JP2723760B2 - Combine control information detection device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a main transmission for traveling provided with a main transmission for traveling and a sub transmission for traveling for changing the output from the main transmission. The number of revolutions of a rotating body that is driven so as to be driven by the output of the device and that the traveling device is driven by the output of the traveling auxiliary transmission, and that is driven and rotated by the output of the traveling auxiliary transmission. Control of a combine provided with a rotation speed detecting means for detecting a vehicle speed or a traveling distance for detecting a vehicle speed and a calculating means for obtaining a transfer speed or a transfer distance in the transfer device based on the rotation speed information of the rotation speed detection means. The present invention relates to an information detection device.

[0002]

2. Description of the Related Art The control information detecting apparatus of the above combiner is
For example, the vehicle speed information necessary for traveling control for stable traveling of the combine, the transport distance information of the harvested grain culm necessary for the handling depth control for appropriately controlling the handling depth state in the threshing device, Or information on the transport speed of the harvested culm necessary for threshing control to control the processing capacity and sorting processing capacity to an appropriate state in response to fluctuations in the supply of culm to the threshing equipment The control information necessary for various controls of the combine is detected.

Conventionally, based on rotation speed information of a rotating body driven and rotated by an output of a traveling auxiliary transmission that drives a traveling device such as a crawler traveling device, specifically,
The vehicle speed or travel distance is detected by counting the number of revolutions within a predetermined time to obtain the vehicle speed, or calculating the travel distance by integrating the number of revolutions when traveling from one point to another point. At the same time, with respect to the transport speed or the transport distance of the transport device driven by the output of the traveling main transmission located on the transmission upper side of the traveling sub-transmission, the sub-transmission position of the traveling sub-transmission is changed to the standard transmission. At a position (for example, a medium speed position when the sub-shift is a three-speed shift), the detection is performed based on the rotation speed information of the rotating body under a condition that the normal transport speed or the transport distance is reached.

[0004]

Therefore, in the above-mentioned prior art, a normal value can be detected for the vehicle speed or the traveling distance irrespective of the sub-shift position of the traveling sub-transmission, but for the transport speed or the transport distance. On the other hand, when the traveling auxiliary transmission is at a position other than the standard transmission position, for example, at a traveling transmission position higher than the standard transmission position, the value is detected as a value larger than the normal value, while when the traveling auxiliary transmission is at a lower gear position lower than the standard transmission position. There is a problem in that the error is detected as a value smaller than the normal value, and the detection error becomes large at a shift position other than the standard shift position.

[0005] Therefore, for example, in the handling depth control, usually, at the start of the harvesting operation, after the grain culm is detected by the grain culm presence detecting means, the conveying distance of the grain culm is reduced by the grain culm presence or absence. As the set distance corresponding to the transport path from the position of the detection means to the position of the tip position detection means on the lower side of the conveyance is reached, the handling depth control operation is started, and the detection position of the tip position detection means In order to avoid the inconvenience when the handling depth is adjusted in a state where the culm does not reach the stalk, for example, when the sub-shift position is shifted to the low-speed falling position, the transport distance Since the value is detected as a value smaller than the value, the handling depth control operation is not started even though the grain stalk is actually conveyed to the installation position of the tip position detecting means, and the activation is delayed. There was. Then, in that case, the handling depth is not properly adjusted for the grain culm transported until the detected transport distance reaches the set distance and the handling depth control operation starts. Along with
When the handling depth state before the handling depth control operation is started is stopped in a state adjusted to the deep handling side and the grain culm with a long culm is conveyed, it becomes an extremely deep handling state. There was also a possibility that clogging of the grain stem would occur in a threshing device or the like.

