KR20190141591A - Harvester and combine - Google Patents

Abstract

Provided is a harvester preventing an excessive force from being applied to the harvest when the harvest is discharged using an unloader. According to the present invention, the harvester comprises: an unloader including a transfer device using power supplied from an engine to discharge harvest from the combine hopper to the outside of a frame; a discharge clutch having an on-position in which the transfer device is operated and an off-position in which the transfer device is stopped; a discharge clutch control unit outputting an on-operation signal switching the discharge clutch into the on-position based on a clutch-on command; and an engine control unit adjusting the revolutions per minute (RPM) to discharge RPM between idling RPM and normal RPM of the engine.

Description

Harvesters and Combines {HARVESTER AND COMBINE}

The present invention relates to a harvester having a harvest tank for storing the harvested harvest and an unloader for discharging the harvest from the harvest tank to the outside of the gas using engine power.

The present invention also relates to a harvester having a traveling device, a harvest tank for storing the harvested harvest, and an unloader for discharging the harvest from the harvest tank to the outside of the gas.

The present invention also provides an engine, a traveling device driven by engine power, a harvesting unit for harvesting and transporting paving grain stems, a transmission state for transmitting power from the engine to the harvesting unit, and power from the engine. A combine is provided with a clutch mechanism which is switched to a non-delivery state which does not transmit to the harvesting unit.

In the combine disclosed in Patent Document 1, the rotation speed of the engine is adjusted to the idling speed when the main gear lever is in the stop position and the discharge clutch is in the off state, and the rotation speed of the engine when the main gear lever is operated in the speed change region. A combine is disclosed in which is raised to a rated rotation speed (high speed rotation speed that obtains the maximum output from the engine). In addition, when the discharge clutch is set to the on state, the rotational speed of the engine is adjusted to the target rotational speed set by the accelerator setting dial. As a result, when discharging the grain of the grain tank by using the unloader, since the engine rotation speed is adjusted to an arbitrary rotation speed set by the operator, excessive force acts on the grain during the discharge operation, or fuel The problem of excessive consumption is suppressed.

In the combine disclosed in Patent Document 2, when the discharge clutch is switched to the shut-off state, the first set rotational speed set by the accelerator operating tool is set to the control target rotational speed of the engine, and the output rotational speed of the engine is the first set rotational speed. It is controlled not to exceed. Further, when the discharge clutch is switched to the connected state, the second set speed lower than the first set speed is set to the control target speed of the engine, and the output speed of the engine is controlled so as not to exceed the second set speed. .

Patent Literature 3 further includes posture control means for maintaining the body in a predetermined posture in the left and right directions, an unloader capable of discharging the grain in the grain tank, and a position detecting means for detecting whether the unloader is present at a storage position. The combine which links the position detection means and the attitude control means is disclosed so that the attitude control means can be operated only when the unloader is in the storage position.

Patent document 4 is provided with the grain tank which provided the screw-type conveyance conveyor in the bottom part, and the grain discharging apparatus (unloader) which connected the lower part to the dispensing conveyor, and runs when the grain discharging apparatus runs in the working position. A general purpose combine is disclosed in which the grain discharging device automatically shifts to a storage position when the speed reaches a predetermined speed.

For example, Patent Literature 5 describes an engine, a traveling device ("crawler traveling device" in the document) driven by the power of the engine, and a harvesting unit for harvesting and transporting the grain stem of the packaging and conveying it ("standing" of the document). Device, harvesting device, conveying device), a clutch mechanism ("cutting clutch" in the literature) that is switched to a transmission state for transmitting power from the engine to the harvesting unit and a non-transmission state for not transmitting power from the engine to the harvesting unit. And an automatic switching unit ("interlocking operation mechanism" in the literature) for changing the clutch mechanism to a non-delivery state when the harvesting portion is raised above a predetermined set height, and a combine provided therewith. A harvesting | reaping part is comprised so that operation is possible by the operation tool ("scraping pedal" of literature). When the driver presses in the operating tool, power to the traveling device is cut off and the operation state of the harvesting unit is maintained.

Japanese Patent Laid-Open No. 2012-90607 Japanese Patent Publication No. 2014-14333 Japanese Patent Laid-Open No. 9-289820 Japanese Patent Laid-Open No. 2001-275469 Japanese Patent Publication No. 2014-57540

In the combine disclosed in Patent Literature 1 or Patent Literature 2, when the unloader is used to discharge the harvest from the harvest tank to the outside, the engine speed is lowered than at the time of traveling, so that the unloader conveyance mechanism is driven at a higher speed than necessary. Is prevented. However, in any combine, the engine rotation speed falls after connection of the discharge clutch which becomes a trigger which supplies engine power to the conveyance mechanism of an unloader is performed. For this reason, when the discharge clutch is connected, there is a high possibility that the engine is rotating at a high speed, and at the start of discharge, there is a problem that excessive force is applied to the conveyed harvest such as grain.

An object of the present invention is to solve such a problem and to provide a harvester in which excessive force is not applied to the harvest when discharging the harvest using the unloader.

In addition, the combine by patent documents 3 and 4 mentioned above can run in the state where the unloader moved to the discharge position which protrudes outside of a base from the storage position stored inside of a base. In traveling in the state where the unloader is in the discharge position, the posture change (rolling control) in the left and right directions of the body is prohibited in the combine according to Patent Document 3, and in the combine according to Patent Document 4, the vehicle speed is predetermined. When the value is reached, the unloader is forcibly returned to the storage position. Either way, no restrictions on driving are being enforced. However, when rapid acceleration, sharp turning or the like is performed in the state where the unloader protrudes out of the base, a problem arises in that a large load is applied to the period portion of the unloader.

For this reason, there is a demand for a harvester that can avoid a large load on such an unloader.

By the way, when the harvesting section is raised above a predetermined set height, normally, even if the clutch mechanism is changed to the non-transferring state by the automatic switching unit, and the driver tries to scrape by operating the operating tool, the harvesting section It does not operate. For this reason, when the said scraping is performed according to the driver's intention, the driver must switch the automatic switching unit into an invalid state or lower the harvesting unit, and the driver may feel troublesome.

In view of the above-described circumstances, an object of the present invention is to provide a combine that can be scraped between intentional grains without intention of the driver, even if the state of the clutch mechanism is automatically switched. have.

The harvester according to the present invention comprises an unloader having a harvest tank for storing the harvested harvest, a transport mechanism for discharging the harvest from the harvest tank to the outside of the gas using power from an engine, and the transport mechanism. A discharge clutch having an on position to be stopped and an off position to stop the conveying mechanism, and an on operation signal for switching the discharge clutch to the on position based on a clutch on command, and outputting the discharge based on a clutch off command. A discharge clutch control unit for outputting an off operation signal for switching the clutch to the off position, and the rotational speed of the engine in terms of an idling rotational speed, a rated rotational speed, and a discharge rotational speed between the idling rotational speed and the rated rotational speed It is provided with the engine control unit to adjust. Further, in the present invention, the discharge clutch control unit requests the engine control unit to adjust the discharge rotation speed based on the clutch on command, and the on operation when the rotation speed of the engine reaches the discharge rotation speed. Output the signal.

In this configuration, even if a clutch on command for switching the discharge clutch for driving the unloader's conveying mechanism to the on position is issued based on the operation to the operating tool or the like, before the discharge clutch is actually switched to the on position, the engine is rotated. The number is adjusted to an ejection speed suitable for driving the conveying mechanism. That is, the engine control is first performed to control the engine speed to the discharge speed by triggering the clutch on command. Subsequently, at the stage where the engine speed reaches the discharge speed, the on operation signal for turning the discharge clutch to the on position is output. That is, after the engine speed reaches the discharge speed suitable for driving the unloader's conveyance mechanism, the discharge clutch is turned to the on position, and the engine power is transmitted to the conveyance mechanism. Thereby, the problem that an excessive force is applied to the conveyed harvests, such as a grain, at the start of discharge | release is eliminated.

When the unloader is used to discharge the harvest to the outside, the engine speed may be lower than the discharge speed. The conveyance mechanism of the unloader can be driven even if the engine speed is lower than a preset discharge speed. Depending on the state of the harvest, the operator may intentionally drive the conveyance mechanism using an engine speed lower than the discharge speed. In this regard, in one of the preferred embodiments of the present invention, when the engine speed of the development is higher than the discharge speed, the discharge clutch control unit transmits the discharge speed to the engine control unit based on the clutch on command. If the engine speed of development is lower than the discharge speed, the request for adjustment to the discharge speed based on the clutch on command is stopped. This prevents the problem that the engine speed is forcibly changed to the discharge speed even when the operator tries to drive the conveyance mechanism at an engine speed lower than the discharge speed when the unloader is to discharge the harvest to the outside. .

In addition, the harvester according to the present invention includes a traveling device, a harvesting tank for storing the harvested harvest, a discharge posture for discharging the harvest from the harvest tank to the outside of the gas, and a storage posture stored and held in the gas. An unloader capable of changing a posture in a vehicle, a posture detection unit detecting a posture of the unloader, a driving control unit for outputting a behavior request for the traveling device based on a driver's operation, and a traveling control for controlling the behavior of the traveling device. As a mode, a travel control mode management unit for managing a first travel control mode, a second travel control mode in which an inertial load on the unloader is less than the first travel control mode when the vehicle is traveling, and the attitude detection unit is accommodated in the accommodation. When the posture is detected, the traveling device is operated based on the behavior request using the first travel control mode. And a traveling control section for controlling the traveling device based on the behavior request using the second travel control mode when the posture detection section detects other than the storage attitude.

In this configuration, the behavior of the traveling apparatus that emerges based on the operation of the traveling operation tool varies depending on whether the control mode used is the first travel control mode or the second travel control mode. When the second travel control mode is used, the travel behavior in which the inertial load on the unloader is reduced compared to the first travel control mode is manifested. When the posture detection unit detects that the unloader is in a posture other than the storage posture, a large load is prevented from being applied to the unloader by using the second travel control mode.

In the discharge posture in which the unloader protrudes out of the gas to discharge the harvest to the outside of the gas, when a large acceleration occurs in the gas, a moment acts in the period of the unloader, and a large load is applied to the unloader. In this regard, in one of the preferred embodiments of the present invention, when the vehicle speed request is output as the behavior request, the travel control unit is configured to perform the above-described operation with a lower acceleration than the first travel control mode in the second travel control mode. Drive the traveling device.

The higher the driving speed of the traveling device, the larger the vehicle speed. In the harvester, a vehicle speed suitable for a normal harvesting operation is usually set as the harvesting operation speed. In such a normal harvesting operation, it is assumed that the unloader is in a storage posture, so that if the unloader runs at a normal harvesting work speed in a state other than the storage posture, a large load may be applied to the unloader. In this regard, as one of the preferred embodiments of the present invention, it is proposed that an upper limit lower than the normal harvesting work speed is set in the second travel control mode as compared with the driving speed of the travel device.

In order to detect the actual vehicle speed as a result of the drive speed of the traveling device as accurately and simply as possible, it is preferable to detect the rotation speed of the axle of the traveling device. For this reason, in one suitable embodiment of this invention, the said upper limit is set with respect to the axle rotation speed of the said traveling apparatus.

In most harvesters, a hydraulic continuously variable transmission is used for shifting a traveling device that requires shifting. The hydraulic continuously variable transmission adjusts the rotational speed of the axle by changing the inclined plate angle. That is, the inclination plate angle and the axle rotation speed have a constant relationship. In this respect, as one of the suitable embodiments, it is proposed that the transmission for the traveling device is provided with a hydraulic continuously variable transmission, and the upper limit is set with respect to the inclined plate angle of the hydraulic continuously variable transmission.

When the body is turned when the unloader is not fixed away from the storage posture, the moment acts on the period of the unloader by the inertia force. In order to suppress this moment, it is effective to increase the turning radius at the time of turning. In this regard, in one of the preferred embodiments of the present invention, when the turning request is output as the behavior request, the running control section has a turning radius in the first traveling control mode in the second traveling control mode. The traveling device is driven to be larger than the turning radius.

