JP4950706B2 - Combine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a combine harvester capable of operating a feed chain 6 corresponding to increase or decrease of reaping grain culm amount and threshing condition, etc., of grain culms and driving the feed chain 6 at conveying rate of grain culms suitable for level, etc., of skill of operators carrying out threshing operation. <P>SOLUTION: The combine harvester includes a traveling machine body 1 equipped with a traveling crawler 2 as a traveling part; a reaping device 3 arranged in the traveling machine body and reaping grain culms; a feed chain 6 for receiving the reaped grain culms from the reaping device 3 and conveying the grain culms; and a threshing device 5 for threshing grain culms conveyed by the feed chain 6. In the combine harvester, an electric motor 93 for feed chain driving the feed chain 6, a feed chain rate setter 263 for variably setting a rotation rate of the electric motor for feed chain and a threshing switch 264 for operating and stopping the electric motor 93 for feed chain are provided. <P>COPYRIGHT: (C)2008,JPO&amp;INPIT

Description

  The present invention relates to a combine that harvests an uncut grain culm in a field by a reaping device and threshs the harvested cereal by a threshing device, and more particularly, to a combine that includes an electric motor that drives each part of the reaping device. It is.

  Conventionally, it has been equipped with a traveling machine equipped with an engine, a reaping device for reaping uncut cereal grains in the field, and a threshing device for threshing the harvested cereal grains, It is configured to thresh and collect the grains (see, for example, Patent Document 1).

In this case, the conventional combine is configured to drive the culm pulling device, the cutting blade device, and the culm conveying device (feed chain, etc.) of the reaping device, respectively, with the driving force from the engine. Further, a configuration in which a cutting blade device is driven by an electric motor (for example, see Patent Document 2) and a configuration in which a cereal conveying device (scraper) is driven by an electric motor (for example, see Patent Document 3) are also known.
JP 2004-97038 A JP-A 63-258510 Japanese Patent Laid-Open No. 7-177813

  In the conventional technique, as shown in Patent Document 1, the driving force from the engine is changed in multiple stages to change the driving speed of the feed chain, thereby disturbing the conveying posture of the cereals being conveyed by the feed chain. There are problems such as. Moreover, since the drive speed of the feed chain cannot be set arbitrarily regardless of the vehicle speed or the like, there is a problem that the feed chain cannot be operated in response to the increase / decrease in the amount of harvested culm or the threshing situation of the culm. In addition, there is a problem that the feed chain cannot be driven at the cereal conveyance speed suitable for the skill level of the operator performing the handling operation.

  The purpose of the present invention is to enable the harvesting operation to be performed at the speed at which the worker wishes the cereal transport speed, while the feed chain can be operated in response to the increase or decrease in the amount of reaped culm or the threshing situation of the cereal. The present invention provides a combine in which a feed chain can be driven at a conveying speed of cereals suitable for the skill level of an operator who performs a handling operation.

To achieve the above object, the inventions according to claim 1, receiving a vehicle body having a driving unit, and reap reaping device culms arranged on the vehicle body, the culms cutting from the cutting device A feed chain that is transported in succession, a threshing device that threshs cereals that are transported in the feed chain, a waste chain that inherits waste after threshing from the feed chain, and a waste that is inherited by the waste chain In a combine comprising an exhaust cutter for cutting the exhaust chain, an electric motor for feed chain that drives the feed chain, an electric motor for drive of an exhaust chain that drives the exhaust chain, and the exhaust cutter an electric motor for straw discharge cutter drive, the transport speed setter rotational speed of the electric motor unit for variably setting a threshing switch for detecting the driving state of the threshing apparatus, the electric motor Further comprises a Te扱switch operating actuating and stopping, when the threshing switch the Te扱switched on in a state of ON, the straw discharge cutter driving electric motor is started, the straw discharge cutter drive The electric motor for driving the exhaust chain is started after a lapse of a certain time when the operation of the electric motor for driving is stabilized, and further, the electric motor for driving the feed chain is driven after a lapse of a certain time when the operation of the electric motor for driving the exhaust chain is stabilized. The electric motor is configured to start .