Therefore, in order to solve the above problem, the rotating body is driven and rotated by the output of the traveling main transmission, and the transport speed or the transport distance is controlled by the auxiliary transmission of the traveling auxiliary transmission. Regardless of the position, the normal value can be detected.
It is conceivable to detect a sub-shift position of the traveling sub-transmission and perform a correction process according to the position to obtain a regular value. For example, it is considered that the traveling sub-transmission is a gear occlusion type. In such a case, the rotating body is driven by the output of the traveling main transmission even though the transmission of power to the traveling device is interrupted during the shifting operation. There is a possibility that the vehicle speed or the traveling distance is erroneously detected to be larger than the regular value.

As another means, another rotator driven and rotated by the output of the traveling main transmission is provided, and the transfer speed or the transfer distance is determined based on the rotation speed information of the rotator. However, in this case, the rotating body and a detecting device for detecting the number of revolutions thereof need two systems for detecting the vehicle speed or the traveling distance and for detecting the transport speed or the transporting distance, and the device configuration is required. There is a disadvantage that it is complicated and expensive.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to solve the above-mentioned problems of the prior art by using only one rotating body for detecting rotation speed information and one rotation speed detecting means. It is another object of the present invention to simplify the configuration of the apparatus and to minimize a detection error in the transport speed or the transport distance in a configuration in which a normal value can be detected for the vehicle speed or the travel distance.

[0009]

A characteristic feature of a control information detecting apparatus for a combine according to the present invention is that sub-shift position detecting means for detecting a sub-shift position of the traveling sub-transmission is provided, and the calculating means includes: The point is that the transport speed or the transport distance is obtained based on the detection information of the sub-shift position detecting means and the rotation speed information of the rotation speed detecting means.

[0010]

According to the characteristic structure of the present invention, in order to determine the transport speed, for example, if the traveling sub-transmission is operated at a high speed, a medium speed, or a low speed,
When the transmission speed is shifted to the middle speed position, the rotation speed within a predetermined time of the rotation speed detection means is counted to detect the normal conveyance speed. If the auxiliary transmission position detected by the means is a high-speed traveling transmission position, the detected conveyance speed is a value greater than the normal speed, and therefore, the correction processing is performed using a coefficient determined by the gear ratio of the traveling auxiliary transmission device. ) To determine the normal transport speed. If the sub-shift position is a medium-speed standard shift position, the detected transport speed is directly determined as the transport speed. Since the detected conveyance speed is a value smaller than the normal speed,
Correction processing (larger) is performed using a coefficient determined by the speed ratio of the traveling auxiliary transmission to obtain a normal transport speed.

Similarly, to determine the transport distance, for example, when the traveling auxiliary transmission is shifted to the middle speed position among the above three stages, the number of rotations of the rotation speed detecting means is integrated and the normal transport is performed. In the case where the distance is detected, if the auxiliary shift position detected by the auxiliary shift position detecting means is a high-speed traveling shift position, the detected conveyance distance is a value larger than the regular distance, Correction processing (small) is performed using a coefficient determined by the gear ratio of the subtransmission to obtain a normal conveyance distance. If the subtransmission position is a medium-speed standard transmission position, the detected conveyance distance is directly obtained as the conveyance distance. ,
If the sub-shift position is a low-speed lodging shift position, the detected transport distance is a value smaller than the regular distance, so that the correction processing (larger) is performed using a coefficient determined by the speed ratio of the traveling sub-transmission. Find the regular transport distance.

According to the configuration of the present invention, for example, when the traveling auxiliary transmission is a gear engaging type, it is driven by the output of the traveling auxiliary transmission during the operation of the auxiliary transmission. Since the rotating body is not driven to rotate, the detected value of the transport speed or the transport distance may be smaller than the normal value, but the information required for the transport speed or the transport distance is compared with the vehicle speed or the travel distance. Since the accuracy is not so high, it is not a serious problem in practical use.

[0013]

Therefore, according to the characteristic structure of the present invention, a combine device which can accurately detect the vehicle speed or the traveling distance and also minimizes the detection error in the transport speed or the transport distance with a simple apparatus configuration. Can be obtained.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a combine depth control device will be described below with reference to the drawings.