When the traveling device is a crawler type, the aircraft turns according to the speed difference between the left and right crawlers. At that time, if the speed difference between the left and right crawlers is minutely changed according to the operation amount of the steering operation tool (one of the driving operation tools), the steering operation becomes difficult because the aircraft rotates at various turning radii. In order to avoid this, a plurality of swing modes (large swing mode, medium swing mode, small swing mode, etc.) having different turning radii are prepared so as to be selectable in advance, and the swing is performed in a preset swing mode by operation of the starting steering operation tool. The constitution is adopted. In such a harvester, the traveling control section has a plurality of turning modes having different turning radii, and in the second traveling control mode, it is preferable to be configured such that the turning mode having the largest turning radius is selected among the plurality of turning modes. As a result, even when the unloader is out of the storing position, the load on the unloader at the time of turning the body is suppressed.

In addition, the combine according to the present invention is supported by the engine, the traveling device driven by the power of the engine and the body so as to be able to swing up and down, and is driven by the power of the engine, and harvests and holds the grain stem of the package. A clutch mechanism to be switched to a non-transmission state in which power from the engine is transmitted to the harvesting unit, and a non-transmission state in which power from the engine is not transmitted to the harvesting unit, based on the harvesting unit to be operated, the first operating tool; And, when the harvesting unit is raised above a predetermined set height, an automatic switching unit for changing the clutch mechanism to the non-transmitting state, and scraping that the harvesting unit is driven while the traveling device is stopped based on the operation of the second operating tool. The scraping-out part which exhibits the loading state is provided, The said scraping-out part is the said clutch mechanism by the said automatic switching part, When the state in which a transmission state, characterized in that the change in the transmission state the clutch mechanism is forced.

According to the present invention, the state change of the clutch mechanism by the scraping portion is based on the operation of the second operating tool, and even if the automatic switching portion changes the clutch mechanism to the non-transmitting state, the scraping portion forcibly applies the clutch mechanism. Change to the delivery state. In this respect, in the state change of the clutch mechanism, the change by the artificial operation of the second operating tool is given priority over the change by the automatic switching unit. For this reason, the driver scrapes between the cutting grains even if the automatic switching portion is not turned into an invalid state or the cutting portion is lowered. Thereby, even if it is equipped with the structure which switches the state of a clutch mechanism automatically, the combine which can scrape between harvesting grains as it is intentionally is realized, without a driver having to feel a hassle.

In the present invention, when the operation of the second operation tool is released, the clutch mechanism is suitable if the clutch mechanism is switched to the non-transmission state by the automatic switching unit when the harvesting unit is raised above the set height.

With this configuration, the clutch mechanism is switched to the transmission state with the driver's clear intention of operating the second operation tool, and the transmission state of the clutch mechanism continues only while the operation of the second operation tool is being performed. As a result, the burden on the driver is reduced, and the state change of the clutch mechanism is appropriately executed.

1 is an overall side view of a combine.
2 is an overall plan view of the combine.
3 is a functional block diagram for grain discharge control by a combine.
4 is a flowchart showing the relationship between the discharge clutch control and the engine rotation control.
5 is an overall side view of the combine.
6 is an overall plan view of the combine.
7 is a functional block diagram for driving control based on the attitude of the unloader.
8 is a flowchart illustrating an example of travel control based on the attitude of the unloader.
9 is a left side view of the entire combine.
10 is a block diagram illustrating a control configuration and a power transmission system.
11 is a logic graph diagram showing a scraping state.
It is a flowchart which shows the lifting regulation of the harvesting | reaping part at the time of engine start-up.
It is a graph which shows control of the engine rotation speed at the time of engine start.
14 is a block diagram showing a control configuration and a power transmission system in another embodiment.
FIG. 15 is a logic graph showing a scratching state in another embodiment. FIG.

EMBODIMENT OF THE INVENTION Hereinafter, the case where the embodiment of the harvester which concerns on this invention is applied to a self-deleting combine is demonstrated based on drawing.

In this embodiment, when defining the front-back direction of a base | substrate, it defines along the gas traveling direction in a working state, and when defining the left-right direction of a base | substrate, right and left are defined in the state seen from the gas traveling direction. That is, the direction shown by the code | symbol F in FIG. 1 and FIG. 2 is the front side of a base body, and the direction shown by the code | symbol B in FIG. 1 and FIG. 2 is the body rear side. The direction shown by the code | symbol L in FIG. 2 is the left side of a base body, and the direction shown by the code | symbol (R) in FIG. 2 is the base body right side.

As shown in FIG.1 and FIG.2, this combine combines the left and right pair of crawler traveling apparatuses as the traveling apparatus 1, and is placed in the front part of the base body supported by this traveling apparatus 1 The harvesting | reaping part 12 which cuts into is arrange | positioned. The driving part 14 covered with the cab 13 by the cabin 13 is arrange | positioned at the front-right side of a base body, The threshing apparatus 15 and the grain tank 16 as a harvest tank are arranged in the horizontal direction at the rear part of a base body. It is arranged to be. The threshing apparatus 15 threshes the grain stem harvested by the harvesting | reaping part 12. As shown in FIG. The grain obtained by threshing process is stored. An engine 18 is disposed below the driver's seat 17 in the driver 14. Moreover, the unloader 3 which discharges the grain stored in the grain tank 16 to the exterior (outside of gas) is provided.

As shown in FIG. 1 and FIG. 2, the unloader 3 has a paper conveying screw conveyor 32 provided on the gas rear side of the grain tank 16 and a transverse conveyance extending upward of the threshing apparatus 15. The screw conveyor 33 is provided. The conveyance mechanism 30 of the unloader 3 consists of the paper conveying screw conveyor 32 and the lateral conveying screw conveyor 33. As shown in FIG. The bottom part of the grain tank 16 is provided with the bottom screw 19 which delivers the grain stored in the grain tank 16 to the paper conveying screw conveyor 32. As shown in FIG. The grains transferred from the bottom screw 19 are sent to the transverse screw conveyor 33 via the paper conveying screw conveyor 32 and discharged to the outside from the discharge port 34 provided at the tip of the transverse screw conveyor 33. . The bottom screw 19, the paper conveying screw conveyor 32, and the horizontal conveying screw conveyor 33 are comprised so that a mechanical synchronous rotation may be carried out. The power of the engine 18 is transmitted from the bottom screw 19 to the conveyance mechanism 30 (paper feed screw conveyor 32 and lateral feed screw conveyor 33). The discharge clutch 7 is interposed in the power transmission path from the engine 18 to the bottom screw 19 (see FIG. 3). When the discharge clutch 7 is in the on position, the engine power is transmitted to the bottom screw 19 and the transfer mechanism 30, and when the discharge clutch 7 is in the off position, the bottom screw 19 and the transfer mechanism ( The transmission of engine power to 30 is cut off.

The horizontal feed screw conveyor 33 is comprised by the hydraulic cylinder 36 so that an up-down swinging operation can be performed around the horizontal axis center P1 of a base end part. Moreover, the paper conveying screw conveyor 32 is comprised so that rotation operation is possible around the longitudinal axis center P2 by the drive unit 37 which consists of an electric motor or a hydraulic cylinder with the horizontal conveying screw conveyor 33. As shown in FIG. Thereby, the discharge port 34 of the horizontal conveying screw conveyor 33 can be positioned in the position which can discharge a grain by the outside truck. That is, the horizontal conveying screw conveyor 33 of the unloader 3 can change a posture between the discharge attitude | position which discharges a grain from the grain tank 16 to the exterior of gas, and the storage attitude | position stored inside of a body.

The horizontal position of the transverse screw conveyor 33 is substantially horizontal, and the attitude of the entire transverse screw conveyor 33 converged in the outline of the harvester when viewed in plan is the home position of the transverse screw conveyor 33 (unloader 3). In the home position, the transverse screw conveyor 33 is reliably held from the bottom by the holding device 38 from the bottom. The holding | maintenance apparatus 38 forms the arch-shaped support surface opened upward, and is a home position in which the horizontal feed screw conveyor 33 becomes a substantially horizontal posture, and supports the lower surface of the horizontal feed screw conveyor 33, and is fixed. do.

FIG. 3 schematically shows a power transmission path for transmitting power from the engine 18 to the crawler traveling device 1 and the unloader 3. The first branch power from the engine 18 is transmitted to the transmission 10 that drives the crawler traveling device 1. The transmission 10 includes a hydraulic continuously variable transmission (hereinafter abbreviated as HST) 11 as a continuously variable transmission. The inclination plate angle of the HST 11 is adjusted using the electric motor 11a, for example, and the drive speed of the crawler traveling apparatus 1, ie, the vehicle speed, is changed.

3 shows a functional block for grain discharge control in this combine. Various signals are input to the control unit 5 via the input signal processing unit 61. The control unit 5 controls the operating device by sending various control signals through the device control unit 62. This operating device includes a hydraulic cylinder 36 for swinging the horizontal feed screw conveyor 33 up and down, a drive unit 37 for horizontally rotating the paper feed screw conveyor 32, a discharge clutch 7, an electric motor 11a, and the like. This is included. The signal from the travel operation tool 41, the work operation tool 42, and the rotation speed setting tool 43 is input to the input signal processing unit 61. In addition, the detection signal from the vehicle speed sensor 45 and the engine speed sensor 44 is also input to the input signal processing unit 61. The vehicle speed sensor 45 calculates a vehicle speed from this axle rotation speed which is an axle rotation speed sensor which detects the axle rotation speed of the crawler traveling apparatus 1.

The traveling operation tool 41 is a generic term for a device used by a driver for operating an operating device related to driving, such as an operating device constituting the traveling device 1, and includes a shift lever, a steering lever, and the like. By the operation of the traveling operation tool 41, the crawler drive speeds of the right and left which comprise the traveling device 1 are adjusted. The travel operation tool 41 may be a multifunctional lever having a complex function, at least one single function lever, or a combination thereof. The work operation tool 42 is a generic term for a device used by a driver to operate operating devices constituting the harvesting unit 12, the threshing device 15, the unloader 3, and the like, and a harvesting clutch lever or a threshing clutch lever. B) an exhaust clutch lever or an unloader attitude change switch. The work operation tool 42 may also be a multifunctional lever having a complex function, at least one single function lever, or a combination thereof. The rotation speed setting port 43 is a generic term for an accelerator lever, an accelerator pedal, and an accelerator dial, and is used to adjust and set the engine speed. Basically, the operation amount of the rotation speed setting tool 43 is zero, and the engine 18 rotates by idling rotation speed.

The engine control unit 63 adjusts the fuel supply amount to the engine 18, etc. based on the command from the control unit 5, and drives the engine 18 at a predetermined engine speed or a predetermined torque.

The control unit 5 is provided with the traveling control part 51, the operation control part 52, the unloader control part 53, the discharge clutch control part 54, and the engine speed command part 55. As shown in FIG. The traveling control unit 51 outputs a control signal for adjusting the inclination plate angle of the HST 11 through the device control unit 62 to control the driving of the traveling device 1. By this control signal, the vehicle speed is adjusted and steering in the left and right directions (turning in the left and right directions) is performed.

The job control part 52 generates a control command to work devices, such as the harvesting | reaping part 12 and threshing apparatus 15, based on the command from the job operation tool 42, and through the apparatus control unit 62 Output to work device. The unloader control part 53 controls the attitude | position of the unloader 3, ie, the attitude | position of the paper conveying screw conveyor 32 and the lateral conveying screw conveyor 33, based on the instruction | command from the operation operation tool 42. As shown in FIG.