According to the invention which concerns on Claim 1, the traveling machine body provided with the traveling part, the reaping device which is arranged on the traveling body and harvests the culm, and the feed chain which inherits and carries the harvested culm from the reaping device A threshing device that threshs the cereals conveyed by the feed chain, a sewage chain that inherits the sewage after threshing from the feed chain, and a sewage cutter that cuts the sewage inherited by the sewage chain In the combine comprising: a feed chain electric motor for driving the feed chain; an exhaust chain drive electric motor for driving the exhaust chain; and an exhaust cutter drive electric motor for driving the exhaust cutter. motor and a conveying speed setter rotational speed of the electric motor unit for variably setting a threshing switch for detecting the driving state of the threshing apparatus, operating and stopping Misao said electric motor group Further comprises a Te扱switch, when the threshing switch the Te扱switched on in a state of ON, the straw discharge cutter starts driving the electric motor, the operation of the straw discharge electric motor for cutter driving The electric motor for driving the exhaust chain starts after a lapse of a certain time during which the feed chain is stabilized, and further, the electric motor for driving the feed chain is started after a lapse of a certain time when the operation of the electric motor for driving the exhaust chain is stabilized. Since the drive speed of the feed chain , the exhaust chain, and the exhaust cutter can be set independently regardless of the drive speed of the engine or other drive system, the operator can Depending on the skill level, the harvesting operation can be executed at the speed of the grain haul desired by the operator, and the harvesting work efficiency can be improved. Even when the combine is moving, since the feed chain , the waste chain and the waste cutter can be changed at any speed, work can be performed in accordance with the increase / decrease in the amount of harvested culm or the threshing situation of the culm. The feed chain , the exhaust chain, and the exhaust cutter can be operated at a conveyance speed desired by a person. In addition, the feed chain , the waste chain, and the waste cutter can be driven at a cereal conveyance speed suitable for the skill level of the operator performing the handling operation.

  DESCRIPTION OF EMBODIMENTS Embodiments embodying the present invention will be described below with reference to the drawings. 1 is a left side view of the combine, FIG. 2 is a plan view of the combine, FIG. 3 is a side view of the harvesting device, FIG. 4 is a plan view of the harvesting device, FIG. 5 is a drive system diagram of the combine, and FIG. It is a functional block diagram of the control means of an apparatus. The overall structure of the combine will be described with reference to FIGS. 1 and 2. In the following description, the left side in the traveling direction of the traveling machine body 1 is simply referred to as the left side, and the right side in the traveling direction is also simply referred to as the right side.

  The combine of this embodiment includes a traveling machine body 1 supported by a pair of left and right traveling crawlers 2. At the front part of the traveling machine body 1, a six-row mowing device 3 that takes in while harvesting cereals is mounted by a single-acting lifting hydraulic cylinder 4 so as to be movable up and down around the mowing rotation fulcrum shaft 4a. Yes. A threshing device 5 having a feed chain 6 and a grain tank 7 for storing grain after threshing are mounted on the traveling machine body 1 side by side. In this embodiment, the threshing device 5 is disposed on the left side in the traveling direction of the traveling machine body 1, and the grain tank 7 is disposed on the right side in the traveling direction of the traveling machine body 1. A swivelable discharge auger 8 is provided at the rear part of the traveling machine body 1, and the grains inside the grain tank 7 are discharged from the throat throw opening 9 of the discharge auger 8 to a truck bed or a container. ing. An operation cabin 10 is provided on the right side of the reaping device 3 and on the front side of the grain tank 7.

  A steering handle 11 and a driver seat 12 are arranged in the driver cabin 10. Although not shown, the driving cabin 10 includes a step in which an operator gets on, a handle column provided with a steering handle, a main transmission lever and a sub transmission lever provided on a lever column on the left side of the driving seat 12, and A threshing clutch lever and a mowing clutch lever are arranged. An engine 14 as a power source is disposed in the traveling machine body 1 below the driver seat 12.

  As shown in FIGS. 1 to 4, left and right track frames 21 are arranged on the lower surface side of the traveling machine body 1. The track frame 21 includes a drive sprocket 22 that transmits the power of the engine 14 to the traveling crawler 2, a tension roller 23 that maintains the tension of the traveling crawler 2, and a plurality of track rollers that hold the ground side of the traveling crawler 2 in a grounded state. 24 and an intermediate roller 25 that holds the non-grounded side of the traveling crawler 2 are provided. The driving sprocket 22 supports the front side of the traveling crawler 2, the tension roller 23 supports the rear side of the traveling crawler 2, the track roller 24 supports the grounding side of the traveling crawler 2, and the intermediate roller 25 supports the non-traveling crawler 2. The ground side will be supported.