As shown in FIG. 5, the combine includes a pair of left and right crawler traveling devices 1, a threshing device 2, and a driver's seat 3.
The reaper B is attached to the front part of the body A having

The cutting unit B includes a raising device 4 for raising the planted grain culm, a cutting blade 5 for cutting the root of the raised grain culm, and an auxiliary for collecting the harvested culm culm and transporting it backward. The transporting device 6 includes a vertical transporting device 8 that transfers the harvested grain culm to the threshing feed chain 7 of the threshing device 2 while gradually turning over the transported harvested culm. That is, the vertical transport device 8 corresponds to a transport device that transports the cut culm to the threshing device 2.

In the drawing, reference symbol S0 denotes a stock sensor for detecting the presence or absence of a grain culm conveyed by the vertical conveyance device 8 by contacting the starting end of the vertical conveyance device 8 with the base of the harvested grain culm. is there. In addition, during the harvesting operation, the state that the harvested grain culm contacts the stock sensor S0 and the stock sensor S0 is turned on continues, and the supply of the harvested grain culm stops when the harvesting work is completed. Therefore, the grain stem does not contact the stock sensor S0, and the stock sensor S0 is turned off. Therefore, this stock sensor S0 corresponds to a grain stalk presence / absence detecting means for detecting the presence / absence of a grain stalk.

As shown in FIGS. 1 and 4, the vertical transport device 8 includes a clamping transport device 8A that clamps and transports the root side of the harvested grain culm and a latch that latches and transports the tip side of the harvested grain culm. It consists of a transport device 8B and a grain culm guide plate 8C, transports the harvested grain culm from the auxiliary transport device 6 toward the rear of the machine in a vertical posture, and changes the posture to a sideways posture at a transport end portion to thresh. It is configured to be delivered to the feed chain 7.

The vertical transport device 8 is pivotally mounted at the end portion so as to be vertically swingable around a horizontal axis P, and the cutting grain supplied from the auxiliary transport device 6 with the vertical swing. The support position of the culm is changed in the direction of the culm, the position of the harvested cereal culm transferred from the vertical transport device 8 to the threshing feed chain 7 is changed in the culm direction, and the handling depth in the threshing device 2 is reduced. It is configured to be changed and adjusted.

The swing operation structure of the vertical transfer device 8 will be described. As shown in FIG. 1, an electric motor M is provided as an actuator for adjusting the handling depth, and is capable of swinging about a horizontal axis Q. A rack 11 is attached to the arm 14, and the pinion 12 engaging with the rack 11 is connected to the electric motor M
Attached to the rotating shaft. In addition, the inverted U-shaped member 13 used also as a frame of the vertical transport device 8 and the arm 14
Are interlockingly connected via a push-pull rod 15, whereby the electric motor M is operated in forward and reverse rotations,
The vertical transport device 8 is configured to swing up and down. Therefore, the vertical transport device 8, the push / pull rod 15, the arm 14,
The electric motor M and the like constitute a handling depth adjusting means C for adjusting the handling depth in the threshing device 2.

As shown in FIGS. 1 and 4, a pair of heads as a pair of head position detecting means for detecting the position of the head of the grain culm in the conveying path of the cereal culm conveyed by the vertical conveying device 8. Sensors S1 and S2 are provided at intervals in the direction of the culm of the grain culm, and the pair of head sensors S1 and S2 are provided.
Is set to be on the lower side in the grain stalk transport direction than the handling depth adjustment location by the handling depth adjustment means C and the installation location of the stock sensor S0. Each of the pair of tip sensors S1 and S2 reciprocates and swings backward in the transport direction due to contact with the grain culm, and is urged to return to the upward direction in the transport direction. And a detection unit 17 using a switch for detecting the That is, if the sensor lever 16 retreats and swings due to contact with the grain stalk and the detection unit 17 is turned ON, the presence of the grain stalk is detected, and if the detection unit 17 is OFF, the absence of the grain stalk is detected.