The discharge clutch control unit 54 outputs an on operation signal for switching the discharge clutch 7 to the on position based on the clutch on command output by the driver operating the work operation tool 42. Moreover, the discharge clutch control part 54 outputs the off operation signal which switches the discharge clutch 7 to an off position based on the clutch off command output by the driver operating the work operation tool 42. However, when the engine speed is higher than the preset discharge speed, the discharge clutch control part 54 makes a request to reduce the engine speed, and the on operation signal when the engine speed reaches the discharge speed. Outputs That is, the discharge clutch control unit 54 requests the engine speed command unit 55 to lower the engine speed when the engine speed when the clutch on command is received is higher than the discharge speed. In this way, the engine speed command unit 55 gives the engine control unit 63 a command for giving the engine speed to the discharge speed. If the engine speed at the time of receiving the clutch on command is equal to or less than the discharge speed, for example, even if the engine speed is the idling speed or a low speed close thereto, the adjustment for raising the engine speed to the discharge speed is not performed, and the ON operation signal is performed. Outputs

The engine speed command unit 55 gives an engine speed command to the engine control unit 63 based on the operation amount of the rotation speed setting port 43 and the request from the discharge clutch control unit 54 as described above. Create The engine control unit 63 has a function of controlling the rotation speed of the engine 18. The preset engine speed includes the idling speed, the rated speed (maximum output speed), and the discharge speed. The discharge rotational speed is an engine rotational speed between an idling rotational speed and a rated rotational speed, and is substantially rotational speed which the conveyance mechanism 30 can function suitably and fuel economy. It is possible to set this discharge rotation speed to arbitrary rotation speeds, but it is preferable to exceed idling rotation speed and to be less than rated rotation speed.

Next, with reference to FIG. 4, the basic concept of the relationship between discharge clutch control and engine rotation control is demonstrated. The flowchart shown in FIG. 4 is for explaining the basic concept, and in actual control, various control flows can be adopted as long as this basic concept is satisfied. In the rotation speed control (engine rotation speed control routine) of the engine 18, when the work operation tool 42 is operated to bring the discharge clutch 7 to the on position, the engine rotation speed becomes equal to or less than the discharge rotation speed. In this way, the conveyance mechanism 30 of the unloader 3 is prevented from being driven at an engine speed exceeding the discharge speed (for example, the rated speed).

The engine speed control routine is started by starting the engine 18, and ends when the engine 18 stops (branch # 06, for example). When the engine speed control routine is started, the engine speed calculated based on the detection signal from the engine speed sensor 44 is obtained (# 01). The obtained engine speed is stored in the memory as the engine speed of development (# 02). New engine rotation, such as an engine rotation speed setting command by the rotation speed setting port 43, a rotation speed change request generated during various processes of the control unit 5, and a rotation speed change request generated during the process of the engine control unit 63, and the like. It is checked whether or not a request for changing the number setting has been made (# 03). If there is no request to change the engine speed setting (branch to NO # 03), the process returns to step # 01.

When there is a request to change the engine speed setting (branch # 03), the target engine speed is calculated based on the request (# 04). An engine speed adjustment command including the calculated target engine speed is given to the engine control unit 63 (# 05). As long as the engine 18 is not stopped (it branches to # 06 no), the process returns to step # 01.

In the discharge clutch control routine which performs the on-off control of the discharge clutch 7, first, during the operation of the discharge clutch operation command (clutch on command or clutch off command) by the work operation tool 42 or various processes of the control unit 5, It is checked whether the generated clutch on command or clutch off command is given to the discharge clutch control section 54 (# 10). If the discharge clutch operation command is not given (branch to # 10 "none"), the process returns to step # 10 and the loop is repeated until the discharge clutch operation command is given.

When the discharge clutch operation command is given (branch # 10 is "on"), and the content of the command is "on command", the engine speed (current speed) stored in the memory is changed in step # 02 of engine speed control. It is read (# 21). The current rotation speed read out is compared with the discharge rotation speed set in advance as an engine rotation speed suitable for driving the unloader 3 (# 22). When the present rotational speed is larger than the discharge rotational speed (for example, branching # 22), a rotation speed reduction request for lowering the engine rotational speed to the discharge rotational speed is issued to the engine rotational speed command unit 55 (# 23), and step # 21. Return to.

When a rotation speed reduction request is given to the engine rotation speed command unit 55, the engine rotation speed is lowered to the discharge rotation speed by steps # 03, # 04, # 05 of the engine rotation speed control routine, and the memory is entered into the memory at step # 02. The engine speed stored is the discharge speed. As a result, in step # 22 of the discharge clutch control routine, the current rotational speed read from the memory becomes the discharge rotational speed (branch to # 22 NO), and the discharge clutch 7 is turned on from the discharge clutch control unit 54 to the on position. The on operation signal for switching is output to the device control unit 62. As a result, the discharge clutch 7 is in a state of transmitting engine power to the transfer mechanism 30 via the bottom screw 19 (# 24).

If the discharge clutch operation command of the " on command " is issued when the engine speed is equal to or less than the discharge speed, it branches to NO immediately in step 22, and the discharge clutch 7 is moved to the on position from the discharge clutch control part 54. The on operation signal to be switched is output to the device control unit 62 (# 24). That is, when the current rotation speed is less than or equal to the discharge rotation speed, no request for raising the engine speed to the discharge rotation speed is made.

In addition, when the discharge clutch operation instruction given to the discharge clutch control part 54 is a clutch off command in step # 10 (the "off command" is selected by the # 10 "is" branch), the discharge clutch control part 54 is immediately performed. The off operation signal for switching the discharge clutch 7 to the off position is output to the device control unit 62, and the discharge clutch 7 is in a state of interrupting transmission of the engine power to the transfer mechanism 30 (# 31).

[Other Embodiments]

(1) In the flowchart of FIG. 4, the engine rotation when the discharge clutch 7 is switched to the on position, the grain discharging by the unloader 3 is finished, and the discharge clutch 7 is switched to the off position again. The number becomes a state of discharge rotation speed. Of course, when the discharge clutch 7 is switched to the off position again, a configuration may be adopted in which the engine speed before the discharge clutch 7 is switched to the on position is returned. At that time, when the engine rotation speed before switching is higher than the discharge rotation speed, it is preferable not to raise the engine rotation speed rapidly but to raise it smoothly so that a driver may not have a sense of incongruity. The timing of outputting the off operation signal for switching the discharge clutch 7 to the off position on the basis of the clutch off command may be before or after adjustment of the engine speed, but the grain is unloaded in the unloader 3. In consideration of the remaining, it is preferable to output the off operation signal and to raise the engine speed in a state where the discharge clutch 7 is completely in the off position.

(2) The discharge rotation speed used in the above embodiment is not limited to one. For example, the high speed discharge rotation speed, the medium speed discharge rotation speed, and the low speed discharge rotation speed are set, and the structure chosen by the storage amount in the grain tank 16 may be sufficient. In addition, one discharge rotation speed may be selected arbitrarily.

(3) In the said embodiment, the unloader 3 comprised the paper conveying screw conveyor 32 and the lateral conveying screw conveyor 33. As shown in FIG. Instead of this, the transverse screw conveyor 33 may be omitted, and the unloader 3 in which the discharge port 34 is provided at the tip of the tilting paper conveying screw conveyor 32 may be employed.

(4) Although the power to the conveyance mechanism 30 was supplied through the bottom screw 19 in the said embodiment, you may supply engine power to the conveyance mechanism 30 without passing through the bottom screw 19.

(5) In the said embodiment, although the rotation speed was calculated from the detection signal of the engine speed sensor 44, you may employ | adopt the structure which acquires the rotation speed from the engine control unit 63. FIG.

In addition, below, the case where the embodiment of the harvester which concerns on this invention is applied to the self-deleting combine is demonstrated based on drawing.

In this embodiment, when defining the front-back direction of a base | substrate, it defines along the gas traveling direction in a working state, and when defining the left-right direction of a base | substrate, right and left are defined in the state seen from the gas traveling direction. That is, the direction indicated by the symbol 1000F in FIGS. 5 and 6 is the front side of the body, and the direction indicated by the symbol 1000B in FIGS. 5 and 6 is the body rear side. The direction indicated by the symbol 1000L in FIG. 6 is the left side of the body, and the direction indicated by the symbol 1000R in FIG. 6 is the right side of the body.

As shown in FIG. 5 and FIG. 6, this combine is a traveling device 1001, and a pair of right and left crawler travel devices are employed, and the grain stem is placed in the front part of the body supported by the travel device 1001. A harvesting unit 1012 for harvesting is disposed. On the front right side of the base, the driving unit 1014 is surrounded by a cabin 1013, and a threshing apparatus 1015 and a grain tank 1016 as a harvest tank are arranged in the transverse direction on the rear side of the base. It is arranged to be. The threshing apparatus 1015 threshes the grain stem harvested by the harvesting | reaping part 1012. The grain tank 1016 stores the grain obtained by threshing process. An engine 1018 is disposed below the driver's seat 1017 in the driver 1014. Moreover, the unloader 1003 which discharges the grain stored by the grain tank 1016 to outside (outside of gas) is provided.

As shown in FIG. 5 and FIG. 6, the unloader 1003 extends the paper conveying screw conveyor 1032 provided on the gas rear side of the grain tank 1016 and the threshing apparatus 1015. The screw conveyor 1033 is provided. The bottom part of the grain tank 1016 is provided with the bottom screw 1019 which transfers the grain stored in the grain tank 1016 to the paper conveying screw conveyor 1032. The grains delivered from the bottom screw 1019 are sent to the transverse screw conveyor 1033 via the paper conveying screw conveyor 1032 and discharged to the outside from the discharge port 1034 provided at the tip of the transverse screw conveyor 1033. . The bottom screw 1019, the paper conveying screw conveyor 1032, and the horizontal conveying screw conveyor 1033 are comprised so that a mechanical synchronous rotation may be carried out. The discharge clutch 1007 is interposed in the power transmission path from the engine 1018 to the bottom screw 1019 (see FIG. 7). When the discharge clutch 1007 is in the on position, the engine power is transmitted to the bottom screw 1019, the paper feed screw conveyor 1032, and the lateral feed screw conveyor 1033, and the discharge clutch 1007 is in the off position. Power transmission is interrupted.

The horizontal feed screw conveyor 1033 is comprised by the hydraulic cylinder 1036 so that up-and-down rocking | movement operation can be performed around the horizontal axis center P1001 of a base end part. Moreover, the paper-feed screw conveyor 1032 is comprised so that rotation operation is possible around the longitudinal axis center P1002 by the drive unit 1037 which consists of an electric motor or a hydraulic cylinder with the horizontal feed screw conveyor 1033. As shown in FIG. Thereby, the discharge port 1034 of the lateral feed screw conveyor 1033 can be positioned in the position which can discharge a grain with an external truck etc. In other words, the transverse screw conveyor 1033 of the unloader 1003 can change the posture between the discharge posture for discharging the grain from the grain tank 1016 to the outside of the gas and the storage posture stored inside the base.

The horizontal position of the transverse screw conveyor 1033 is substantially horizontal, and the posture of the transverse screw conveyor 1033 being accommodated in the outline of the harvester when viewed in plan is the home position of the transverse screw conveyor 1033 (unloader 1003). In the home position, the lateral feed screw conveyor 1033 is reliably held from the bottom by the holding device 1038. The holding device 1038 forms an arch-shaped support surface that is opened upward, is a home position in which the transverse screw conveyor 1033 is in a substantially horizontal position, and supports the lower surface of the transverse screw conveyor 1033 to fix it. do. In this embodiment, the holding apparatus 1038 is provided with the attitude | position detection switch 1039 which detects the home position of the lateral feed screw conveyor 1033, ie, the storage attitude | position of the unloader 1003. As shown in FIG.

In FIG. 7, a power transmission path that transfers power from the engine 1018 to the crawler traveling device 1001 and the unloader 1003 is schematically illustrated. The first branch power from the engine 1018 is transmitted to the transmission 1010 that drives the crawler traveling device 1001. This transmission 1010 includes a hydraulic continuously variable transmission (hereinafter abbreviated as HST) 1011 as a continuously variable transmission. The inclination plate angle of the HST 1011 is adjusted using, for example, the electric motor 1011a, so that the drive speed of the crawler traveling device 1001, that is, the vehicle speed, is changed. In order to detect this inclination plate angle, the inclination plate angle sensor 1044 is provided. The vehicle speed can be calculated from the axle rotation speed of the crawler traveling device 1001, and an axle rotation speed sensor 1043 is provided to detect the axle rotation speed. The vehicle speed can also be calculated from the inclination plate angle of the HST 1011 detected by the inclination plate angle sensor 1044.