  A clipper-type cutting blade device 222 that cuts the stock of uncut grain culm in the field is provided below the cutting frame 221 connected to the cutting rotation fulcrum shaft 4a of the cutting device 3. In front of the mowing frame 221, a stalk raising apparatus 223 for 6 stalks that raises uncut cereals in the field is arranged. Between the culm pulling device 223 and the front end (feed start side) of the feed chain 6, a culm conveying device 224 that conveys the chopped culm harvested by the cutting blade device 222 is arranged. In addition, in front of the lower part of the grain culling pulling device 223, a weeding body 225 for six strips for weeding the uncut grain culm in the field is projected. While the traveling crawler 2 is driven by the engine 14 and moved in the field, the reaping device 3 continuously cuts uncut cereal grains in the field.

  Next, the structure of the reaping device 3 will be described with reference to FIGS. 3 and 4. As shown in FIGS. 3 and 4, the cutting frame 221 of the cutting device 3 includes a cutting input case 16 that is rotatably supported by the bearing stand 15 on the front end side of the traveling machine body 1, and a front side from the cutting input case 16. A vertical transmission case 18 extending toward the side, a horizontal transmission case 19 extending in the left-right direction on the front end side of the vertical transmission case 18, a weed frame 20 corresponding to six strips connected to the horizontal transmission case 19, and a weed A six-part weed body 225 that is supported on the front end side of the frame 20 is disposed. The cutting input case 40, the vertical transmission case 18, the horizontal transmission case 19, and the weeding frame 20 form a main frame of the cutting device 3. A harvesting input case 17 for harvesting corn straw for transmitting power from the engine 14 is incorporated in the harvesting input case 16 horizontally mounted in the horizontal direction of the machine body.

  The grain raising device 223 has a pulling case 29 for six strips having a plurality of raising tines 28 for raising an uncut grained rice chopped by the weed board 225. The grain feeder 224 includes left and right right star wheels 30R and left and right right scooping belts 31R that squeeze the stock side of the two right-side grains introduced from the pulling case 29 for the two right-hand sides, and the left side Left and right left star wheels 30L and left and right left scooping belts 31L that scrape the stock side of the left two cereal grains introduced from the two pulling cases 29, and the center introduced from the two pulling cases 29 in the center It has left and right central star wheels 30C and left and right central rake belts 31C that rake up the stock side of the cereals for two strips.

  The cutting blade device 222 is scraped by the right star wheel 30R and the left and right right take-up belts 31R, the left star wheel 30L and the left and right left take-up belts 31L, the center star wheel 30C, and the left and right center take-up belts 31C. It has clipper-shaped left and right cutting blades 32 for cutting the stocks of the cereal grains.

  In addition, the cereal carrying device 224 is configured to carry the right stock former transport chain 33R that feeds back the stock side of the right two reaped harvested rice straw that has been raked by the right two star wheels 30R and the take-up belt 31R. And left stock transport that joins the stock side of the left two strips of harvested cereal that has been raked by the left two star foils 30L and the scraping belt 31L to the transport end of the right stock transport chain 33R In the middle of transporting the right stock transport chain 33R by transporting the stock side of the chain 33L, the central two portions of the star foil 30C and the central two strips of the harvested cereal rice bran 31C. A central stock transport chain 33C to be merged. By the left and right and center stock transport chains 33R, 33L, and 33C, the stock side of the harvested cereal grains for 6 lines is joined to the transport end of the right stock transport chain 33R.

  The grain feeder apparatus 224 includes a vertical conveyor chain 34 that inherits the stock side of the harvested grain straws from the right stocker transport chain 33R, and a transport start end of the feed chain 6 from the transport terminal end of the vertical conveyor chain 34. And auxiliary stock transport chains 35, 36 for transporting the stock side of the harvested cereals for six lines. From the vertical conveyance chain 34, the stock side of the harvested cereals for 6 ridges is conveyed to the conveyance start end portion of the feed chain 6 through the auxiliary stock source conveyance chains 35 and 36.

  The grain culm transporting device 224 is transported by the right stalk transporting tine 37R that transports the head of the harvested stalks for the two right-hand ridges transported by the right stock transporting chain 33R and the left stock transporting chain 33L. Left tip transport tine 37L that transports the tip of the harvested cereals for the left two strands, and central tip transport tine that transports the tip of the harvested cereals for the central two strips transported by the central stock transport chain 33C 37C and a rear tip transporting tine 38 that transports the tip side of the cut grain cereals for six strips transported by the vertical transport chain 34. The tip side of the harvested cereal cocoons for the six strips harvested by the reaping device 3 is transported into the handle barrel 226 of the threshing device 5.