Next, the power transmission system of the combine will be described. As shown in FIG. 2, the output of the engine E is transmitted to the threshing device 2 via a belt tensioning type threshing clutch 10 and the belt transmission. The power is transmitted to a hydraulic continuously variable transmission 9 as a traveling main transmission via a mechanism. Reference numeral 20 denotes a threshing clutch lever for manually turning on and off the threshing clutch 10. The output of the continuously variable transmission 9 after transmission is transmitted to the transmission case 18 and is shifted by the traveling auxiliary transmission D (see FIG. 3) in the transmission section 18, and the output of the traveling auxiliary transmission D is output. The pair of left and right crawler traveling devices 1 are driven by the motor, and the output of the continuously variable transmission 9 after the shift is changed by a one-way clutch so that the reaper B is driven only when the body is moving forward. It is also configured to be transmitted to the reaping unit B via the drive unit 21 to drive each unit of the reaping unit B. As a result, the vertical conveying device 8 is driven by the output of the continuously variable transmission 9, and the grain culm conveying speed is changed and adjusted according to the output.

The traveling sub-transmission D is driven by a sub-transmission lever 25 capable of swinging in the front-rear direction. The sub-shift lever 25 is operated to a standard shift position and a low-speed falling shift position, which is a position on the near side of swing, so that the gear can be shifted in three stages. And a second limit switch SW2 that is turned on when the sub-shift lever 25 is operated to the low speed downshift position. Therefore, when the first limit switch SW1 is ON and the second limit switch S
If W2 is in the OFF state, it is a high-speed traveling shift position,
If both limit switches SW1 and SW2 are OFF, it is a standard speed shift position at a medium speed, and the first limit switch SW1 is OFF and the second limit switch SW2 is OFF.
In the N state, since it is detected that the vehicle is in the low-speed lodging position, the auxiliary shift position detecting means for detecting the auxiliary shift position of the traveling auxiliary transmission D is constituted by the two limit switches SW1 and SW2. become.

The main part of the transmission case 18 will be described. As shown in FIG. 3, the power from the output shaft 30 of the continuously variable transmission 9 is applied to the first power transmission in the transmission case 18.
The power is transmitted to the mowing part B via the transmission shaft 31 and the power from the first transmission shaft 31 is transmitted to the first gear 32 and the second gear 32.
The power is transmitted to the second transmission shaft 34 via the gear 33. A shift gear 35 is slidably fitted on the second transmission shaft 34 in a spline structure, and a high speed gear 37, a medium speed gear 38 and a low speed gear 3 are mounted on the third transmission shaft 36.
9 is fixed. By sliding the shift gear 35 to engage the second high-speed gear 41 with the high-speed gear 37, or by switching and engaging the shift gear 35 with the medium-speed gear 38 or the low-speed gear 39, respectively,
The forward rotation power for straight traveling transmitted to the third transmission shaft 36 is transmitted to the pair of left and right crawler traveling devices 1 after being shifted to three stages of high, medium and low. With the above-described structure, the traveling auxiliary transmission D for shifting the output from the continuously variable transmission 9 as the traveling main transmission includes the shift gear 35 and the high-speed gear 3.
7, a medium speed gear 38, a low speed gear 39, and the like.