In Fig. 7, a functional block for driving control based on the attitude of the unloader 1003 is shown. Various signals are input to the control unit 1005 through the input signal processing unit 1061. The control unit 1005 controls the operating device by sending various control signals through the device control unit 1062. The signal from the posture detection switch 1039, the travel operation tool 1041, and the operation operation tool 1042 is input to the input signal processing unit 1061. In addition, detection signals from the axle rotation speed sensor 1043 and the inclined plate angle sensor 1044 are also input to the input signal processing unit 1061.

The traveling operation tool 1041 is a generic term for a device used by a driver to operate the traveling device 1001, and includes a shift lever, a steering lever, an accelerator lever, and the like. The travel operation tool 1041 outputs a behavior request to the traveling device 1001 based on the driver's operation. The behavior of the traveling apparatus 1001 is realized by adjusting the drive speeds of the crawlers on the left and right that constitute the traveling apparatus 1001. The traveling operation tool 1041 may be a multifunction lever having a complex function, one or more single function levers, or a combination thereof. The work operation tool 1042 is a generic term for a device operated by a driver to operate a work device such as a harvesting unit 1012, a threshing apparatus 1015, an unloader 1003, and a harvesting clutch lever or threshing clutch lever or discharge. Clutch levers and unloader attitude change switches are included. The work operation tool 1042 may also be a multifunctional lever having a complex function, one or more single function levers, or a combination thereof.

The engine control unit 1063 adjusts the amount of fuel supplied to the engine 1018, etc., based on the command from the control unit 1005, and drives the engine 1018 at a predetermined engine speed or a predetermined torque.

The control unit 1005 includes a travel control unit 1051, a travel control mode management unit 1052, a job control unit 1053, a posture detection unit 1054, and an engine speed command unit 1055. The traveling control unit 1051 outputs a control signal for adjusting the inclination plate angle of the HST 1011 through the device control unit 1062 in order to control the driving of the traveling device 1001. By this control signal, the vehicle speed is adjusted and steering in the left and right directions (turning in the left and right directions) is performed.

The travel control mode management unit 1052 manages a travel control mode used when the travel control unit 1051 controls the behavior (acceleration, deceleration, left turn, priority turn, etc.) of the travel device 1001. The travel control mode includes a first travel control mode and a second travel control mode. In the first travel control mode, proper acceleration and deceleration are performed in normal travel. In order for this first travel control mode to be selected, the various devices constituting the combine are in a normal state, in particular, the unloader 1003 is in a storage position, and the transverse screw conveyor 1033 is held by the holding device 1038. It is a prerequisite to be held. When the unloader 1003 is out of the storing position and the transverse screw conveyor 1033 protrudes in the lateral direction, when the vehicle body accelerates, a large moment is applied to the paper conveying screw conveyor 1032, and the paper conveying screw conveyor A large load (inertial load) is generated at the lower portion of the 1032 (the period portion of the unloader 1003). Therefore, when the vehicle speed request for changing the vehicle speed based on the operation of the traveling operating tool 1041 is generated while the unloader 1003 is out of the storing position, the inertia load on the unloader 1003 controls the first travel. The second travel control mode which is smaller than the mode is used. In addition, in order to reduce the inertial load on the unloader 1003 deviating from the storage posture, the vehicle speed is lower. Further, in order to reduce the inertial load on the unloader 1003 deviating from the storing posture, the turning radius is preferably larger.

In this regard, in this embodiment, in the second travel control mode, (1) the control signal obtained by using the low speed mode table for which acceleration is lower than that of the first travel control mode, (2) the first travel control. Compared to the mode, i.e. under conditions that limit the upper limit (e.g. 3 km / h) with a lower value than the vehicle speed normally used in harvesting operations (typically harvesting speed, e.g. 5 km / h). In this case, the traveling device is driven. Of course, you may employ | adopt the structure applied only in (1) or only (2) in a 2nd running control mode. Regarding the setting of the upper limit value, the inclined plate angle when the vehicle speed is 3 km / h may be stored, and the inclined plate angle may be used as the upper limit value.

In the case where the HST 1011 is used, one of the specific examples of the low speed mode table for limiting the acceleration is to use a table in which the responsiveness of the HST inclination plate control is reduced. By lowering this responsiveness, even if rapid acceleration is commanded, the rapid acceleration is prevented as a result because of the response delay. At that time, a problem arises in that the braking distance is extended when a response delay occurs with respect to the deceleration command, so that the responsiveness is set to be performed only for acceleration.

In this combine mode, as the turning mode, a small turning mode with a small turning radius, a large turning mode with a large turning radius, and a heavy turning mode for generating a turning radius between the turning radius in the small turning mode and the turning radius in the large turning mode are provided. I am ready. By using this, when the turning request is output as the behavior request using the traveling operation tool 1041 in the state where the unloader 1003 is out of the storing position, the large turning mode is selected. That is, the large swing mode is set as the swing mode in the second travel control mode. Specifically, when the unloader 1003 is out of the storage attitude, the swing mode is set to the large swing mode. In the setting of the large turning mode, the large turning mode is canceled when the unloader 1003 returns to the storing position. When the small swing mode is set as the swing mode in the first travel control mode, the large swing mode or the medium swing mode may be selected as the swing mode in the second travel control mode. When the medium swing mode is set as the swing mode in the first travel control mode, the large swing mode or the medium swing mode may be selected as the swing mode in the second travel control mode. Of course, when the large swing mode is set as the swing mode in the first travel control mode, the large swing mode is selected as the swing mode in the second travel control mode.

When the second travel control mode is selected, limited travel differs from normal travel. Therefore, it is preferable to notify the effect by using a notification device such as a buzzer or a lamp. In addition, traveling in the state where the unloader 1003 is out of the storage posture is required to be avoided as much as possible or to run with caution, and at that time, it is preferable to warn the driving stop via the notification device. Since the vehicle body decelerates and stops when the main gear lever (a kind of traveling operating tool 1041) becomes neutral, the speed and acceleration limitations, the limit of small swings, and the warnings accompanying the traveling control may be released once.

The job control unit 1053 generates a control command to work devices such as the harvesting unit 1012, the threshing device 1015, the unloader 1003, and the like based on the command from the work operation tool 1042. Output to the working apparatus via the unit 1062. The posture detection unit 1054 is a posture of the unloader 1003, in particular, whether the transverse screw conveyor 1033 is held by the holding device 1038, that is, the unloader 1003 is a storage posture. Detection is performed based on the signal from the detection switch 1039. The posture detection unit 1054 can also detect whether the unloader 1003 is out of the storage posture or whether it is a discharge posture in which the grain can be discharged. The detection result by the posture detection unit 1054 is used by the job control unit 1053 and the travel control mode management unit 1052.

The acceleration and the vehicle speed in the control unit 1005 can be calculated according to the rotation speed of the axle in the traveling device 1001 and the inclination plate angle of the HST 1011. The rotation speed of the axle is calculated based on the detection signal of the axle rotation speed sensor 1043, and the inclination plate angle of the HST 1011 is calculated based on the detection signal of the inclination plate angle sensor 1044. When the second travel control mode is set and the upper limit value of the drive speed of the travel device 1001 is set, the travel control unit 1051 does not exceed the upper limit value of the number of revolutions of the axle or the inclination plate angle of the HST 1011 calculated. Control the traveling device 1001 to prevent.

The engine speed command unit 1055 gives the engine control unit 1063 based on a set value by an engine speed setting tool such as an accelerator lever, an engine speed request value generated by the travel control unit 1051, and the like. Generate an engine speed command.

Next, with reference to FIG. 8, the basic concept of travel control regulated according to the attitude | position of an unloader is demonstrated. In addition, the flowchart shown in FIG. 8 is for demonstrating a basic concept, and in actual control, various control flows can be employ | adopted as long as this basic concept is satisfied. In the control of the traveling device 1001 (traveling device control routine), travel control according to two travel control modes set by the travel control mode routine is performed.

In the travel control mode setting routine, the attitude detection unit 1054 checks whether the unloader 1003 is in a storage attitude or a non-storage attitude away from the storage attitude (# 1001). If the attitude of the unloader 1003 is a storage attitude, the first travel control mode which is normal travel control is set as the travel control mode (# 1002). If the attitude of the unloader 1003 is a non-storing attitude, a second travel control mode in which the inertial load applied to the unloader 1003 is smaller than the first travel control mode is set (# 1003).

In the travel control routine, first, it is checked whether the travel operation tool 1041 is operated (# 1011). It waits until it is operated (it branches to # 1011 No), and acquires the operation amount (# 1012) from the time of operation (# 1011 example branching). From the acquired operation amount, the traveling behavior of the traveling apparatus 1001 requested according to the operation of the traveling operation tool 1041 is calculated (# 1013). Subsequently, it is checked whether the calculated driving behavior is "deceleration", "acceleration", or "turning" (# 1014).

If the calculated travel behavior is "deceleration" (# 1020), the shift control amount in the normal shift mode (first travel control mode) is calculated (# 1021).

If the calculated travel behavior is "acceleration" (# 1030), it is checked what is the travel control mode set in the travel control mode setting routine (# 1031). If the set travel control mode is the first travel control mode, the shift control amount is calculated using the table prepared for the normal shift mode (# 1032). If the set travel control mode is the second travel control mode, the shift control amount is calculated using the table prepared for the low speed mode (# 1033).

If the calculated driving behavior is " turning " (including left turning and priority turning) (# 1040), here, also, what is the traveling control mode set in the traveling control mode setting routine is checked (# 1041). If the set travel control mode is the first travel control mode, the shift control amount is calculated using the table prepared for the small swing mode (# 1042). If the set travel control mode is the second travel control mode, the shift control amount is calculated using the table prepared for the large turning mode (# 1043). In addition, when the large turning mode is selected as the turning mode in advance, the table for the large turning mode is used even in the first travel control mode.

As shown in Fig. 8, even when the driving behavior required is acceleration or turning, when the second travel control mode is set, the traveling device 1001 is driven by the calculated control amount (shift control amount, turning control amount). In this case, it is determined whether or not the upper limit vehicle speed is exceeded (# 1051). When the upper limit vehicle speed is exceeded (branch as an example of # 1051), the calculated control amount is corrected to a control amount that does not exceed the upper limit vehicle speed (# 1052).

The calculated control amount or modified control amount is given to the device control unit 1062 (# 1061), and the traveling device 1001 is driven based on this control amount (# 1062).

Regarding the determination of exceeding the upper limit vehicle speed, if the method of calculating the vehicle speed from the inclination plate angle is adopted, it is possible to determine before actually executing the travel control with the calculated control amount. However, if the method of calculating the vehicle speed from the axle rotation speed is adopted, the axle rotation speed does not exceed the rotation speed corresponding to the upper limit vehicle speed by feedback control while actually driving the traveling device 1001 with the calculated control amount. Odometer is controlled.

[Other Embodiments]

(1) Although the crawler traveling device was used as the traveling device 1001 in the above embodiment, a wheeled traveling device may be employed.

(2) In the said embodiment, the unloader 1003 was comprised with the paper conveying screw conveyor 1032 and the lateral conveying screw conveyor 1033. As shown in FIG. Instead of this, the transverse screw conveyor 1033 may be omitted, and the unloader 1003 which provided the discharge port 1034 at the tip of the paper-feed screw conveyor 1032 to tilt may be employ | adopted.

(3) In the above embodiment, it was two-selection control that a different travel control mode is used when the unloader 1003 is in a storage posture and a posture other than that, but the outside of the unloader 1003 from the storage posture. A plurality of travel control modes may be set according to the degree of protrusion to the. At that time, the larger the protruding degree is, the larger the limit value of the acceleration and the vehicle speed is, so that the inertial load applied to the period of the unloader 1003 can be suppressed to a predetermined value or less.