  Next, the drive structure of the reaping device 3 will be described with reference to FIG. As shown in FIG. 5, the pulling drive electric motor 90 that drives the grain raising device 223, the left and right cutting blade driving electric motors 91 that drive the cutting blade device 222, and the grain conveying device 224 are rotated forward and backward. An electric motor 92 for driving to be switched is provided, and the culm pulling device 223, the cutting blade device 222, and the culm conveying device 224 are driven by their respective electric motors. The pulling lateral transmission shaft 48 is connected to the output shaft of the pulling drive electric motor 90. The pulling lateral transmission shaft 48 is connected to the pulling tine drive shaft 45 of each pulling case 29 for six lines. A pulling case 29 is erected on the rear side of the weeding body 225 and above the weeding frame 20. The pulling tine chain 28 a provided with a plurality of pulling tines 28 is driven by the pulling drive electric motor 90 via the pulling tine drive shaft 45 and the pulling lateral transmission shaft 48.

  As shown in FIG. 5, the left and right cutting blades 32 are connected to the left and right cutting blade driving electric motors 91 via the left and right crankshafts 52a and 52b. The left and right cutting blades 32 are driven in synchronization by the left and right cutting blade driving electric motors 91. The cutting blade device 222 is divided at the central portion of the cutting width for six lines to form the left and right cutting blades 32, and the left and right cutting blades 32 are reciprocated in opposite directions, and left and right generated by the reciprocating movement. The vibration (inertial force) of the cutting blade 32 can be offset.

  As shown in FIG. 5, the conveying input shaft 17 for the harvesting cereal masher is connected to the output shaft of the electric motor 92 for conveying driving, and one end side of the vertical transmission shaft 40 in the vertical transmission case 18 is connected to the conveying input shaft 17. Link. One end side of the lateral transmission shaft 41 in the lateral transmission case 19 is connected to the other end side of the longitudinal transmission shaft 40. The rotational force of the conveyance drive electric motor 92 is transmitted from the vertical transmission shaft 40 and the horizontal transmission shaft 41 to each drive unit of the cereal conveyance device 224.

  That is, the vertical transmission shaft 40 is connected to the rear conveyance drive shaft 54 and the right conveyance drive shaft 62. The auxiliary drive chains 35 and 36 and the rear tip transfer tine 38 are driven by the transfer drive electric motor 92 via the vertical transmission shaft 40 and the rear transfer drive shaft 54. In addition, the right drive base transport chain 33R and the right tip transport tine 37R, the right star wheel 30R and the right take-up belt 31R are driven by the transport drive electric motor 92 via the right transport drive shaft 62. is doing. Further, the vertical conveyance transmission shaft 63 is connected to the right conveyance driving shaft 62, and the vertical conveyance chain 34 is driven by the conveyance driving electric motor 92 via the right conveyance driving shaft 62 and the vertical conveyance transmission shaft 63. is doing.

As shown in FIG. 5, a left transport drive shaft 69 is connected to the left end side of the lateral transmission shaft 41. The left drive base transport chain 33L and the left tip transport tine 37L, the left star wheel 30L and the left take-up belt 31L are driven by the transport drive electric motor 92 via the left transport drive shaft 69. Yes. Further, connecting the central transfer drive shaft 75 to the horizontal transmission shaft 41 by the transfer drive motor 92, and through a central transfer drive shaft 75, and the central lines based on the transport chain 33C and the central tip conveying tines 37C, the central star The wheel 30C and the central take-up belt 31C are configured to be driven.

  Next, with reference to FIG.1 and FIG.2, the structure of the threshing apparatus 5 is demonstrated. As shown in FIG. 1 and FIG. 2, the threshing device 5 includes a handling cylinder 226 for threshing threshing, a rocking sorter 227 for sorting out shed matter falling below the handling cylinder 226, and a tang fan 228. The processing cylinder 229 for reprocessing the threshing waste taken out from the rear part of the handling cylinder 226 and the dust exhaust fan 230 for discharging the dust at the rear part of the swing sorter 227 are provided. The rotation axis of the handling cylinder 226 extends along the conveying direction of the cereal by the feed chain 6 (in other words, the traveling direction of the traveling machine body 1). The stock source side of the corn straw conveyed from the reaping device 3 by the corn straw conveying device 224 is inherited by the feed chain 6 and is nipped and conveyed. Then, the tip side of the cereal cocoon is carried into the handling chamber of the threshing device 5 and threshed by the handling drum 226.

  On the lower side of the swing sorter 227, a first conveyor 231 that takes out the grain (first thing) sorted by the swing sorter 227, and a second that takes out a second thing such as a grain with a branch raft. A conveyor 232 is provided. The two conveyors 231 and 232 of this embodiment are arranged in the order from the front side in the traveling direction of the traveling machine body 1 to the upper surface side of the traveling machine body 1 above the rear part of the traveling crawler 2 in a side view in order of the first conveyor 231 and the second conveyor 232. It is installed.

  The swing sorter 227 is configured such that the cereals that have leaked from the receiving net 237 stretched below the handling cylinder 226 are peristally sorted (specific gravity sorting) by the feed pan 238 and the chaff sheave 239. The grains falling from the rocking sorter 227 are removed by the sorting air from the red pepper fan 228, and fall first on the conveyor 231. A cereal conveyor 233 extending in the vertical direction is connected to a terminal portion of the first conveyor 231 that protrudes outward from one side wall (right side wall in the embodiment) of the threshing device 5 near the grain tank 7. . The grain taken out first from the conveyor 231 is carried into the grain tank 7 via the cereal conveyor 233 and collected in the grain tank 7. In addition, along the inclination of the rear surface of the grain tank 7, the raising conveyor 233 is erected on the rear side of the grain tank 7 in a backward inclined posture in which the upper end side of the raising conveyor 233 is inclined backward.

  Further, the swing sorter 227 is configured to drop a second thing such as a grain with a branch infarction from the chaff sheave 239 onto the second conveyor 232 by peristaltic sorting (specific gravity sorting). A sorting fan 241 for wind-selecting the second thing falling below the chaff sheave 239 is provided. As for the second thing that has fallen from the chaff sheave 239, dust and swarf in the grain are removed by the sorting air from the sorting fan 241 and dropped onto the second conveyor 232. The terminal portion of the second conveyor 232 that protrudes outward from one side wall near the grain tank 7 in the threshing device 5 crosses the cereal conveyor 233 and extends in the front-rear direction through the feed conveyor 238. The second item is returned to the upper surface side of the feed pan 238 and re-sorted.

  On the other hand, a waste chain 234 is disposed on the rear end side (feed end side) of the feed chain 6. The slag passed from the rear end side of the feed chain 6 to the sewage chain 234 (the slag from which the grain has been threshed) is discharged to the rear of the traveling machine body 1 in a long state, or the rear side of the threshing device 5 After being cut to a suitable length by the waste cutter 235 provided on the rear, the machine is discharged to the lower rear side of the traveling machine body 1.

  Next, the drive structure of the threshing device 5, the feed chain 6, the waste chain 234, and the waste cutter 235 will be described with reference to FIG. As shown in FIG. 5, the output shaft 70 projects from the front side and the rear side of the engine 14. After connecting the input shaft of the transmission case 71 to the output shaft 70 on the front side of the engine 14 via a universal joint, and the rotational driving force of the engine 14 is transmitted from the front output shaft 70 to the transmission case 71 and shifted, The left and right traveling crawlers 2 are transmitted to the left and right traveling crawlers 2 via the left and right axles 72, and the left and right traveling crawlers 2 are driven by the rotational driving force from the engine 14.

  As shown in FIG. 5, a radiator cooling fan 73 for cooling the engine 14 and a generator for supplying power for operating the electric motors 90, 91, 92, 93, 94, 95 and the like described above. 89. A fan drive shaft 88 that supports a cooling fan 73 is connected to the output shaft 70 on the rear side of the engine 14. The fan drive shaft 88 is connected to the input shaft of the generator 89. The cooling fan 73 and the generator 89 are driven by the rotational driving force of the engine 14. In addition, a discharge auger drive shaft 76 is connected to the output shaft 70 on the rear side of the engine 14, and the discharge auger 8 is driven via the discharge auger drive shaft 76 by the rotational drive force from the engine 21, The grain is configured to be discharged into a container or the like.