The transmission mechanism from the third transmission shaft 36 to the pair of left and right crawler traveling devices 1 will not be described in detail, however, in the middle of the transmission mechanism, each of the left and right crawler traveling devices 1 is turned to rotate the body. A pair of left and right traveling clutches for operating the power in and out of each is provided. Further, a rotating body 40 is attached to the third transmission shaft 36,
A rotation speed sensor S3 for detecting the rotation speed of the rotating body 40 is provided. Then, the number of pulses output in accordance with the rotation speed of the rotating body 40 is counted within a predetermined time to calculate the vehicle speed, or the above-described output while traveling from one point to another point. Since the traveling distance can be detected by integrating the number of pulses, the rotation speed sensor S
Reference numeral 3 corresponds to a vehicle speed detecting means for detecting a rotational speed of the rotating body 40 driven and rotated by the output of the traveling auxiliary transmission D or a rotational speed detecting means for detecting a traveling distance. However,
As described above, the reaping section B includes the one-way clutch 21.
The vertical transport device 8 is stopped when the body is moving backward, because it is driven only when the body is moving forward. Therefore, the measurement of the vehicle speed or the traveling distance by the rotation speed sensor S3 is performed only when the vehicle is moving forward, and is stopped when the vehicle is moving backward.

As shown in FIG. 1, a control device H using a microcomputer is provided.
The stock sensor S0, the pair of head sensors S1,
S2, the respective signals from the rotation speed sensor S3, the first limit switch SW1 and the second limit switch SW2 are input, and the threshing switch 19, which is turned ON when the threshing clutch lever 20 is turned on, and the handle depth. The signal from the control start command switch 22 is input. The control device H outputs a drive signal to each of the drive circuit 18 of the electric motor M and the alarm device 24. The alarm device 24 is provided for the driver's seat 3.
And a flashing lamp.

Using the control device H, the first limit switch SW1 and the second
Arithmetic means 100 for calculating the transport distance of the grain culm in the transport device 8 based on the detection information of the limit switch SW2 and the rotation speed information of the rotation speed sensor S3 is provided.

Then, the control device H, based on the information of the pair of head sensors S1 and S2, the stock sensor S0 and the calculating means 100, detects that the stock sensor S0 has a grain culm, As the transport distance calculated by the calculating means 100 reaches the set distance, only the one of the pair of ear sensors S1 and S2 at the stock side has the handling depth so as to maintain the state of detecting the presence of grain culm. When the calculated transport distance reaches a set distance after the stock sensor S0 detects that there is no grain culm, the handling depth control operation is started to operate the adjusting means C. It is configured to stop operation. In the handling depth control operation, a drive signal is output to the electric motor M to swing the vertical transport device 8 up and down. However, if the vertical transport device 8 swings downward, the vertical transport device 8 is adjusted to the deep handling side, Swing to adjust to the shallower side.

Next, the control operation of the control device H will be described with reference to the flowcharts shown in FIGS. A state where the handling depth control start command switch 22 is ON and the threshing clutch lever 20 is turned on and the threshing switch 19 is ON is set to a state where the control condition is satisfied. Check whether the control condition is satisfied. When it is confirmed that the control condition is satisfied, the process of calculating the transport distance (FIG. 7) is performed. In the transport distance calculation process, the output pulses of the rotation speed sensor S3 are integrated, and the integrated pulse number is multiplied by a predetermined conversion coefficient to detect the transport distance.
Next, the sub-shift position is detected by the limit switches SW1 and SW2, and if the traveling shift position, the detected transport distance is divided by a coefficient α1 (α1> 1) to obtain a calculated transport distance. For example, the detected transport distance is used as it is as a calculated transport distance, and if it is a downshift position, the detected transport distance is divided by a coefficient α2 (α2 <1) to obtain a calculated transport distance. That is, the transport distance obtained by multiplying the integrated output pulse number from the rotation speed sensor S3 by the above conversion coefficient is configured to be a normal transport distance at the standard shift position. On the other hand, when the transport distance is longer than the actual one, and when the vehicle is in the downshift position, the detected transport distance becomes shorter than the actual one, so that it is necessary to correct it. Incidentally, the coefficients α1 and α2 correspond to the speed ratios of the subtransmission D at the traveling speed position and the downshift position, respectively, when the speed ratio at the standard speed position is 1.

After the transport distance is calculated, the state of the stock sensor S0 is checked. If the stock sensor S0 is ON, it is determined that the harvesting operation is being performed, and the stock sensor S0 is turned off.
Set distance after changing from state to ON state (this set distance is
Whether the culm has been conveyed when the culm is conveyed from the installation location of the stock sensor S0 to the installation location of the pair of tip sensors S1 and S2), ie, whether the stock sensor S0 has been turned off It is checked whether or not the calculated transport distance has reached a set distance, with the time point when the state changes to the ON state as a starting point. And only when the set distance is reached,
Set the control start flag for handling depth control.

On the other hand, if the stock sensor S0 is in the OFF state in the above, it is determined that the mowing operation has been completed. However, even if the stock sensor S0 is turned off, the grain culm in the middle of the conveyance by the vertical conveyance device 8 is determined. Are the pair of head sensors S1, S2
In order to maintain the control state until the stock sensor is transported to the installation location, whether the stock sensor S0 has been further transported by the set distance after changing from the ON state to the OFF state, that is, the stock sensor S0 has been changed from the ON state to the OFF state. It is checked whether or not the calculated transport distance has reached the set distance with the time point of change as a starting point. Then, the control start flag is cleared only when the set distance has been reached. Then, according to the state of the flag, if the flag is set, the depth control is executed, while if the flag is cleared, the depth control is not executed.

The handling depth control will be described with reference to the flowchart shown in FIG. 8. When the lower spike sensor S2 on the stock side is in the ON state, and the upper spike sensor on the spike side is used.
When S1 is in the OFF state, the processing depth is appropriate, so the processing depth adjustment is stopped after a predetermined delay time has elapsed, and the processing depth state is maintained. Also, the lower tip sensor S on the stock side
2 is in the ON state, and when the upper tip sensor S1 on the tip side is in the ON state, it is located on the deep handling side,
After the elapse of the delay time, the handle depth is adjusted to the shallow side. The delay time is determined by the head sensors S1 and S2.
The head position of the cereal stem is a predetermined distance from the position detected by the head sensors S1 and S2 in order to prevent the ON / OFF operation from being repeated in a short period of time to prevent the handling depth adjustment operation from becoming unstable (hunting). Although the distance is set to be long, the delay time is set to be sufficiently shorter than the transport time required to transport the set distance.

On the other hand, if the lower tip sensor S2 on the stock side of the pair of tip sensors S1 and S2 is in the OFF state and the upper tip sensor S1 on the tip side is in the OFF state, the sensor is located on the shallow handle side. After the delay time elapses, the handling depth adjustment is operated to the deep handling side, but when the lower tip sensor S2 on the stock side is in the OFF state and the upper tip sensor S1 on the tip side is in the ON state. In some cases, it is determined that a foreign matter such as a floating straw is clogged, the control operation is immediately stopped, and the alarm device 24 is operated to notify that the floating straw or the like is occurring.

[Alternative Embodiment] In the above embodiment, the integrated pulse number from the rotational speed detecting means S3 is multiplied by a predetermined conversion coefficient to detect the transport distance which becomes a normal value when the sub shift position is the standard shift position. When the sub-shift position is the running position or the falling position, the detected transport distance is set to the coefficient α1.
Alternatively, the correct conveyance distance is calculated by performing a correction process by dividing by the coefficient α2 (when the sub-shift position is the standard shift position), but without doing so, the integrated pulse from the rotation speed detecting means S3 is firstly calculated. The above-described correction processing may be performed on the number, and the transfer distance may be obtained by multiplying the integrated pulse number after the correction processing by the conversion coefficient. It can be changed as appropriate.