(4) In the said embodiment, the storage attitude | position of the unloader 1003 was detected by the attitude | position detection switch 1039 detecting that the horizontal conveying screw conveyor 1033 is accommodated in the holding apparatus 1038. Instead of this, the transverse screw conveyor 1033 holds the holding device based on signals from an angle sensor which detects the swing angle around the horizontal axis center P1001 of the transverse screw conveyor 1033 and the rotation angle around the longitudinal axis center P1002. You may make it detect the thing stored in 1038 (the storage attitude | position of the unloader 1003).

(5) In the traveling device control shown in FIG. 8, acceleration limiting, speed limiting, and turning radius limiting have been performed in the second travel control mode. However, all of these controls need not be performed, and at least one of them may be performed. do.

[Basic structure of combine]

Moreover, the form for implementing this invention is demonstrated based on drawing. In addition, in the following description, the direction of arrow "2000F" shown in FIG. 9 is a gas front direction, and the direction of arrow "2000B" is a gas rear direction. In addition, the front direction of the paper of FIG. 9 is the left side of the body, and the inner surface of the paper of FIG.

In FIG. 9, a self-deleting combine is shown. The combine is provided with a base frame 2001 and a pair of right and left crawler traveling apparatuses 2002 and 2002 which frequently support the traveling body. The harvesting | reaping part 2003 is provided in the front part of the base frame 2001 so that a lifting and lowering is possible, and the harvesting | reaping part 2003 picks up the grain stem of a package, and conveys it to the back of a base body. A driving cabin 2004 is provided behind the harvesting section 2003.

The engine 2005 is provided below the driving cabin 2004. The pair of right and left crawler traveling apparatuses 2002 and 2002 are traveling apparatuses driven by the power of the engine 2005. The mission case 2006 is provided between the right and left pair of crawler traveling devices 2002, and the rotational power of the engine 2005 is transmitted to the mission case 2006. The mission case 2006 is equipped with a driving HST 2006A (HST: Hydrostatic Transmission). The rotational power transmitted to the mission case 2006 is shifted by the driving HST 2006A, and is transmitted to the left and right pair of crawler traveling devices 2002 and 2002 through the left and right pair of axles 2002a. The variable inclination plate 2006b is provided in the drive HST 2006A, and the reduction angle in the drive HST 2006A is changed by changing the inclination angle of the variable inclination plate 2006b.

In addition, a pair of left and right side clutches 2002C and 2002C (see FIGS. 14 and 15) is provided between the driving HST 2006A and the crawler traveling devices 2002 and 2002. The side clutch 2002C is a transmission state that transmits power output from the drive HST 2006A to the crawler travel device 2002, and a ratio that does not transmit power output from the drive HST 2006A to the crawler travel device 2002. FIG. It is configured to switch to the delivery state. When one side of the side clutches 2002C and 2002C is in a transmission state, and the other side of the side clutches 2002C and 2002C is in a non-delivery state, only one side of the left and right crawler traveling devices 2002 and 2002 operates, The aircraft is turning.

Behind the driving cabin 2004, the threshing apparatus 2007 which threshes harvesting grain stems, and the grain tank 2008 which store a grain are provided in the state adjacent to the gas left-right direction. The feed chain 2009 is provided in the left side of the threshing apparatus 2007, and the feed chain 2009 conveys the harvesting grain stem to the threshing apparatus 2007. FIG. The threshing apparatus 2007 threshes the harvested grain stem by the barrel 2010, and sorts threshing processed material by the sorting part 2011. As shown in FIG. The grain sorted by the sorting unit 2011 is conveyed to the grain tank 2008. The grain tank 2008 is provided with an unloader 2012 for discharging the grains in the grain tank 2008.

The rotational power of the engine 2005 is branched into a transmission path for the crawler traveling device 2002, a transmission path for the harvesting unit 2003, and a transmission path for the barrel 2010 or the selection unit 2011.

As shown in FIG. 9, a plurality of (for example, six) standing apparatuses 2013, a barrican harvesting apparatus 2014, a conveying apparatus 2015, and a supply are provided to the harvesting unit 2003. The conveying apparatus 2016 is provided. The standing apparatus 2013 raises and sets up the packaging grain stem of a package. In a state of being raised by the standing device 2013, the root of the placing grain stem is cut by the harvesting device 2014. The harvesting grain stem cut | disconnected by the harvesting | reaping apparatus 2014 is conveyed back by the conveying apparatus 2015. The supply conveying apparatus 2016 supplies and conveys the harvesting grain stem from the conveying apparatus 2015 to the feed chain 2009. As shown in FIG. Such integral driving of the standing apparatus 2013, the harvesting apparatus 2014, the conveying apparatus 2015, and the supply conveying apparatus 2016 is called "sewing drive" hereafter.

The support structure of the harvesting | reaping part 2003 is demonstrated. The harvesting | reaping part 2003 is equipped with the harvesting input case 2017 of the gas left-right direction, and the harvesting main frame 2018 extended downward from the harvesting input case 2017. The mowing input case 2017 is supported by the body so as to be rotatable around the axis X2001. The cutting main frame 2018 and the cutting input case 2017 are integrally connected, and the cutting main frame 2018 is configured to be able to swing around the axis X2001. A hydraulic cylinder 2019 is provided over the mowing main frame 2018 and the gas frame 2001. The end part of the cutting main frame 2018 side among the hydraulic cylinders 2019 is connected to the cutting main frame 2018 so that disconnection is possible. As the hydraulic cylinder 2019 expands and contracts, the harvesting main frame 2018 and the harvesting input case 2017 are rocked integrally around the axis X2001, and the harvesting section 2003 moves up and down. Thereby, the harvesting | reaping part 2003 is comprised so that the cutting height H can be changed.

Thus, the harvesting | reaping part 2003 is supported so that up-and-down swinging around the axial center X2001 of a gas left-right direction is possible. By the power of the engine 2005, the harvesting drive of the harvesting | reaping part 2003 is performed, the mounting grain stem of a package is harvested and conveyed to the threshing apparatus 2007. As shown in FIG. The mowing drive of the mowing unit 2003 is linked with the driving of the crawler traveling devices 2002 and 2002 on the left and right. That is, when the right and left crawler traveling apparatuses 2002 and 2002 are in a traveling state, the mowing driving of the harvesting unit 2003 is performed, and when the right and left crawler traveling apparatuses 2002 and 2002 are stopped, the harvesting of the harvesting unit 2003 is stopped. The drive also stops.

As shown in FIG. 10, in the driving cabin 2004, the main gear lever 2051 as the first operating tool, the operation lever 2052, the accelerator adjustment operating tool 2053, and the second operating tool. A scraping pedal 2054 and a mowing shift switch 2055 are provided.

The operation lever 2052 is configured to control the lifting and lowering of the harvesting section 2003 by front and rear swing, and is configured to be able to swing the body by left and right swing. Although the operation lever 2052 is used for the lifting operation of the harvesting | reaping part 2003, and the swinging operation of a base | substrate, the operation lever 2052 may be the structure used only for the lifting operation of the harvesting | reaping part 2003, and may turn the base A separate lever may be provided for operation.

If the driver swings the operation lever 2052 to the lower control position D, the harvesting unit 2003 moves downward. If the driver swings the operation lever 2052 to the side of the rising control position U, the harvesting unit 2003 The rise operation. There is a neutral position N between the lowering control position D and the rising control position U, and the operation lever 2052 is pressed to be positioned at the neutral position N. FIG. Starting from the neutral position N, as the driver swings the operation lever 2052 to the side of the lowering control position D or the rising control position U, the lifting speed of the harvesting section 2003 becomes faster. That is, the driver adjusts the lifting speed of the harvesting | reaping part 2003 by adjusting the amount of rocking | fluctuation with respect to the neutral position N of the operation lever 2052. FIG.

The main gear lever 2051 is a lever capable of manipulating the drive HST 2006A, and is configured to be capable of oscillating over the forward position F for moving the vehicle speed forward and the backward position R for driving the body backward. The intermediate position of the swing range of the main gear lever 2051 is a neutral position N. For example, when the driver operates the main gear lever 2051 to the side of the forward position F, the inclination angle of the variable inclination plate 2006b is changed, Car speed is increased.

The accelerator adjustment operating tool 2053 is, for example, a lever or a volume switch. When the driver manually adjusts the accelerator adjustment operating tool 2053, the rotation speed of the engine 2005 is adjusted to an arbitrary value. In addition, the accelerator adjustment operation tool 2053 can also be configured to automatically adjust the rotational speed of the engine 2005. For example, when the accelerator adjustment operating tool 2053 is operated in a state where the scraping pedal 2054 is pushed in, the engine 2005 may be adjusted at a rotational speed necessary for mowing driving of the harvesting unit 2003. Do.

The scraping pedal 2054 is configured to enable mowing driving of the mowing section 2003 even when the left and right crawler traveling apparatuses 2002 and 2002 are stopped. The scraping pedal 2054 is provided near the driver's foot in the driving cabin 2004. The scraping pedal 2054 is pressed upward in the body, and the scraping pedal 2054 is operated by the driver's foot depression in the body downward direction. That is, based on the operation of the scraping pedal 2054 as the second operating tool, the scraping state driven by the harvesting section 2003 is exhibited while the crawler traveling devices 2002 and 2002 on the left and right sides as the traveling device are stopped.

[About scratching state]

As shown in FIG. 10, in this embodiment, the rotational power of the engine 2005 is applied to the mission case 2006 for traveling and the harvesting HST 2020 as a hydraulic continuously variable transmission for the harvesting | reaping part 2003. As shown in FIG. Are distributed as independent rotational power relative to each other. For this reason, the harvesting drive control unit 2031 is configured to set the speed of the harvesting drive of the harvesting unit 2003 irrespective of the vehicle speed at the time of harvesting travel of the combine. In addition, the broken arrow shown in FIG. 10 means transmission of the rotational power of the engine 2005. FIG.

The mowing HST 2020 shifts the rotational power of the engine 2005, and then applies the rotational power to each of the standing device 2013, the mowing device 2014, the conveying device 2015, and the supply conveying device 2016. To pass. The variable inclination plate 2020a is built in the harvesting HST 2020, and the inclination angle of the variable inclination plate 2020a is changed, so that the harvesting HST 2020 can be changed into a delivery state and a non-delivery state. The transmission state means a state that allows power transmission of the engine 2005 to the harvesting unit 2003, and the non-delivery state means a state of interrupting power transmission of the engine 2005 to the harvesting unit 2003. it means.

When the inclination angle of the variable inclined plate 2020a increases, the reduction ratio of the mowing HST 2020 decreases, and the output rotational speed of the mowing HST 2020 increases. In addition, when the inclination angle of the variable inclined plate 2020a decreases, the reduction ratio of the harvesting HST 2020 increases, and the output rotational speed of the harvesting HST 2020 decreases. When the inclination angle of the variable inclined plate 2020a becomes 0 degrees or approximately 0 degrees, the variable inclined plate 2020a becomes a neutral angle. In this state, the state of the mowing HST 2020 becomes a non-delivery state.

The variable inclined plate 2020a is configured to cooperate with the electric motor 2020M. Although not described in detail, the variable inclined plate 2020a and the electric motor 2020M are connected through a link mechanism such as a trunnion shaft (not shown) of the mowing HST 2020, and with the driving of the electric motor 2020M, The inclination angle of the variable inclined plate 2020a is changed.

The mowing HST 2020 corresponds to the clutch mechanism of the present invention, and the mowing HST 2020 receives the power from the engine 2005 based on the operation of the main gear lever 2051 as the first operating tool. ) And a non-delivery state in which power from the engine 2005 is not transmitted to the harvesting unit 2003.

The control device 2030 as shown in FIG. 10 is provided in a combine, and the control device 2030 is incorporated in the control system of a combine as a module of a microcomputer, for example. The control apparatus 2030 is equipped with the mowing drive control part 2031, the mowing lifting control part 2034, and the running control part 2035.

