low speed "L". It The main transmission before traveling is the first speed "F1", and the auxiliary transmission is the middle speed "M".
If the auxiliary transmission after traveling is in the low speed stage “L”, the main transmission is in the third stage “F”.
3 ”.

When the traveling speed stage of the main transmission is changed, if the speed stage before the change after traveling and the speed stage to be changed are separated by two or more stages, the intermediate traveling speed stage is set to the predetermined time t _10.
The speed stage is sequentially changed while maintaining the speed.

If the combination of the main transmission and the auxiliary transmission before the traveling and the combination of the auxiliary transmission after the traveling are other than the above-mentioned embodiments, the stored value of the traveling speed of the main transmission is stored. Pm is reset (Pm = 0), and the control is started at the traveling speed stage set and operated by the driver. The subsequent automatic control is the same as that described above.

Although the power shift transmission is used as the main transmission in the above-described embodiment, a hydrostatic drive device may be used instead.

〔effect〕

According to the present invention, at the start of work after the first stroke or rounding, the mowing clutch is in the disengaged state, or the grain culm to be threshed is not detected, so the engine speed is set to the predetermined number of revolutions. Done. Therefore, the phenomenon that occurred conventionally at the start of these work, that is, the sudden acceleration due to the light load of the threshing device at the beginning, and the sudden deceleration due to the increase of the threshing load after that, are resolved, and the riding comfort is improved. However, it also increases safety. In addition, the accuracy of threshing work can be made uniform.

Furthermore, in the above-described embodiment, when the grain culm to be threshed is detected in the automatic control preparation state, the engine speed is further increased than the appropriate speed during the work, so that the threshing work is performed. At the time of starting, there is no fear that the number of rotations of the handling cylinder will suddenly decrease, and therefore the risk that the vehicle speed will suddenly decrease. Further, there is no fear that the efficiency of the threshing work and the selection accuracy will be reduced due to the reduction in the number of rotations of the handling cylinder.

Furthermore, in the above-described embodiment, the self-diagnosis function of the shift lever, the shift motor, the accelerator lever, the accelerator motor, the shift sensor, etc. is provided, so that there is no fear of causing a runaway of the aircraft or a decrease in threshing work accuracy. , Safety is significantly improved.

[Brief description of drawings]

The drawings show the embodiments of the present invention. FIG. 1 is an external perspective view of the present invention machine, FIG. 2 is a partially cutaway vertical sectional view of a thresher, and FIG. 3 is a control system of the present invention machine. A schematic block diagram, FIGS. 4 to 9 are flowcharts for explaining the operation of the machine of the present invention, and FIG. 10 is a partial time chart thereof. 1 ... traveling crawler, 3 ... threshing device, 6 ... sub-operation column,
17 ... Handle, 29 ... Second screw, 59 ... Handle sensor, 60 ...
Engine sensor, 61 ... Shift sensor, 62 ... Grain sensor,
63 ... Second rotation sensor, 64 ... Second reduction sensor, 68 ... Sub shift lever switch, 73 ... Engine, 74 ... Shift motor, 75 ...
Accelerator motor, 76 ... Automatic lamp, 77 ... Acceleration instruction lamp, 78 ... Deceleration instruction lamp, 80 ... Control unit

Claims (1)

[Claims] 1. A threshing clutch splicing state detector, a reaping clutch splicing state detector, a grain culm detector to be threshed, a load detector in a threshing device, and a speed change for changing the traveling speed. Machine, an engine speed changing machine for changing the engine speed, a means for automatically controlling the traveling speed based on the detected load of the threshing device, a switch for instructing the automatic control, and an automatic control for instructing In the case where the threshing clutch is in the spliced state, the engine speed changer is driven so that the engine speed becomes a predetermined speed when the harvesting clutch is disengaged or the grain culm is not detected. A harvesting machine comprising: