JP2023096964A - combine - Google Patents

Abstract

To provide a combine capable of reducing a feeling of discomfort of an operator by increasing an actual travelling speed of a travelling device up to a set travelling speed set by a speed change lever.SOLUTION: A continuously variable transmission (20) for executing acceleration and deceleration of output rotation of an engine (E) and switching of rotation directions is disposed on the downstream side of a first transmission route (A) of the engine (E); a travelling device (2) and a reaping device (3) are disposed on the downstream of a transmission route of the continuously variable transmission (20); a thresher (4) is disposed on the downstream side of a second transmission route (B) of the engine (E); and a speed change lever (16) for operating the continuously variable transmission (20), and executing acceleration and deceleration of a set travelling speed (V) of the travelling device (2) is disposed on a side panel (15) of a steering part (5). When a speed difference (S) between the set travelling speed (V) of the travelling device (2) and the actual travelling speed (v) of the travelling device is greater than a predetermined speed difference (SA), and a controller (50) determines that the travelling is road travelling, drive means (42 and 43) for rotating a trunnion shaft (40) of the continuously variable transmission (20) is driven on the basis of the speed difference (S), and the travelling speed (v) is changed.SELECTED DRAWING: Figure 10

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a combine harvester equipped with a continuously variable transmission for increasing or decreasing the traveling speed of a traveling device.

2. Description of the Related Art In conventional combine harvesters, a technique is known in which a speed change lever is operated to increase or decrease the traveling speed of a traveling device according to the state of a field or grain culms. (See Patent Document 1)

JP-A-2000-203468

However, in the technique disclosed in Patent Document 1, when the shift lever is moved from the neutral position to the forward tilting position in order to increase the traveling speed of the traveling device, the crawler of the traveling device slips and the agricultural field, and a large load is applied to the engine. There is a possibility that the traveling speed may not be increased to the set traveling speed provided corresponding to the movement position of the shift lever due to a state such as being applied. In addition, it has been pointed out that this causes workers to feel a great deal of discomfort.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a combine harvester capable of increasing the actual traveling speed of a traveling device to a set traveling speed set by a shift lever, thereby alleviating the discomfort of the operator. .

The present invention, which has solved the above problems, is as follows.

That is, in the invention according to claim 1, a traveling device (2) is provided on the lower side of a body frame (1) on which an engine (E) is mounted, and a harvesting device (3) is provided on the front side of the body frame (1). , a combine harvester provided with a threshing device (4) on the rear left side of the harvesting device (3) and a manipulator (5) on the rear right side of the harvesting device (3),
A continuously variable transmission (20) for increasing/decreasing the output rotation of the engine (E) and switching the rotation direction is provided downstream of the first transmission path (A) of the engine (E), and the continuously variable transmission ( 20), a traveling device (2) and a reaper (3) are provided downstream of the transmission path of the engine (E), a threshing device (4) is provided downstream of the second transmission path (B) of the engine (E), and the manipulator The side panel (15) of (5) is provided with a speed change lever (16) for operating the continuously variable transmission (20) to increase or decrease the set traveling speed (V) of the traveling device (2). 2) The speed difference (S) between the set travel speed (V) and the actual travel speed (v) of the travel device is greater than the predetermined speed difference (SA), and the controller (50) determines that the vehicle is traveling on the road. driving means (42, 43) for rotating the trunnion shaft (40) of the continuously variable transmission (20) is driven based on the speed difference (S) to change the traveling speed (v). It is a combine harvester characterized in that it is configured to allow

According to the second aspect of the present invention, when the speed change lever (16) is moved from the neutral posture to the forward tilting posture, the set travel speed (V) is increased, and the set traveling speed (V) is moved from the front tilting posture to the neutral posture. When the set travel speed (V) is decelerated, the drive means (42, 43) is operated when the shift lever (16) has not moved from the neutral posture to the forward inclined posture by a predetermined amount or more. 2. The combine according to claim 1, wherein the is not driven.

In the third aspect of the invention, when the layer thickness (T) of the grains transferred on the swinging rack of the threshing device (4) is thicker than the predetermined layer thickness (TA), the driving means (42) , 43) are not driven.

According to a fourth aspect of the present invention, an angle sensor (16A) for measuring an inclination angle when the gearshift lever (16) is moved from a neutral posture to a forward inclined posture is provided at a base portion of the gearshift lever (16), The combine according to any one of claims 1 to 3, wherein the set travel speed (V) is linearly increased or decelerated in correspondence with the measured value (θ) of the angle sensor (16A).

In the invention according to claim 5, an angle sensor (16A) for measuring an inclination angle when the gearshift lever (16) is moved from a neutral posture to a front side inclined posture is provided at a base portion of the gearshift lever (16), When the set travel speed (V) is increased/decreased in a curve corresponding to the measured value (θ) of the angle sensor (16A), and the shift lever (16) at the set travel speed (V) is positioned in the forward inclined posture. 4. The combine according to any one of claims 1 to 3, wherein the increasing/decreasing speed of the shift lever (16) is larger than the increasing/decreasing speed when the shift lever (16) is in the neutral posture.

According to the sixth aspect of the present invention, when the shift lever (16) is moved from the neutral posture to the forward inclined posture, the set travel speed (V) is increased in a first step, and the shift lever (16) is ) is moved from the forward inclined posture to the neutral posture, the set running speed (V) is reduced in a second step, and the first step is set larger than the second step. A combine according to any one of claims 1 to 3.

According to the first aspect of the invention, a continuously variable transmission (20) for increasing/decreasing the output rotation of the engine (E) and switching the direction of rotation is provided on the downstream side of the first transmission path (A) of the engine (E). is provided, a traveling device (2) and a reaper (3) are provided downstream of the transmission path of the continuously variable transmission (20), and a threshing device ( 4) is provided, and a speed change lever (16) that operates a continuously variable transmission (20) on the side panel (15) of the control unit (5) to increase or decrease the set traveling speed (V) of the traveling device (2). is provided, and the speed difference (S) between the set travel speed (V) of the travel device (2) and the actual travel speed (V) of the travel device is greater than the predetermined speed difference (SA), and the controller (50) causes the road travel If it is determined that the speed difference (S) is the driving means (42, 43) for rotating the trunnion shaft (40) of the continuously variable transmission (20), the running speed ( v), the actual running speed (v) of the running device can be changed to the set running speed (V) set by the movement position of the shift lever (16). In addition, the operator's discomfort can be reduced, and stress during operation can be suppressed.

According to the invention of claim 2, in addition to the effect of the invention of claim 1, when the speed change lever (16) is moved from the neutral posture to the forward inclined posture, the set running speed (V) increases. When the vehicle is moved from the forward inclined posture to the neutral posture, the set travel speed (V) is decelerated, and when the speed change lever (16) has not moved from the neutral posture to the forward inclined posture more than a predetermined amount. , does not drive the driving means (42, 43), suppresses the waving phenomenon of the pulling chain of the pulling device of the reaping device (3), and prevents the lugs attached to the pulling chain from being damaged due to collision. be able to.

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

According to the invention of claim 4, in addition to the effect of the invention of any one of claims 1 to 3, the base portion of the shift lever (16) is provided with the shift lever (16) tilted forward from the neutral position. An angle sensor (16A) is provided to measure the tilt angle when moving to the posture, and the set traveling speed (V) is linearly increased or decelerated in correspondence with the measured value (θ) of the angle sensor (16A), so the traveling It is possible to easily perform control for increasing the travel speed (v) of the device (2) to the set travel speed (V).

According to the invention of claim 5, in addition to the effect of the invention of any one of claims 1 to 3, the base portion of the shift lever (16) is provided with the shift lever (16) tilted forward from the neutral position. An angle sensor (16A) is provided to measure the tilt angle when moving to the posture, and the set travel speed (V) is increased or decelerated in a curve corresponding to the measured value (θ) of the angle sensor (16A), and the set travel is performed. Since the increase/decrease speed of the speed (V) when the shift lever (16) is positioned in the forward inclined position is made larger than the speed change when the shift lever (16) is positioned in the neutral position, the traveling speed of the traveling device (2) (v) can be rapidly increased by the set running speed (V).

According to the sixth aspect of the invention, in addition to the effect of the invention of any one of the first to third aspects, when the shift lever (16) is moved from the neutral posture to the forward inclined posture, the set When the traveling speed (V) is increased in a first step and the shift lever (16) is moved from the forward inclined posture to the neutral posture, the set traveling speed (V) is reduced in a second step and Since the first step is set more than the second step, the impact when the traveling speed (v) of the traveling device (2) increases can be suppressed, and the traveling speed (v) of the traveling device (2) can be increased quickly. can decelerate quickly and the traveling device (2) can be quickly stopped in an emergency.

It is a front view of a combine. It is a top view of a combine. It is a left view of a combine. 4 is a transmission diagram of output rotation of the engine E. FIG. FIG. 4 is a transmission diagram of output rotation of the engine E to a traveling device and a reaper; FIG. 4 is an explanatory diagram of a main shift lever; 1 is an explanatory diagram of a continuously variable transmission; FIG. (a) is the relationship between the attitude of the main transmission lever and the angle sensor measurement value, (b) is the relationship between the angle sensor measurement value and the opening of the trunnion shaft, and (c) is the opening of the trunnion shaft and the setting of the traveling device. It shows the relationship between running speeds. 4 is a connection diagram of the controller; FIG. This is a method for increasing or decreasing the traveling device. (a) is the relationship between the attitude of the main transmission lever and the angle sensor measurement value, (b) is the relationship between the angle sensor measurement value and the opening of the trunnion shaft, and (c) is the opening of the trunnion shaft and the setting of the traveling device. The relationship between running speeds is shown, and the case where the actual running speed of the running device is lower than the set running speed is illustrated. (a) shows the relationship between the posture of the main transmission lever and the measured value of the angle sensor, and (b) shows another relationship between the measured value of the angle sensor and the opening of the trunnion shaft. (a) is the relationship between the attitude of the main gear shift lever and the measured value of the angle sensor, (b) is another relationship between the measured value of the angle sensor and the opening of the trunnion shaft when the main gear shift lever is moved from neutral to the forward tilt, (c) shows still another relationship between the angle sensor measurement value and the opening of the trunnion shaft when the main transmission lever is moved from the forward tilt to the neutral position.

As shown in FIGS. 1 to 3, the combine is provided with a traveling device 2 consisting of a pair of left and right crawlers that travels on the soil surface under the body frame 1, and harvests the grain stalks in the field on the front side of the body frame 1. A harvesting device 3 is provided. A threshing device 4 for threshing and sorting the stalks harvested by the harvesting device 3 is provided on the rear left side of the harvesting device 3, and a control unit 5 on which a worker rides is provided on the rear right side of the harvesting device 3. It is

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

A front panel 10 is provided in front of the operator's seat of the operating unit 5, and a side panel 15 is provided to the left of the operator's seat.

On the left side of the front panel 10 is provided a monitor 11 for displaying the output rotation of the engine E, etc., and on the right side is provided an operation lever 12 for operating the turning of the traveling device 2 and the lifting and lowering of the harvesting device 3. ing.

A main transmission lever (“transmission lever” in the claims) 16 for operating a continuously variable transmission 20 for increasing/decreasing the output rotation of the engine E and switching the rotation direction is provided on the front portion of the side panel 15 . Behind the gear shift lever 16, an auxiliary gear shift lever 17 for operating a transmission 21 for increasing or decreasing the output rotation speed of a continuously variable transmission 20 is provided. A cutting-out lever 18 is provided for operating connection and disconnection of the clutch 23 .

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

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

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

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

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

The output rotation transmitted to the input shaft 30 is transmitted to the counter shaft 32 via gears 30A, 31A, and 32A. The gear 30A is provided on the input shaft 30, the gear 31A is rotatably provided on the output shaft 31, and the gear 32A is provided on the counter shaft 32. As shown in FIG.

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

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

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

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

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

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

When the sub-transmission lever 17 is in the neutral posture, the output rotation transmitted from the continuously variable transmission 20 is not accelerated or decelerated. When the sub-transmission lever 17 is shifted from the neutral posture to the forward tilting posture, the output rotation transmitted from the continuously variable transmission 20 is decelerated, and when the sub-transmission lever 17 is shifted to the rear tilting posture, the continuously variable transmission is performed. The output rotation transmitted from device 20 is accelerated. The posture of the sub-transmission lever 17 is measured by an angle sensor 17A such as a potentiometer attached to the lower part of the sub-transmission lever 17. As shown in FIG.

When the reaping and removing lever 18 is set to the front inclined posture, the connection between the reaping clutch 22 and the threshing clutch 23 is released. When the reaping and removing lever 18 is in the rearward inclined posture, the reaping clutch 22 and the threshing clutch 23 are connected. When the harvesting lever 18 is in the neutral position between the front side tilting position and the rear side tilting position, the connection of the reaping clutch 22 is released and the threshing clutch 23 is connected. The posture of the de-removing lever 18 is measured by an angle sensor 18A such as a potentiometer attached to the lower part of the de-removing lever 18. As shown in FIG.

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

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

<Set travel speed of travel device>
In FIG. 8A, the horizontal axis indicates the attitude of the main gearshift lever 16, and the vertical axis indicates the measured value θ of the angle sensor 16A. When the main gearshift lever 16 is moved from the neutral posture to the forward inclined posture, the measured value θ of the angle sensor 16A increases. In this embodiment, when the main transmission lever 16 is moved to the neutral posture, the measured value θ of the angle sensor 16A is set to θ1, and when the main transmission lever 16 is moved to the foremost maximum forward inclined posture, , the measured value .theta. of the angle sensor 16A is set to .theta.2.

In FIG. 8B, the horizontal axis indicates the measured value θ of the angle sensor 16A, and the vertical axis indicates the opening degree β of the trunnion shaft 40 of the continuously variable transmission 20. As shown in FIG. When the main transmission lever 16 is moved from the neutral posture to the maximum forward tilting posture and the measured value θ of the angle sensor 16A increases linearly from θ1 to θ2, the opening degree β of the trunnion shaft 40 also increases linearly. When the main transmission lever 16 is moved from the maximum forward tilted posture to the neutral posture and the measured value θ of the angle sensor 16A decreases linearly from θ2 to θ1, the opening degree β of the trunnion shaft 40 also decreases linearly. do. In this embodiment, when the measured value .theta. of the angle sensor 16A is .theta.1, the opening .beta. of the trunnion shaft 40 is set to .beta.1, The degree of opening β is set to β2. The opening degree β of the trunnion shaft 40 is set to linearly increase from β0, which is smaller than β1, to β3, which is larger than β2. As a result, when the main transmission lever 16 is moved to the maximum forward tilting position, and the actual traveling speed v2 of the traveling device 2 is lower than the set traveling speed V2, the opening degree β of the trunnion shaft 40 is set to be less than β2. can be further increased to increase the actual running speed v2 to the set running speed V2.

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

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

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

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

On the input side of the controller 50, there are a speed sensor 2A for measuring the traveling speed v of the traveling device 2, and a layer thickness sensor 4A for measuring the layer thickness of grains conveyed rearward on the swing rack of the threshing device 4. An angle sensor 16A for measuring the attitude of the main gearshift lever 16, an angle sensor 17A for measuring the attitude of the auxiliary gearshift lever 17, and an angle sensor 18A for measuring the attitude of the reaping lever 18 are connected via a predetermined input interface circuit. connected.

A reaping clutch 22, a threshing clutch 24, a forward motor 42 and a reverse motor 43 for rotating the trunnion shaft 40 of the continuously variable transmission 20 are connected to the output side of the controller 50 via a predetermined output interface circuit. It is

<Method for accelerating travel speed of travel device>
As shown in FIG. 10, in step S1, the processing unit 51 of the controller 50 reads the measured value θ of the angle sensor 16A provided below the main gearshift lever 16 to measure the movement position of the main gearshift lever 16. Then, go to step S2.

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

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

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

In step S5, the processing unit 51 determines whether or not the speed difference S between the set travel speed V of the travel device 2 and the actual travel speed v is greater than a predetermined speed difference SA. If it is determined that the speed difference S is greater than the difference SA, the process proceeds to step S6, and if it is determined that the speed difference S is equal to or less than the predetermined speed difference SA, the process returns to step S1.

In step S6, the processing unit 51 determines whether or not the measured value θ of the angle sensor 16A is greater than a predetermined angle θA. If it is determined that the measured value θ is greater than the predetermined angle θA, Proceeding to step S7, when it is determined that the measured value .theta. is equal to or less than the predetermined angle .theta.A, the process returns to step S1.

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

In FIG. 11(b), the horizontal axis indicates the measured value .theta. of the angle sensor 16A, and the vertical axis indicates the opening degree .beta. of the trunnion shaft 40 of the continuously variable transmission 20. When the measured value .theta. 8(b), except that the opening β of the trunnion shaft 40 is set to a predetermined opening βA.

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

As a result, in the case of P2 shown in FIG. Provided in the triggering device 3A for raising the grain culms of the harvesting device 3 by stopping the rotation of the forward motor 42 and the reverse motor 43 for opening and closing the opening β to maintain the harvesting speed of the harvesting device 3 constant. By suppressing waviness in the direction perpendicular to the moving direction of a lifting chain (not shown) to which a plurality of lugs 3B are mounted, it is possible to prevent damage due to collision of the lugs 3B and the falling off of the lifting chain from the sprocket. can.

In step S7, the processing unit 51 determines whether or not the layer thickness T of the threshed grains moving on the swing rack, which is the measured value of the layer thickness sensor 4A, is smaller than the predetermined layer thickness TA. If it is determined that the layer thickness T is smaller than the predetermined layer thickness TA, the process proceeds to step S8, and if it is determined that the layer thickness T is equal to or greater than the predetermined layer thickness TA, the process returns to step S1. As a result, when the layer thickness T is equal to or greater than the predetermined layer thickness TA, that is, when a large amount of stalks are conveyed to the threshing device 4, the forward motor 42 for opening and closing the opening degree β of the trunnion shaft 40 and the reverse motor 42 By stopping rotation of the motor 43, an increase in the load on the engine E can be suppressed.

In step S8, the processing unit 51 drives the forward motor 42 and the reverse motor 43 to increase the opening degree β of the trunnion shaft 40 of the continuously variable transmission 20 so that the input shaft 44 of the continuously variable transmission 20 is opened. The transmitted output rotation is increased to increase the actual traveling speed v of the traveling device 2 to the set speed V corresponding to the movement position of the main transmission lever 16, and the process returns to step S1. As a result, the actual traveling speed v of the traveling device 2 and the set traveling speed V corresponding to the movement position of the main shift lever 16 can be made the same. The responsiveness of the running speed v can be improved, and the discomfort of the operator can be reduced.

As described above, in the present invention, the processing unit 51 corrects the output to the acceleration side when the speed difference S occurs in the predetermined operation area of the main shift lever 16 . Regarding this, the output correction can be performed both when the speed difference S is higher or lower than the actual running speed v, but it is preferable to perform the correction only on the speed increasing side (see below). In the description, such a pattern may be called "correction on the acceleration side only", and the opposite pattern may be called "correction on the deceleration side only").

It is also preferable to make a determination such as the following modification instead of the determination in step S7 or subsequent to the determination in step S7.

When traveling in an agricultural field, if the agricultural field is wet, only the deceleration side is corrected. Conditions for judging that the field is a wet field include, for example, that the harvesting device 3 has risen above a predetermined height with respect to the machine body, that the vehicle height has risen above a predetermined height by means of a vehicle height adjustment mechanism, and that the operator Wetland mode set by is enabled (as a wetland mode, for example, it is assumed that the turning force of the car body is limited to a certain level or less to prevent sudden car body behavior), etc. mentioned. Alternatively, it is also possible to use the fact that the behavior is gentle, such as the average value or peak value of the body moment detected by an IMU (inertial measurement unit) being smaller than a predetermined value.

Also, it is possible to correct the speed only when traveling on the road without correcting the speed in the field. Since the running load and the work load are large in the field, it can be expected to suppress the excessive engine load. As a method for judging that the vehicle is traveling on the road, the clutch operating portion of the reaper 3 is disengaged and the reaper 3 is raised by a predetermined amount or more. It is mentioned that

Alternatively, when traveling on the road, only the acceleration side is corrected, and in other cases (during work), both acceleration and deceleration corrections can be performed. In that case, it is desirable to set an upper limit to the amount of correction when traveling on the road compared to when working. That is, when the speed difference S is larger than a predetermined value, the correction amount is limited to a predetermined upper limit value. It is also preferable to set the upper limit of the correction for both road travel and work travel, and to make the upper limit values different between road travel and work travel.

<Other setting methods for trunnion shaft opening>
FIG. 12(a) is the same drawing as FIG. 8(a), in which the horizontal axis indicates the posture of the main transmission lever 16 and the vertical axis indicates the measured value θ of the angle sensor 16A.

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

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

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

In FIG. 13(c), the horizontal axis indicates the measured value θ of the angle sensor 16A, and the vertical axis indicates the opening degree β of the trunnion shaft 40 of the continuously variable transmission 20. As shown in FIG. When the main transmission lever 16 is moved from the maximum forward tilted posture to the neutral posture and the measured value θ of the angle sensor 16A decreases linearly from θ2 to θ1, the opening degree β of the trunnion shaft 40 changes stepwise as shown in the figure. In the example, it is moved to an oblique posture and reduced in two steps, which is half of four steps. As a result, when the main transmission lever 16 is moved from the maximum forward inclined posture to the neutral posture, the opening degree β of the trunnion shaft 40 is greatly moved by moving the main transmission lever 16 a little, so that the traveling device 2 can travel quickly. Velocity v can be slowed down. In FIG. 8B, the opening .beta. ing.

1 body frame 2 traveling device 3 reaping device 4 threshing device 5 control unit 16 main gear shift lever (shift lever)
16A angle sensor 20 continuously variable transmission 40 trunnion shaft 42 forward motor (driving means)
43 reverse motor (driving means)
A transmission path (first transmission path)
B transmission path (second transmission path)
E Engine S Speed difference SA Predetermined speed difference T Layer thickness TA Predetermined layer thickness θ Measured value V Set travel speed v Travel speed

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a combine harvester equipped with a continuously variable transmission for increasing or decreasing the traveling speed of a traveling device.

2. Description of the Related Art In conventional combine harvesters, a technique is known in which a speed change lever is operated to increase or decrease the traveling speed of a traveling device according to the state of a field or grain culms. (See Patent Document 1)

JP-A-2000-203468

However, in the technique disclosed in Patent Document 1, when the shift lever is moved from the neutral position to the forward tilting position in order to increase the traveling speed of the traveling device, the crawler of the traveling device slips and the agricultural field, and a large load is applied to the engine. There is a possibility that the traveling speed may not be increased to the set traveling speed provided corresponding to the movement position of the shift lever due to a state such as being applied. In addition, it has been pointed out that this causes workers to feel a great deal of discomfort.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a combine harvester capable of increasing the actual traveling speed of a traveling device to a set traveling speed set by a shift lever, thereby alleviating the discomfort of the operator. .

The present invention, which has solved the above problems, is as follows.

That is, in the invention according to claim 1, a traveling device (2) is provided on the lower side of a body frame (1) on which an engine (E) is mounted, and a harvesting device (3) is provided on the front side of the body frame (1). , a combine harvester provided with a threshing device (4) on the rear left side of the harvesting device (3) and a manipulator (5) on the rear right side of the harvesting device (3),
A continuously variable transmission (20) for increasing/decreasing the output rotation of the engine (E) and switching the rotation direction is provided downstream of the first transmission path (A) of the engine (E), and the continuously variable transmission ( 20), a traveling device (2) and a reaper (3) are provided downstream of the transmission path of the engine (E), a threshing device (4) is provided downstream of the second transmission path (B) of the engine (E), and the manipulator The side panel (15) of (5) is provided with a speed change lever (16) for operating the continuously variable transmission (20) to increase or decrease the set traveling speed (V) of the traveling device (2). 2) The speed difference (S) between the set travel speed (V) and the actual travel speed (v) of the travel device is greater than the predetermined speed difference (SA), and the controller (50) determines that the vehicle is traveling on the road. If so, the drive means (42, 43) for rotating the trunnion shaft (40) of the continuously variable transmission (20) is driven based on the speed difference (S) to obtain the actual running speed (v ) is a combine harvester.

According to the second aspect of the present invention, when the speed change lever (16) is moved from the neutral posture to the forward tilting posture, the set travel speed (V) is increased, and the set traveling speed (V) is moved from the front tilting posture to the neutral posture. When the set travel speed (V) is decelerated, the drive means (42, 43) is operated when the shift lever (16) has not moved from the neutral posture to the forward inclined posture by a predetermined amount or more. 2. The combine according to claim 1, wherein the is not driven.

In the third aspect of the invention, when the layer thickness (T) of the grains transferred on the swinging rack of the threshing device (4) is thicker than the predetermined layer thickness (TA), the driving means (42) , 43) are not driven.

According to a fourth aspect of the present invention, an angle sensor (16A) for measuring an inclination angle when the gearshift lever (16) is moved from a neutral posture to a forward inclined posture is provided at a base portion of the gearshift lever (16), The combine according to any one of claims 1 to 3, wherein the set travel speed (V) is linearly increased or decelerated in correspondence with the measured value (θ) of the angle sensor (16A).

In the invention according to claim 5, an angle sensor (16A) for measuring an inclination angle when the gearshift lever (16) is moved from a neutral posture to a front side inclined posture is provided at a base portion of the gearshift lever (16), When the set travel speed (V) is increased/decreased in a curve corresponding to the measured value (θ) of the angle sensor (16A), and the shift lever (16) at the set travel speed (V) is positioned in the forward inclined posture. 4. The combine according to any one of claims 1 to 3, wherein the increasing/decreasing speed of the shift lever (16) is larger than the increasing/decreasing speed when the shift lever (16) is in the neutral posture.

According to the first aspect of the invention, a continuously variable transmission (20) for increasing/decreasing the output rotation of the engine (E) and switching the direction of rotation is provided on the downstream side of the first transmission path (A) of the engine (E). is provided, a traveling device (2) and a reaper (3) are provided downstream of the transmission path of the continuously variable transmission (20), and a threshing device ( 4) is provided, and a speed change lever (16) that operates a continuously variable transmission (20) on the side panel (15) of the control unit (5) to increase or decrease the set traveling speed (V) of the traveling device (2). is provided, and the speed difference (S) between the set travel speed (V) of the travel device (2) and the actual travel speed (V) of the travel device is greater than the predetermined speed difference (SA), and the controller (50) causes the road travel If it is determined that the speed difference (S) is used, the drive means (42, 43) for rotating the trunnion shaft (40) of the continuously variable transmission (20) is driven to actually run the vehicle. Since the speed (v) is changed, the actual running speed (v) of the running device can be changed to the set running speed (V) set by the movement position of the shift lever (16). In addition, the operator's discomfort can be reduced, and stress during operation can be suppressed.

According to the invention of claim 2, in addition to the effect of the invention of claim 1, when the speed change lever (16) is moved from the neutral posture to the forward inclined posture, the set running speed (V) increases. When the vehicle is moved from the forward inclined posture to the neutral posture, the set travel speed (V) is decelerated, and when the speed change lever (16) has not moved from the neutral posture to the forward inclined posture more than a predetermined amount. , does not drive the driving means (42, 43), suppresses the waving phenomenon of the pulling chain of the pulling device of the reaping device (3), and prevents the lugs attached to the pulling chain from being damaged due to collision. be able to.

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

According to the invention of claim 4, in addition to the effect of the invention of any one of claims 1 to 3, the base portion of the shift lever (16) is provided with the shift lever (16) tilted forward from the neutral position. An angle sensor (16A) is provided to measure the tilt angle when moving to the posture, and the set traveling speed (V) is linearly increased or decelerated in correspondence with the measured value (θ) of the angle sensor (16A), so the traveling It is possible to easily perform control for increasing the travel speed (v) of the device (2) to the set travel speed (V).

According to the invention of claim 5, in addition to the effect of the invention of any one of claims 1 to 3, the base portion of the shift lever (16) is provided with the shift lever (16) tilted forward from the neutral position. An angle sensor (16A) is provided to measure the tilt angle when moving to the posture, and the set travel speed (V) is increased or decelerated in a curve corresponding to the measured value (θ) of the angle sensor (16A), and the set travel is performed. Since the increase/decrease speed of the speed (V) when the shift lever (16) is positioned in the forward inclined position is made larger than the speed change when the shift lever (16) is positioned in the neutral position, the traveling speed of the traveling device (2) (v) can be rapidly increased by the set running speed (V).

It is a front view of a combine. It is a top view of a combine. It is a left view of a combine. 4 is a transmission diagram of output rotation of the engine E. FIG. FIG. 4 is a transmission diagram of output rotation of the engine E to a traveling device and a reaper; FIG. 4 is an explanatory diagram of a main shift lever; 1 is an explanatory diagram of a continuously variable transmission; FIG. (a) is the relationship between the attitude of the main transmission lever and the angle sensor measurement value, (b) is the relationship between the angle sensor measurement value and the opening of the trunnion shaft, and (c) is the opening of the trunnion shaft and the setting of the traveling device. It shows the relationship between running speeds. 4 is a connection diagram of the controller; FIG. This is a method for increasing or decreasing the traveling device. (a) is the relationship between the attitude of the main transmission lever and the angle sensor measurement value, (b) is the relationship between the angle sensor measurement value and the opening of the trunnion shaft, and (c) is the opening of the trunnion shaft and the setting of the traveling device. The relationship between running speeds is shown, and the case where the actual running speed of the running device is lower than the set running speed is illustrated. (a) shows the relationship between the posture of the main transmission lever and the measured value of the angle sensor, and (b) shows another relationship between the measured value of the angle sensor and the opening of the trunnion shaft. (a) is the relationship between the attitude of the main gear shift lever and the measured value of the angle sensor, (b) is another relationship between the measured value of the angle sensor and the opening of the trunnion shaft when the main gear shift lever is moved from neutral to the forward tilt, (c) shows still another relationship between the angle sensor measurement value and the opening of the trunnion shaft when the main transmission lever is moved from the forward tilt to the neutral position.

As shown in FIGS. 1 to 3, the combine is provided with a traveling device 2 consisting of a pair of left and right crawlers that travels on the soil surface under the body frame 1, and harvests the grain stalks in the field on the front side of the body frame 1. A harvesting device 3 is provided. A threshing device 4 for threshing and sorting the stalks harvested by the harvesting device 3 is provided on the rear left side of the harvesting device 3, and a control unit 5 on which a worker rides is provided on the rear right side of the harvesting device 3. It is

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

A front panel 10 is provided in front of the operator's seat of the operating unit 5, and a side panel 15 is provided to the left of the operator's seat.

On the left side of the front panel 10 is provided a monitor 11 for displaying the output rotation of the engine E, etc., and on the right side is provided an operation lever 12 for operating the turning of the traveling device 2 and the lifting and lowering of the harvesting device 3. ing.

A main transmission lever (“transmission lever” in the claims) 16 for operating a continuously variable transmission 20 for increasing/decreasing the output rotation of the engine E and switching the rotation direction is provided on the front portion of the side panel 15 . Behind the gear shift lever 16, an auxiliary gear shift lever 17 for operating a transmission 21 for increasing or decreasing the output rotation speed of a continuously variable transmission 20 is provided. A cutting-out lever 18 is provided for operating connection and disconnection of the clutch 23 .

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

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

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

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

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

The output rotation transmitted to the input shaft 30 is transmitted to the counter shaft 32 via gears 30A, 31A, and 32A. The gear 30A is provided on the input shaft 30, the gear 31A is rotatably provided on the output shaft 31, and the gear 32A is provided on the counter shaft 32. As shown in FIG.

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

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

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

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

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

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

When the sub-transmission lever 17 is in the neutral posture, the output rotation transmitted from the continuously variable transmission 20 is not accelerated or decelerated. When the sub-transmission lever 17 is shifted from the neutral posture to the forward tilting posture, the output rotation transmitted from the continuously variable transmission 20 is decelerated, and when the sub-transmission lever 17 is shifted to the rear tilting posture, the continuously variable transmission is performed. The output rotation transmitted from device 20 is accelerated. The posture of the sub-transmission lever 17 is measured by an angle sensor 17A such as a potentiometer attached to the lower part of the sub-transmission lever 17. As shown in FIG.

When the reaping and removing lever 18 is set to the front inclined posture, the connection between the reaping clutch 22 and the threshing clutch 23 is released. When the reaping and removing lever 18 is in the rearward inclined posture, the reaping clutch 22 and the threshing clutch 23 are connected. When the harvesting lever 18 is in the neutral position between the front side tilting position and the rear side tilting position, the connection of the reaping clutch 22 is released and the threshing clutch 23 is connected. The posture of the de-removing lever 18 is measured by an angle sensor 18A such as a potentiometer attached to the lower part of the de-removing lever 18. As shown in FIG.

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

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

<Set travel speed of travel device>
In FIG. 8A, the horizontal axis indicates the attitude of the main gearshift lever 16, and the vertical axis indicates the measured value θ of the angle sensor 16A. When the main gearshift lever 16 is moved from the neutral posture to the forward inclined posture, the measured value θ of the angle sensor 16A increases. In this embodiment, when the main transmission lever 16 is moved to the neutral posture, the measured value θ of the angle sensor 16A is set to θ1, and when the main transmission lever 16 is moved to the foremost maximum forward inclined posture, , the measured value .theta. of the angle sensor 16A is set to .theta.2.

In FIG. 8B, the horizontal axis indicates the measured value θ of the angle sensor 16A, and the vertical axis indicates the opening degree β of the trunnion shaft 40 of the continuously variable transmission 20. As shown in FIG. When the main transmission lever 16 is moved from the neutral posture to the maximum forward tilting posture and the measured value θ of the angle sensor 16A increases linearly from θ1 to θ2, the opening degree β of the trunnion shaft 40 also increases linearly. When the main transmission lever 16 is moved from the maximum forward tilted posture to the neutral posture and the measured value θ of the angle sensor 16A decreases linearly from θ2 to θ1, the opening degree β of the trunnion shaft 40 also decreases linearly. do. In this embodiment, when the measured value .theta. of the angle sensor 16A is .theta.1, the opening .beta. of the trunnion shaft 40 is set to .beta.1, The degree of opening β is set to β2. The opening degree β of the trunnion shaft 40 is set to linearly increase from β0, which is smaller than β1, to β3, which is larger than β2. As a result, when the main transmission lever 16 is moved to the maximum forward tilting position, and the actual traveling speed v2 of the traveling device 2 is lower than the set traveling speed V2, the opening degree β of the trunnion shaft 40 is set to be less than β2. can be further increased to increase the actual running speed v2 to the set running speed V2.

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

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

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

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

On the input side of the controller 50, there are a speed sensor 2A for measuring the traveling speed v of the traveling device 2, and a layer thickness sensor 4A for measuring the layer thickness of grains conveyed rearward on the swing rack of the threshing device 4. An angle sensor 16A for measuring the attitude of the main gearshift lever 16, an angle sensor 17A for measuring the attitude of the auxiliary gearshift lever 17, and an angle sensor 18A for measuring the attitude of the reaping lever 18 are connected via a predetermined input interface circuit. connected.

A reaping clutch 22, a threshing clutch 24, a forward motor 42 and a reverse motor 43 for rotating the trunnion shaft 40 of the continuously variable transmission 20 are connected to the output side of the controller 50 via a predetermined output interface circuit. It is

<Method for accelerating travel speed of travel device>
As shown in FIG. 10, in step S1, the processing unit 51 of the controller 50 reads the measured value θ of the angle sensor 16A provided below the main gearshift lever 16 to measure the movement position of the main gearshift lever 16. Then, go to step S2.

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

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

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

In step S5, the processing unit 51 determines whether or not the speed difference S between the set travel speed V of the travel device 2 and the actual travel speed v is greater than a predetermined speed difference SA. If it is determined that the speed difference S is greater than the difference SA, the process proceeds to step S6, and if it is determined that the speed difference S is equal to or less than the predetermined speed difference SA, the process returns to step S1.

In step S6, the processing unit 51 determines whether or not the measured value θ of the angle sensor 16A is greater than a predetermined angle θA. If it is determined that the measured value θ is greater than the predetermined angle θA, Proceeding to step S7, when it is determined that the measured value .theta. is equal to or less than the predetermined angle .theta.A, the process returns to step S1.

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

In FIG. 11(b), the horizontal axis indicates the measured value .theta. of the angle sensor 16A, and the vertical axis indicates the opening degree .beta. of the trunnion shaft 40 of the continuously variable transmission 20. When the measured value .theta. 8(b), except that the opening β of the trunnion shaft 40 is set to a predetermined opening βA.

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

As a result, in the case of P2 shown in FIG. Provided in the triggering device 3A for raising the grain culms of the harvesting device 3 by stopping the rotation of the forward motor 42 and the reverse motor 43 for opening and closing the opening β to maintain the harvesting speed of the harvesting device 3 constant. By suppressing waviness in the direction perpendicular to the moving direction of a lifting chain (not shown) to which a plurality of lugs 3B are mounted, it is possible to prevent damage due to collision of the lugs 3B and the falling off of the lifting chain from the sprocket. can.

In step S7, the processing unit 51 determines whether or not the layer thickness T of the threshed grains moving on the swing rack, which is the measured value of the layer thickness sensor 4A, is smaller than the predetermined layer thickness TA. If it is determined that the layer thickness T is smaller than the predetermined layer thickness TA, the process proceeds to step S8, and if it is determined that the layer thickness T is equal to or greater than the predetermined layer thickness TA, the process returns to step S1. As a result, when the layer thickness T is equal to or greater than the predetermined layer thickness TA, that is, when a large amount of stalks are conveyed to the threshing device 4, the forward motor 42 for opening and closing the opening degree β of the trunnion shaft 40 and the reverse motor 42 By stopping rotation of the motor 43, an increase in the load on the engine E can be suppressed.

In step S8, the processing unit 51 drives the forward motor 42 and the reverse motor 43 to increase the opening degree β of the trunnion shaft 40 of the continuously variable transmission 20 so that the input shaft 44 of the continuously variable transmission 20 is opened. The transmitted output rotation is increased to increase the actual traveling speed v of the traveling device 2 to the set speed V corresponding to the movement position of the main transmission lever 16, and the process returns to step S1. As a result, the actual traveling speed v of the traveling device 2 and the set traveling speed V corresponding to the movement position of the main shift lever 16 can be made the same. The responsiveness of the running speed v can be improved, and the discomfort of the operator can be reduced.

As described above, in the present invention, the processing unit 51 corrects the output to the acceleration side when the speed difference S occurs in the predetermined operation area of the main shift lever 16 . Regarding this, the output correction can be performed both when the speed difference S is higher or lower than the actual running speed v, but it is preferable to perform the correction only on the speed increasing side (see below). In the description, such a pattern may be called "correction on the acceleration side only", and the opposite pattern may be called "correction on the deceleration side only").

It is also preferable to make a determination such as the following modification instead of the determination in step S7 or subsequent to the determination in step S7.

When traveling in an agricultural field, if the agricultural field is wet, only the deceleration side is corrected. Conditions for judging that the field is a wet field include, for example, that the harvesting device 3 has risen above a predetermined height with respect to the machine body, that the vehicle height has risen above a predetermined height by means of a vehicle height adjustment mechanism, and that the operator Wetland mode set by is enabled (as a wetland mode, for example, it is assumed that the turning force of the car body is limited to a certain level or less to prevent sudden car body behavior), etc. mentioned. Alternatively, it is also possible to use the fact that the behavior is gentle, such as the average value or peak value of the body moment detected by an IMU (inertial measurement unit) being smaller than a predetermined value.

Also, it is possible to correct the speed only when traveling on the road without correcting the speed in the field. Since the running load is large and the work load is also large in the field, it can be expected to suppress the excessive engine load. As a method for judging that the vehicle is traveling on the road, the clutch operating portion of the reaper 3 is disengaged and the reaper 3 is raised by a predetermined amount or more. It is mentioned that

Alternatively, when traveling on the road, only the acceleration side is corrected, and in other cases (during work), both acceleration and deceleration corrections can be performed. In that case, it is desirable to set an upper limit to the amount of correction when traveling on the road compared to when working. That is, when the speed difference S is larger than a predetermined value, the correction amount is limited to a predetermined upper limit value. It is also preferable to set the upper limit of the correction for both road travel and work travel, and to make the upper limit values different between road travel and work travel.

<Other setting methods for trunnion shaft opening>
FIG. 12(a) is the same drawing as FIG. 8(a), in which the horizontal axis indicates the posture of the main transmission lever 16 and the vertical axis indicates the measured value θ of the angle sensor 16A.

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

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

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

In FIG. 13(c), the horizontal axis indicates the measured value θ of the angle sensor 16A, and the vertical axis indicates the opening degree β of the trunnion shaft 40 of the continuously variable transmission 20. As shown in FIG. When the main transmission lever 16 is moved from the maximum forward tilted posture to the neutral posture and the measured value θ of the angle sensor 16A decreases linearly from θ2 to θ1, the opening degree β of the trunnion shaft 40 changes stepwise as shown in the figure. In the example, it is moved to an oblique posture and reduced in two steps, which is half of four steps. As a result, when the main transmission lever 16 is moved from the maximum forward inclined posture to the neutral posture, the opening degree β of the trunnion shaft 40 is greatly moved by moving the main transmission lever 16 a little, so that the traveling device 2 can travel quickly. Velocity v can be slowed down. In FIG. 8B, the opening .beta. ing.

1 body frame 2 traveling device 3 reaping device 4 threshing device 5 control unit 16 main gear shift lever (shift lever)
16A angle sensor 20 continuously variable transmission 40 trunnion shaft 42 forward motor (driving means)
43 reverse motor (driving means)
A transmission path (first transmission path)
B transmission path (second transmission path)
E Engine S Speed difference SA Predetermined speed difference T Layer thickness TA Predetermined layer thickness θ Measured value V Set travel speed v Travel speed

Claims (6)

A traveling device (2) is provided on the underside of a body frame (1) on which an engine (E) is mounted, a reaper (3) is provided on the front side of the body frame (1), and the left rear of the reaper (3). A combine harvester provided with a threshing device (4) in the threshing device (3) and a steering section (5) on the right rear of the harvesting device (3),
A continuously variable transmission (20) for increasing/decreasing the output rotation of the engine (E) and switching the rotation direction is provided downstream of the first transmission path (A) of the engine (E), and the continuously variable transmission ( A traveling device (2) and a reaper (3) are provided downstream of the transmission path of 20),
A threshing device (4) is provided downstream of the second transmission path (B) of the engine (E),
A gear shift lever (16) is provided on a side panel (15) of the control unit (5) for operating a continuously variable transmission (20) to increase or decrease the set traveling speed (V) of the traveling device (2),
The speed difference (S) between the set travel speed (V) of the travel device (2) and the actual travel speed (V) of the travel device is greater than a predetermined speed difference (SA), and the controller (50) is traveling on the road. If the speed difference (S) is determined, the drive means (42, 43) for rotating the trunnion shaft (40) of the continuously variable transmission (20) is driven to increase the running speed ( A combine harvester characterized in that v) is configured to change speed. When the speed change lever (16) is moved from the neutral posture to the forward tilting posture, the set travel speed (V) increases, and when the shift lever (16) is moved from the front tilting posture to the neutral posture, the set travel speed (V) increases. A configuration in which the speed (V) is reduced,
2. The combine according to claim 1, wherein the driving means (42, 43) are not driven when the gear shift lever (16) has not moved from the neutral position to the forward inclined position by a predetermined amount or more. The driving means (42, 43) are not driven when the layer thickness (T) of the grains transferred on the swing rack of the threshing device (4) is thicker than the predetermined layer thickness (TA). The combine according to 1 or 2. An angle sensor (16A) is provided at the base of the shift lever (16) for measuring the tilt angle when the shift lever (16) is moved from the neutral posture to the forward tilted posture,
The combine according to any one of claims 1 to 3, wherein the set travel speed (V) is linearly increased or decelerated in correspondence with the measured value (θ) of the angle sensor (16A). An angle sensor (16A) is provided at the base of the shift lever (16) for measuring the tilt angle when the shift lever (16) is moved from the neutral posture to the forward tilted posture,
The set travel speed (V) is increased or decelerated in a curve corresponding to the measured value (θ) of the angle sensor (16A),
4. The method according to any one of claims 1 to 3, wherein an increase/decrease speed at the set travel speed (V) when the gear shift lever (16) is positioned in the forward inclined posture is larger than an increase/decrease speed when the gear shift lever (16) is positioned in the neutral posture. A combine according to any one of claims 1 to 3. when the speed change lever (16) is moved from the neutral posture to the forward tilting posture, the set running speed (V) is increased in a first step,
when the shift lever (16) is moved from the forward inclined posture to the neutral posture, the set running speed (V) is reduced in a second step,
The combine according to any one of claims 1 to 3, wherein the first steps are set more than the second steps.

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