Various detection signals are input to the control device 2030. The detection signal of the main gear lever 2051, the detection signal of the scraping pedal 2054, and the detection signal of the mowing shift switch 2055 are input to the mowing drive control unit 2031. The harvesting drive control unit 2031 outputs a control command to the electric motor 2020M based on these detection signals. Then, the electric motor 2020M is driven based on the control instruction of the mowing drive control unit 2031, and the inclination angle of the variable inclined plate 2020a is changed in conjunction with the drive of the electric motor 2020M.

By the driver operating the main gear lever 2051, the mowing drive control unit 2031 outputs a control command to the electric motor 2020M, and the inclination angle of the variable inclined plate 2020a is changed. As the main gear lever 2051 swings to the side of the forward position F, the inclination angle of the variable inclined plate 2020a increases, and the output rotation speed of the mowing HST 2020 increases. Further, as the main gear lever 2051 swings to the side of the neutral position N, the inclination angle of the variable inclined plate 2020a becomes smaller, and the output rotational speed of the mowing HST 2020 is reduced. And when the main gear lever 2051 is located in the neutral position N, the mowing drive control part 2031 outputs a control command to the electric motor 2020M so that the inclination angle of the variable inclination plate 2020a may be in a neutral state. .

Since the vehicle speed increases as the main gear lever 2051 swings toward the forward position F, the output rotational speed of the mowing HST 2020 is linked with the vehicle speed. In addition, it is linked with the stop of the crawler traveling apparatus 2002, and the mowing drive of the mowing part 2003 is also stopped.

The mowing shift switch 2055 is a push button switch capable of manipulating the mowing HST 2020, and is provided in the holding portion of the main gear lever 2051. The mowing HST 2020 has two shift modes, a high speed mode and a standard mode, and the driver operates the pressing shift switch 2055 to switch the shift mode of the mowing HST 2020 to the high speed mode and the standard mode. In other words, each time the driver presses the mowing shift switch 2055, the shift mode of the mowing HST 2020 is alternately switched between the high speed mode and the standard mode. In the high speed mode, the inclination angle of the variable inclined plate 2020a is set larger than in the standard mode, so that the reduction ratio is smaller, and the output rotational speed of the mowing HST 2020 is increased and outputted more than in the standard mode. By this structure, the harvesting | reaping part 2003 can be driven and driven at high speed, and it becomes possible to efficiently harvest the planting grain stem collapsed in the packaging.

The mowing elevating control unit 2034 outputs a control command to the hydraulic cylinder 2019 to elevate the mowing part 2003 based on the rocking operation to the side of the lowering control position D or the raising control position U of the operation lever 2052. Operate. The swing angle of the main gear lever 2051 is output to the travel control unit 2035 as a control signal.

The travel control unit 2035 outputs a control command to the electric motor 6M to change the inclination angle of the variable inclined plate 2006b in the drive HST 2006A based on the control signal of the main gear lever 2051. do.

The mowing drive control unit 2031 is provided with an automatic switching control unit 2032 and a scraping control unit 2033. The cutting height H of the cutting unit 2003 is configured to be detectable by the cutting height sensor 2003p, and the cutting height H detected by the cutting height sensor 2003p is output to the automatic switching control unit 2032. In this embodiment, the cutting height sensor 2003p and the automatic switching control unit 2032 are provided as the automatic switching unit 2040.

As shown in timing t1 of FIG. 11, when the cutting height H of the harvesting unit 2003 rises above the set height H1, the control command is switched ON in the automatic switching control unit 2032, and the harvesting HST 2020 is turned on. Transition to non-delivery state. In addition, as shown in timing t4 of FIG. 11, when the cutting height H of the harvesting unit 2003 falls below the set height H1, the control command is switched to OFF in the automatic switching control unit 2032, and the harvesting HST 2020. ) Is transferred to the delivery state. In other words, when the cutting height H of the cutting unit 2003 is changed from less than the setting height H1 to the setting height H1 or more, the automatic switching control unit 2032 is configured to change the harvesting HST 2020 to a non-delivery state. have. When the harvesting height H of the harvesting | reaping part 2003 becomes more than setting height H1, the automatic switching control part 2032 outputs a control command to the electric motor 2020M so that the inclination-angle of the variable inclination board 2020a may become a neutral angle. The electric motor 2020M is driven based on the control command of the automatic switching control unit 2032, and the inclination angle of the variable inclined plate 2020a becomes a neutral angle in conjunction with the drive of the electric motor 2020M. As a result, the harvesting HST 2020 is switched to the non-delivery state. And while the cutting height H is more than setting height H1, the automatic switching control part 2032 continues the output of a change operation so that the non-delivery state of the harvesting HST 2020 may be maintained.

In addition, when the cutting height H of the harvesting | reaping part 2003 changes from the setting height H1 or more to less than the setting height H1, the automatic switching control part 2032 will give a control instruction to the electric motor 2020M so that the harvesting HST 2020 may be in a transmission state. Outputs And the inclination angle of the variable inclination plate 2020a is changed from the neutral angle, and the harvesting HST 2020 is in a transmission state.

In this manner, the driver changes the mowing HST 2020 to the delivery state or the non-delivery state by the automatic switching control unit 2032 based on the mowing height H of the mowing unit 2003. Only by raising / lowering control, the on-off operation of the harvesting drive in the harvesting | reaping part 2003 becomes possible. That is, the automatic switching part 2040 changes the harvesting HST 2020 as a clutch mechanism to a non-delivery state, when the harvesting | reaping part 2003 raises more than predetermined height H1. Thereby, the problem that the harvesting | reaping part 2003 operates unnecessarily without mowing a grain-mounted grain culm in the state which the harvesting | reaping part 2003 raised is prevented.

Moreover, the automatic switching control part 2032 is comprised so that switching to the validity or invalidation is possible, for example by artificial operation of the operation tool provided in the operation cabin 2004. As shown in FIG. If the automatic switching control unit 2032 is valid, the automatic switching control unit 2032 outputs the control command as described above to the electric motor 2020M. If the automatic switching control unit 2032 is invalid, the automatic switching control unit 2032 The control command is not output to the electric motor 2020M.

In this embodiment, as the scraping-out part 2041, the scraping-out control part 2033, the scraping pedal 2054, and the potentiometer 2054p are provided. The scraping pedal 2054 is pressurized upward, and when the driver presses the scraping pedal 2054 downward with the foot, the scraping pedal 2054 is turned on. The degree of the on operation of the scraping pedal 2054 is configured to be detectable by the potentiometer 2054p. The detection value of the potentiometer 2054p is output to the scraping-out control part 2033. The scraping control unit 2033 calculates a target inclination angle of the variable inclined plate 2020a based on the detection degree of the potentiometer 2054p, and gives a control command to the electric motor 2020M based on the target inclination angle. Output The electric motor 2020M is driven based on the control command of the scraping control unit 2033, and the inclination angle of the variable inclined plate 2020a is changed to the target inclination angle in conjunction with the driving of the electric motor 2020M.

The scraping control unit 2033 is based on the detection of the potentiometer 2054p, that is, the on operation of the scraping pedal 2054, even when the combine crawler traveling devices 2002 and 2002 stop. It is comprised so that the inclination plate of the harvesting HST 2020 can be operated through 2020M. In this regard, even when the gas stops, for example, the mowing drive of the harvesting unit 2003 becomes possible, and the harvesting grain stems left in the standing apparatus 2013 are conveyed to the threshing apparatus 2007. This prevents the possibility that the harvesting grain stems left in the standing device 2013 or the like fall on the package when the gas moves backward or swings at the head of the package. That is, the scraping portion 2041 is based on the operation of the scraping pedal 2054 as the second operating tool, and the scraping portion 2003 is driven while the crawler traveling devices 2002 and 2002 as the traveling device stop. Manifest status.

The scraping-out control part 2033 is set as the structure which can operate the mowing HST 2020 in a delivery state, prior to the change operation of the automatic switching control part 2032. As shown in timing t2 of FIG. 11, when the scraping pedal 2054 is turned on, even if the cutting height H of the harvesting unit 2003 is equal to or higher than the set height H1, the control command of the automatic switching control unit 2032 is related. Without changing, the cutting height H of the harvesting | reaping part 2003 is the setting height H1 or more, and the harvesting HST 2020 is changed to a delivery state. That is, the scraping part 2041 forcibly changes the mowing HST 2020 to the delivery state when the mowing HST 2020 serving as the clutch mechanism is in the non-delivery state by the automatic switching part 2040. Therefore, in the state where the aircraft is stopped, the driver merely presses the scraping pedal 2054 without performing the lowering operation of the harvesting unit 2003, and the harvesting grain culm left in the standing device 2013 or the like is a threshing device 2007. Is returned.

When the scraping of the harvesting grain stem is finished, the driver only stops the stepping operation of the scraping pedal 2054, and the scraping pedal 2054 swings upward, and the scraping pedal 2054 is turned off. As shown in timing t3 of FIG. 11, the scraping pedal 2054 is turned off while the cutting height H of the cutting unit 2003 is equal to or higher than the set height H1, and the control command of the automatic switching control unit 2032 continues. By operating, the harvesting HST 2020 is switched to the non-delivery state. That is, if the harvesting height H of the harvesting | reaping part 2003 continues in the state more than setting height H1, the electric motor 2020M drives to the non-delivery state side based on the control command of the automatic switching control part 2032, and the electric motor ( In conjunction with the driving of 2020M, the inclination angle of the variable inclination plate 2020a becomes a neutral angle. In this way, when the operation of the scraping pedal 2054 as the second operating tool is released, if the harvesting unit 2003 is raised above the set height H1, the harvesting HST 2020 as the clutch mechanism is automatically switched to 2040. ) Is transferred to the non-delivery state.

[Elevation regulation of harvesting department at the time of engine start]

As described above, the operation lever 2052 (see FIG. 10) is pressed to be located at the neutral position N, and the operation lever 2052 is positioned to the side where the falling control position D or the rising control position U is positioned with the neutral position N as a starting point. ), The harvesting unit 2003 is lifted and controlled. However, even when the operation lever 2052 is pressurized to be positioned at the neutral position N, there is a concern that the swing base end portion may not be completely returned to the neutral position N after the operation lever 2052 is swung due to factors such as rusty. In this state, when the engine 2005 is stopped and the engine 2005 is started at the next use, the position of the operation lever 2052 is positioned from the neutral position N to the side where the falling control position D or the rising control position U is located. Due to the shift, the harvesting section 2003 may suddenly move up or down. In this way, in order to avoid the problem that the harvesting section 2003 operates without the driver's intention, the lift control control as shown in FIG. 12 is executed at the start of the engine 2005.

Although the control process shown in FIG. 12 is performed by the harvesting drive control part 2031, the structure performed by other control systems other than the harvesting drive control part 2031 may be sufficient. First, immediately after starting the engine 2005, it is determined whether the swing position Np of the operation lever 2052 is within the allowable range of the neutral position N (step # 2001). Here, the swinging position Np of the operation lever 2052 means a range of front and rear swinging across the lowering control position D (see FIG. 10) and the rising control position U (see FIG. 10). In step # 2001, the code | symbol Nd is a tolerance of the side where the fall control position D is located among the permissible ranges of the neutral position N. In FIG. The code Nu is the allowable limit on the side where the lift control position U is located among the allowable ranges of the neutral position N. The neutral position N is located between the code | symbol Nd and the code Nu, and the determination of step # 2001 is repeated repeatedly until it is determined that the swing position Np exists in the permissible range of the neutral position N. FIG. As described above, the determination processing of step # 2001 is continued from the start of the engine 2005, so that the lifting control of the harvesting unit 2003 is executed. During this time, even if the driver swings the operation lever 2052 toward the lowering control position D or the rising control position U, the lifting control of the harvesting unit 2003 is not executed, and the harvesting unit 2003 starts the engine 2005. The position is held at the cutting height H of the city.