Further, in the above-described embodiment, the arithmetic unit 100 obtains the transport distance of the grain culm in the transport unit 8 based on the rotational speed information of the rotational speed detecting unit S3. You can ask for it. FIG. 9 is a flowchart of the control operation in this case.
As shown in FIG. 1, first, the rotation speed detecting means S within a predetermined time is used.
The transport speed is detected by counting the output pulses from 3. However, since the detected transport speed is a transport speed that becomes a normal value when the sub-shift position is the standard shift position, when the sub-shift position is the traveling position or the falling position, the detected transport speed is, respectively, With the coefficient α1 or the coefficient α2
And corrects it (when the sub-shift position is at the standard shift position, as it is) to calculate the correct transport speed. And, although not described in detail, since a larger amount of cereal stems are transported and supplied to the threshing apparatus as the transport speed is higher,
This transport speed information can be used as control information of the handling processing capacity of the threshing apparatus or control information of the sorting processing capacity of the sorting apparatus, for example, in association with the information on the grain culm supply amount.

In the above embodiment, the main transmission 9 for traveling is used.
Is constituted by a hydraulic stepless transmission. However, the present invention is not limited to a hydraulic type, and the number of shift stages may be a predetermined number instead of being continuously variable. In addition, the traveling auxiliary transmission D is also high, medium and low.
Although a stage is used, the present invention is not limited to this.

In the above-described embodiment, the auxiliary transmission D for traveling is used.
Speed change position detecting means SW1 and S
Although W2 is configured by a limit switch that is turned on by the swing operation position of the subtransmission lever 25, a photoelectric sensor or the like that detects in a non-contact manner may be used other than the limit switch. Also, the location and the number of the locations are not limited to those provided one each (two in total) at the traveling shift position and the downshift position.

In the above embodiment, the pair of spike tip position detecting means S1 and S2 are detected in a vertical posture at the vertical conveying device 8 for conveying the grain culm. The grain stalk may be detected in a horizontal posture on a placement guide plate or the like that receives and guides the grain stalk ear tip side portion toward the receiving port. Further, although the pair of ear position detecting means S1 and S2 and the grain stalk presence / absence detecting means S0 are configured by switches that detect the contact type, a photoelectric sensor or the like that detects the contact type may be used.

In the above embodiment, the handling depth adjusting means C
Is configured so as to adjust the handling depth by swinging the vertical transport device 8 up and down. However, the present invention is not limited to this. For example, the feed chain 7 may be moved in parallel with the threshing device 2.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[0041]

[Brief description of the drawings]

FIG. 1 is a block diagram of a control configuration.

FIG. 2 Power system diagram of the combine

FIG. 3 is an explanatory view of a main part of a transmission.

FIG. 4 is a front view of a tip position detecting means.

FIG. 5 is a side view of the front of the combine.

FIG. 6 is a flowchart of a control operation.

FIG. 7 is a flowchart of a conveyance distance calculation.

FIG. 8 is a flowchart of handling depth control.

FIG. 9 is a flowchart of a conveyance speed calculation according to another embodiment.

[Description of Signs] 1 traveling device 9 traveling main transmission device D traveling auxiliary transmission device 2 threshing device 8 transport device 40 rotating body S3 rotation speed detecting means 100 computing means SW1, SW2 sub-shift position detecting means

Claims (1)

(57) [Claims] A traveling device (8) provided with a traveling main transmission (9) and a traveling auxiliary transmission (D) for shifting the output therefrom, and transporting the harvested grain culm to a threshing device (2). Are driven by the output of the traveling main transmission (9) and the traveling device (1) is driven by the output of the traveling auxiliary transmission (D). A rotation speed detecting means (S3) for detecting the rotation speed of a rotating body (40) driven and rotated by the output of the transmission (D), and a rotation speed detection means (S3) for detecting a vehicle speed or a traveling distance, and a rotation of the rotation speed detection means (S3). A control means for calculating a transport speed or a transport distance in the transport device (8) based on the numerical information; Sub-shift position detecting means (SW1, SW1) for detecting the sub-shift position W2) is provided, and the calculating means (100) is configured to perform the transfer speed or the transfer based on the detection information of the sub-shift position detection means (SW1, SW2) and the rotation speed information of the rotation speed detection means (S3). A combine control information detection device configured to determine a distance.