If it is determined that the swing position Np of the operation lever 2052 is within the allowable range of the neutral position N (step # 2001: YES), the lift restriction of the harvesting unit 2003 is released, and the normal operation of the operation lever 2052 is performed. On the basis of this, the harvesting unit 2003 is lifted and controlled. That is, it is determined whether the operation lever 2052 has rocked to the side of the falling control position D or the rising control position U (step # 2002, step # 2003). Then, when the operation lever 2052 is rocked to the side of the lowering control position D (step # 2002: YES), the harvesting unit 2003 is lowered and controlled (step # 2004), and the operating lever 2052 is moved to the rising control position U. If it swings to the side (step # 2003: YES), the harvesting unit 2003 is lowered and controlled (step # 2005).

[Control of Engine Rotational Speed at Engine Start]

The rotation speed Rs of the engine 2005 is comprised so that adjustment is possible by the accelerator adjustment operation tool 2053 (refer FIG. 10) provided in the driving cabin 2004. As shown in FIG. The accelerator adjustment operation tool 2053 can be comprised by a lever and a volume switch, for example, and the rotation speed Rs of the engine 2005 is adjusted by the driver adjusting the accelerator adjustment operation tool 2053. The accelerator adjustment operating tool 2053 can be operated even while the engine is stopped. However, when the engine 2005 starts from the stop state in the state where the accelerator adjustment operating tool 2053 is set to the upper limit value, since the rotational speed Rs of the engine 2005 increases to the upper limit at one time, the engine 2005 starts up at the start time. There is a fear of loud noises that may cause discomfort to the driver. In order to avoid such a problem, the control apparatus 2030 performs adjustment control of the rotation speed Rs as shown in FIG. 13 with respect to the engine 2005. As shown in FIG.

In Fig. 13, the relationship between the elapsed time from the start of the engine 2005 and the rotational speed Rs is shown as a graph. The starting rotational speed Ri is the minimum rotational speed Rs necessary for maintaining the idling state of the engine 2005. The target rotational speed Rm is an arbitrary rotational speed Rs set by the accelerator adjustment operation tool 2053 and is set higher than the starting rotational speed Ri.

First, from the start of the engine 2005 until the rotational speed Rs of the engine 2005 reaches the starting rotational speed Ri, that is, until the starting time Ti is reached, the adjustment control of the rotational speed Rs Not done. Then, after the rotational speed Rs of the engine 2005 reaches the start-up rotational speed Ri, the control device 2030 calculates the rotational speed change amount Rv per unit time by the following expression using the target arrival time Tm.

Rotational Speed Change Rv = (Rm-Ri) / (Tm-Ti)

That is, after the rotational speed Rs of the engine 2005 reaches the starting rotational speed Ri, the control device 2030 causes the engine 2005 to change the rotational speed Rs of the engine 2005 by the rotational speed change amount Rv per unit time. Increases the rotational speed Rs. The target arrival time Tm may be a configuration that is automatically calculated by the control device 2030 or may be a configuration that is artificially set. As shown in FIG. 13, the increase degree of the rotation speed Rs of the engine 2005 after reaching the starting rotation speed Ri is gentler than the increase degree of the rotation speed Rs of the engine 2005 before reaching the starting rotation speed Ri. It is supposed to be done. For this reason, the rotational speed Rs of the engine 2005 at the time of starting the engine 2005 rises slowly, and the quietness at the time of starting the engine 2005 becomes high.

[Other Embodiments]

This invention is not limited to the structure illustrated by embodiment mentioned above, Hereafter, another typical embodiment of this invention is illustrated.

(1) In addition to the above-mentioned embodiment, another example of the control structure of a combine is demonstrated based on FIG. 14 and FIG. The broken arrow shown in FIG. 14 means transmission of rotational power of the engine 2005. In the embodiment shown in FIG. 14, the rotational power of the engine 2005 is the rotational power to the crawler traveling device 2002 and the harvesting unit 2003 through the mission case 2006 having the driving HST 2006A. Is distributed with rotational power to. There is no transmission mechanism between the mission case 2006 and the crawler traveling device 2002, and there is no transmission mechanism between the mission case 2006 and the harvesting unit 2003. For this reason, the mowing drive speed of the mowing part 2003 is linked with the operation speed of the crawler traveling apparatus 2002, ie, the vehicle speed of the gas. When the driver shifts the main gear lever 2051, the inclination angle of the variable inclined plate 2006b of the drive HST 2006A is changed. In association with the change of the inclination angle of the variable inclined plate 2006b, the vehicle speed of the body and the mowing drive speed of the mowing section 2003 are changed.

Power from the mission case 2006 to the harvesting unit 2003 is transmitted through the belt mechanism 2025 as a clutch mechanism, and the belt mechanism 2025 is provided with a transmission belt 2026 and a belt tensioner 2027. . By the engagement or non-engagement engagement of the belt tensioner 2027 with respect to the transmission belt 2026, the belt mechanism 2025 is configured to be changeable to a delivery state and a non-delivery state. In the transmission state, the belt tensioner 2027 is engaged with the transmission belt 2026 to put the transmission belt 2026 in a tensioned state, whereby the transmission belt 2026 receives the rotational power from the mission case 2006 as a harvesting portion ( 2003). In the non-delivery state, the belt tensioner 2027 is spaced apart from the rotational region of the transmission belt 2026 and the transmission belt 2026 is in a relaxed state, whereby the transmission belt 2026 uses the rotational power from the mission case 2006 as an example. Means a state that can not be delivered to the mounting (2003).

In the embodiment shown in FIG. 14, the harvesting clutch lever 2056 as the first operating tool is provided inside the driving cabin 2004. The mowing clutch lever 2056 is a lever capable of manipulating the belt tensioner 2027. As the driver turns on the mowing clutch lever 2056, the belt mechanism 2025 is switched to the transmission state, and when the driver turns off the mowing clutch lever 2056, the belt mechanism 2025 is switched to the non-delivery state. . That is, the belt mechanism 2025 as the clutch mechanism, based on the operation of the harvesting clutch lever 2056 as the first operating tool, transmits power from the engine 2005 to the harvesting section 2003 and the engine ( 2005) is transferred to the non-delivery state, which does not transmit power from the harvesting unit 2003.

In the embodiment shown in FIG. 14, the interlocking cable 2028 is provided as the automatic switching unit 2040, and both ends of the interlocking cable 2028 are connected to the harvesting unit 2003 and the belt tensioner 2027. Although not described in detail, when the mowing clutch lever 2056 is operated on, the interlocking cable 2028 is brought into a tensioned state, and the belt tensioner 2027 is held on the rotational region side of the transmission belt 2026. That is, when the interlocking cable 2028 tensions the belt tensioner 2027, the belt mechanism 2025 is brought into a delivered state.

The interlocking cable 2028 is associated with the lifting operation of the harvesting unit 2003, and when the cutting height H of the harvesting unit 2003 is equal to or higher than the set height H1, the interlocking cable 2028 is switched to a relaxed state, and the interlocking cable ( 2028 will not be able to retain the delivery state of the belt tensioner 2027. For this reason, the belt tensioner 2027 is spaced apart from the rotational region of the belt, and the belt mechanism 2025 is brought into a non-delivery state.

As shown in the timing t1 of FIG. 15, when the cutting height H of the harvesting unit 2003 rises above the set height H1, the interlocking cable 2028 is switched to the relaxed state, and the belt mechanism 2025 is in a non-delivery state. Is switched to. In this way, the interlocking cable 2028 as the automatic switching unit 2040 changes the belt mechanism 2025 as the clutch mechanism to the non-delivery state when the harvesting section 2003 rises above the predetermined set height H1. In addition, as shown in timing t4 of FIG. 15, when the cutting height H of the harvesting | lowering part 2003 falls below the set height H1, the interlocking cable 2028 will switch to a tension state, and the belt mechanism 2025 will be transmitted. The state is switched.

The automatic switching unit 2040 is configured to be able to be switched to be valid or invalid by, for example, manipulating an operating tool provided in the driving cabin 2004. As a result, for example, the interlocking cable 2028 may be in a state in which the belt tensioner 2027 is always tensioned in accordance with an artificial manipulation of the operating tool. In this state, the automatic switching unit 2040 is switched to invalid. By this structure, the transmission state of the belt mechanism 2025 is hold | maintained regardless of the harvesting height H of the harvesting | reaping part 2003. FIG.

The belt tensioner 2027 is configured to be operable by the scraping pedal 2054 provided in the driving cabin 2004. In the driving cabin 2004, the scraping pedal 2054 is provided in the vicinity of the driver's foot. The belt tensioner 2027 is provided with an electric motor 2027M and the like independent of the interlocking cable 2028.

In the embodiment shown in FIG. 14, the control device 2030 includes a mowing drive control unit 2031, a mowing lifting control unit 2034, and a running control unit 2035. The scraping control unit 2033 is provided in the mowing driving control unit 2031, and the detection signal of the scraping pedal 2054 is input to the scraping control unit 2033. The structures of the mowing and hoisting control unit 2034 and the traveling control unit 2035 are the same as those of the embodiment described above with reference to FIG. 10.

In the embodiment shown in FIG. 14, the scraping control unit 2033 and the scraping pedal 2054 are provided as the scraping unit 2041. The scraping pedal 2054 is pressed upward in the body, and the driver turns on the scraping pedal 2054 with the foot in the body downward direction, and the on operation is performed, and a signal of the on operation is output to the scraping control unit 2033. In addition, when the scraping pedal 2054 is depressed, both of the side clutches 2002C and 2002C are switched to the non-delivery state, and rotational power of the engine 2005 is not transmitted to the crawler traveling device 2002. The scraping control unit 2033 outputs a control command to the electric motor 2027M based on the signal of the on operation. And the electric motor 2027M etc. which were provided in the belt tensioner 2027 drive based on the ON operation of the scraping pedal 2054.

Even when the interlocking cable 2028 is in a relaxed state in which the cutting height H of the cutting unit 2003 is equal to or higher than the set height H1, the transmission state of the belt tensioner 2027 cannot be held. In conjunction with the driving of the belt tensioner 2027, the belt tensioner 2027 is operated to the delivery state side. That is, when the scraping pedal 2054 is turned on by the artificial operation, the electric motor 2027M acts on the belt tensioner 2027, and the belt tensioner 2027 is switched to the transmission state.

When the gas is stopped in the pavement or the like of the pavement, since the rotational power of the engine 2005 is not transmitted to the crawler traveling device 2002 by the driving HST 2006A, the harvesting unit 2003 is also stopped in association. In this state, when the driver scrapes the harvesting grain stem left in the standing apparatus 2013 or the like with the threshing apparatus 2007, the driver presses the scraping pedal 2054 to deliver both sides of the side clutches 2002C and 2002C. Switch to the state. Then, the main gear lever 2051 is oscillated to the side of the forward position F, the variable inclined plate 2006b of the drive HST 2006A is inclined, and the drive HST 2006A is switched to the transmission state. At this time, since the side clutches 2002C and 2002C are in a non-delivery state, the rotational power of the engine 2005 is not transmitted to the crawler traveling device 2002. In addition, the depression of the scraping pedal 2054 causes the belt mechanism 2025 to switch to the delivery state. In this regard, the rotational power of the engine 2005 is transmitted from the drive HST 2006A to the harvesting unit 2003, and the harvesting grain stem left in the standing apparatus 2013 or the like is the conveying device 2015 or the supply conveying device 2016. The fitting support is conveyed by the threshing apparatus 2007 by this. That is, the scraping part 2041 is based on the operation of the scraping pedal 2054 as a 2nd operation tool, and the scraping | driving state which the mowing part 2003 drives is made while the crawler traveling apparatus 2002 as a traveling device stops. Squeeze out

As shown in the timing t2 of FIG. 15, when the scraping pedal 2054 is turned on, even if the cutting height H of the harvesting | reaping part 2003 is more than set height H1, and even if the interlocking cable 2028 is a relaxed state, a belt The tensioner 2027 is switched to the transmission state, and both side clutches 2002C and 2002C are switched to the non-delivery state. That is, the scraping part 2041 forcibly pushes the belt mechanism 2025 when the belt mechanism 2025 as the clutch mechanism is in a non-delivery state by the interlocking cable 2028 as the automatic switching unit 2040. Change to the delivery state. For this reason, even if the cutting height H of the harvesting | reaping part 2003 is more than the set height H1 in the state in which a gas was stopped, the driver only presses in the scraping pedal 2054 without performing the lowering operation of the harvesting | reaping part 2003. FIG. As a result, the harvesting grain stem left in the standing apparatus 2013 or the like is scraped into the threshing apparatus 2007.

When the scraping of the harvesting grain stem is finished, the driver operates the main gear lever 2051 to the neutral position N, and stops the stepping operation of the scraping pedal 2054. The driver only stops the stepping operation of the scraping pedal 2054, and the scraping pedal 2054 swings upward, and the scraping pedal 2054 is turned off. Since the scraping pedal 2054 is off-operated, the harvesting drive control unit 2031 outputs a control command to the electric motor 2027M based on the signal of the off operation. The electric motor 2027M is driven based on the control instruction of the mowing drive control unit 2031, and the electric motor 2027M is not acted on the belt tensioner 2027. As shown in timing t3 of FIG. 15, when the interlocking cable 2028 is in a relaxed state in a state in which the cutting height H of the harvesting unit 2003 is equal to or higher than the set height H1, the scraping pedal 2054 is turned off to operate the belt tensioner. 2027 is not held in a delivered state. Then, the belt mechanism 2025 is switched to the non-delivery state. In addition, with the scraping pedal 2054 off operation, both of the side clutches 2002C and 2002C are switched to the transmission state. In this way, when the operation of the scraping pedal 2054 as the second operating tool is released, if the harvesting unit 2003 is raised above the set height H1, the belt mechanism 2025 as the clutch mechanism is automatically switched to 2040. ) Is transferred to the non-delivery state.

In addition, when the belt tensioner 2027 is provided with an electric motor 2027M independent of the interlocking cable 2028 and the scraping pedal 2054 is turned on, the control command from the scraping control unit 2033 to the electric motor 2027M is performed. Although this structure is output, it is not limited to embodiment mentioned above. For example, a linkage mechanism connected over the scraping pedal 2054 and the belt tensioner 2027 is provided, and when the scraping pedal 2054 is depressed, the belt tensioner 2027 is changed to a transmission state through the linkage mechanism. It may be a configuration.

(2) In the above-mentioned embodiment, although the scraping pedal 2054 is illustrated as a 2nd operation tool, the 2nd operation tool is not limited to the scraping pedal 2054. As shown in FIG. For example, the second operation tool may be a switch of manual operation provided in the operation lever 2052 or the mowing clutch lever 2056, or may be a switch provided in the front panel or the side panel inside the driving cabin 2004. .

(3) In the above-described embodiment, although the mowing HST 2020 and the belt mechanism 2025 have appeared as the clutch mechanism, the clutch mechanism is not limited to the mowing HST 2020 and the belt mechanism 2025. For example, an engagement clutch, a multiplate clutch, a centrifugal clutch, or the like may be used as the clutch mechanism.

(4) Although the crawler traveling apparatus 2002 is shown as a traveling apparatus in the above-mentioned embodiment, the structure which a wheel is used as a traveling apparatus may be sufficient.

(5) In the above-described embodiment, the driver is configured to release the operation of the second operating tool by stopping the stepping operation of the scraping pedal 2054 as the second operating tool. The release is not limited to that by artificial manipulation. For example, even after a driver stops the artificial manipulation of a 2nd operating tool, the operation state of a 2nd operating tool may continue over a fixed time with a timer, and the operation of a 2nd operating tool may be canceled after elapse of a fixed time.

(6) The harvesting shift switch 2055 in the above-described embodiment not only has a configuration for switching the shift mode of the harvesting HST 2020 to a high speed mode and a standard mode, but also switching the harvesting HST 2020 to a non-delivery state. You may be provided with the structure to make. For example, when the driver operates by pressing the mowing shift switch 2055, the mowing drive control unit 2031 outputs a control command to the electric motor 2020M, and the variable inclined plate 2020a is at a neutral angle, and the mowing HST is performed. 2020 may be configured to switch to a non-delivery state. In this case, the mowing shift switch 2055 may be configured as a first operating tool.

(7) In the above-described embodiment, when the main gear lever 2051 as the first operating tool is operated, the output rotational speed of the mowing HST 2020 is changed in conjunction with the vehicle speed, but the above-described embodiment It is not limited to. For example, the output rotation speed of the harvesting HST 2020 may be a structure which is not linked with a vehicle speed. Specifically, a structure in which the harvesting shift lever for changing only the output rotational speed of the harvesting HST 2020 may be provided as the first operating tool, apart from the main gear lever 2051, inside the driving cabin 2004. The mowing shift lever is a lever capable of manipulating the mowing HST 2020, and may be configured such that the inclination angle of the variable inclination plate 2020a is changed by the driver operating the mowing shift lever. In this case, the harvesting HST 2020 transfers power from the engine 2005 to the harvesting unit 2003 based on the operation of the harvesting shift lever as the first operating tool, and the power from the engine 2005. It is switched to the non-delivery state that does not deliver to the harvesting unit (2003).

The present invention can be applied to harvesters such as corn harvesters as well as ordinary combines, in addition to the self-deleting combines.

Further, the present invention can be applied to combines in which the scraping state driven by the harvesting unit is exhibited while the traveling device is stopped. For example, the present invention can also be applied to a combine-type combine where the span of the harvested grain is put into the threshing apparatus.

1: traveling device (crawler traveling device)
3: unloader
5: control unit
7: discharge clutch
16: grain tank
17: driving seat
18: engine
19: bottom screw
30: conveying mechanism
32: paper conveying screw conveyor
33: Lateral feed screw conveyor
42: work operation tool
43: rotation speed setting port
44: engine speed sensor
51: driving control unit
52: job control unit
53: unloader control unit
54: discharge clutch control unit
55 engine speed command
63: engine control unit
1001: traveling device (crawler traveling device)
1003: Unloader
1005: control unit
1010: Transmission
1016: grain tank
1019: bottom screw
1032: Paper Conveyor Screw Conveyor
1033 Transverse Screw Conveyor
1034 outlet
1036: Hydraulic Cylinder
1037 drive unit
1038: holding device
1039: attitude detection switch
1041: driving control tool
1043: axle rotation speed sensor
1044: Inclined Plate Angle Sensor
1051: driving control unit
1052: driving control mode management unit
1054: posture detection unit
2001: Gas frame (gas)
2002: crawler driving device (driving device)
2003: harvesting department
2003p: mowing height sensor (automatic switching unit)
2005: engine
2020 mowing HST (clutch mechanism)
2025: Belt mechanism (clutch mechanism)
2028: interlocking cable (automatic switching unit)
2032: automatic switching control unit (auto switching unit)
2033: scraping control part (scraping part)
2040: automatic switching unit
2041: scraping parts
2051: main gear lever (first operation tool)
2054: scraping pedal (second operation tool, scraping part)
2054p: potentiometer (scratching part)
2056: mowing clutch lever (first operation tool)
H1: set height

Claims (17)

A harvest tank for storing harvested crops;
An unloader having a conveying mechanism for discharging the harvest from the harvest tank to the outside of the gas using power from an engine;
A discharge clutch having an on position for driving the conveying mechanism and an off position for stopping the conveying mechanism;
An discharge clutch control unit that outputs an on operation signal for switching the discharge clutch to the on position based on a clutch on command, and outputs an off operation signal for switching the discharge clutch to the off position based on a clutch off command; ,
An engine control unit for adjusting the rotational speed of the engine to an idling rotational speed, a rated rotational speed, and a discharge rotational speed between the idling rotational speed and the rated rotational speed,
The discharge clutch control unit requests the engine control unit to adjust the discharge rotation speed based on the clutch on command, and outputs the on operation signal when the rotation speed of the engine reaches the discharge rotation speed. . The exhaust clutch control unit according to claim 1, wherein, when the engine speed of development is higher than the discharge speed, the discharge clutch control unit requests the engine control unit to adjust the discharge speed based on the clutch on command. And when the engine speed is lower than the discharge speed, stopping the request for adjustment of the discharge speed based on the clutch on command. With a traveling device,
A harvest tank for storing harvested crops;
An unloader capable of changing a posture between a discharge posture for discharging the harvest from the harvest tank to the outside of the gas, and a storage posture stored and held in the gas;
A posture detector for detecting a posture of the unloader;
A driving manipulation tool for outputting a behavior request for the traveling device based on a driver's operation;
A traveling control mode for controlling the behavior of the traveling device, the traveling control for managing a first traveling control mode and a second traveling control mode in which an inertial load applied to the unloader during driving is less than the first traveling control mode. Mode management unit,
When the posture detection section detects the storage posture, when the posture detection section detects other than the storage posture by controlling the traveling device based on the behavior request using the first travel control mode. And a traveling controller for controlling the traveling device based on the behavior request using the second travel control mode. The harvester according to claim 3, wherein when the vehicle speed request is output as the behavior request, the traveling control unit drives the traveling device at a lower acceleration than the first travel control mode in the second travel control mode. The harvester according to claim 3 or 4, wherein in the second travel control mode, an upper limit lower than a normal harvesting work speed is set as compared with a drive speed of the travel device. The harvester according to claim 5, wherein the upper limit value is set with respect to the axle rotation speed of the traveling device. The harvester according to claim 5, wherein a transmission for the traveling device includes a hydraulic continuously variable transmission, and the upper limit is set with respect to the inclination plate angle of the hydraulic continuously variable transmission. The traveling control unit according to claim 3 or 4, wherein when the turning request is output as the behavior request, the running control section has a turning radius equal to or more than the turning radius in the first traveling control mode in the second traveling control mode. Harvesting to drive the traveling device as much as possible. The said traveling control part has a some turning mode from which a turning radius differs,
The harvester according to the second travel control mode, wherein a turning mode having the largest turning radius is selected among the plurality of turning modes. Engine,
A traveling device driven by the power of the engine;
A harvesting unit which is supported by the body so as to be swingable up and down, driven by the power of the engine, and harvests and transports the grain stem of the package;
A clutch mechanism that is switched to a non-transmission state in which power from the engine is transmitted to the harvesting unit and a non-transmission state in which power from the engine is not transmitted to the harvesting unit based on the operation of the first operating tool;
An automatic switching unit for changing the clutch mechanism to the non-delivery state when the harvesting unit is raised above a predetermined set height;
On the basis of the operation of the second operating tool, a scraping portion is provided which exhibits a scraping state driven by the harvesting portion while the traveling device is stopped,
The scraping portion is a combine which forcibly changes the clutch mechanism to the transmission state when the clutch mechanism is in the non-transmitting state by the automatic switching unit. The combine of Claim 10 in which the said clutch mechanism switches to the said non-delivery state by the said automatic switching part, when the said harvesting | reaping part is raised above the said set height, when the operation of the said 2nd operating tool is released. The traveling apparatus according to claim 5, wherein when the turning request is output as the behavior request, the traveling control unit is configured such that the turning radius is equal to or larger than the turning radius in the first traveling control mode in the second traveling control mode. To drive the harvester. The traveling control apparatus according to claim 6, wherein when the turning request is output as the behavior request, the traveling control unit is configured such that the turning radius is equal to or larger than the turning radius in the first traveling control mode in the second traveling control mode. To drive the harvester. 8. The traveling apparatus according to claim 7, wherein when the turning request is output as the behavior request, the traveling control unit is configured such that the turning radius is equal to or larger than the turning radius in the first traveling control mode in the second traveling control mode. To drive the harvester. The traveling control unit according to claim 12, wherein the traveling control unit has a plurality of turning modes having different turning radii,
The harvester according to the second travel control mode, wherein a turning mode having the largest turning radius is selected among the plurality of turning modes. The said traveling control part has a some turning mode from which a turning radius differs,
The harvester according to the second travel control mode, wherein a turning mode having the largest turning radius is selected among the plurality of turning modes. The said traveling control part has a some turning mode from which a turning radius differs,
The harvester according to the second travel control mode, wherein a turning mode having the largest turning radius is selected among the plurality of turning modes.

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