  Further, a threshing drive shaft 77 that transmits the rotational driving force from the engine 14 to the handling cylinder 226 and the processing cylinder 230 is provided. A threshing drive shaft 77 is connected to the output shaft 70 on the rear side of the engine 14 via a tension roller type threshing clutch 78 and a threshing drive belt 79. The threshing drive shaft 77 is connected to a handling cylinder shaft 80 that supports the processing cylinder 226 and a processing cylinder shaft 81 that supports the processing cylinder 230. The handling cylinder 226 and the processing cylinder 230 are configured to be driven at a substantially constant speed by a rotational driving force (a constant rotational force) from the engine 14. A sorting input shaft 82 is connected to the threshing drive shaft 77. Due to the rotational driving force (a constant rotational force) from the engine 14, the swinging sorter 227, the Kara fan 228, the first conveyor 231, the second conveyor 232, the sorting fan 241, and the dust exhaust fan 230 via the sorting input shaft 82. Is driven at a substantially constant speed.

  As shown in FIG. 5, a feed chain drive electric motor 93 that drives the feed chain 6 so as to be able to switch between forward and reverse rotations, and an exhaust chain drive electric motor 94 that drives the reject chain 234 so as to be able to switch between forward and reverse rotations. And a waste cutter driving electric motor 95 that drives the waste cutter 235 so that forward / reverse rotation switching is possible. The feed chain 6, the waste chain 234, and the waste cutter 235 are configured to be driven in the normal rotation direction or the reverse rotation direction by their respective independent electric motors.

  Next, the harvest control of the combine of this embodiment (the control of the grain mash in the reaping device 3 and the threshing device 5) will be described. FIG. 6 is a functional block diagram of the harvest control unit of the combine, and includes a work controller 282 such as a microcomputer having a ROM storing a control program and a RAM storing various data. As shown in FIG. 6, the threshing switch 272 that detects the operation of a threshing clutch lever (not shown) for driving the threshing device 5, and the reaping device 3 are provided on the input side of the work controller 282 constituted by a microcomputer. And a work switch 273 for driving the feed chain 6, the waste chain 234 and the waste cutter 235, a reverse sensor 276 for detecting a reverse switching operation of the operator (shift lever), and an operator's flow pedal (not shown). A casting switch 278 for detecting a stepping operation, a sub-shift switch 279 for performing sub-shift switching (low speed or high speed), an auto lift switch 280 for automatically raising or lowering the reaping device 3, and driving of the traveling crawler 2 A vehicle speed sensor 285 for detecting the number of rotations (vehicle speed), and a conveying culm (cutting) of the cutting device 3 A crop sensor 287 for detecting the presence or absence of culm), are connected. The crop sensor 287 is connected to the input side of the work controller 282 via a timer 286 having an off-delay function.

Further, on the input side of the work controller 282, there are a pulling speed setting device 261 that adjusts the output rotation speed (driving speed) of the pulling drive electric motor 90 steplessly, and an output rotation speed ( Cutting blade speed setting device 262 for continuously adjusting the driving speed) and electric motor 92 for conveying driving (feed chain driving electric motor 93, waste chain driving electric motor 94, waste cutter driving electric motor 95) The feed speed setting device 263 for adjusting the output rotation speed (driving speed) of the feedlessly and the feed chain driving electric motor 93 (the waste chain driving electric motor 94 and the waste cutter driving electric motor 95) are operated and operated. And a handling switch 264 for stopping operation, and an electric motor 92 for conveying drive (an electric motor 93 for driving a feed chain, an electric motor 94 for driving an exhaust chain, an exhaust cutter) A reverse rotation switch 265 you reverse rotation manipulate the dynamic electric motor 95) are connected.

  As shown in FIG. 6, on the output side of the work controller 282, there are a pulling driver 301 that operates the pulling drive electric motor 90, and left and right cutting blade drivers 302 that operate the left and right cutting blade driving electric motors 91. A transport driver 303 that operates the transport drive electric motor 92, a feed chain driver 304 that operates the feed chain drive electric motor 93, an exhaust driver 305 that operates the exhaust chain drive electric motor 94, and an exhaust A cutter driver 306 that operates the electric motor 95 for driving the cutter is connected.

  Further, on the output side of the work controller 282, there are a rotation sensor 311 for detecting the output rotation speed of the pulling drive electric motor 90, a rotation sensor 312 for detecting the output rotation speed of the cutting blade driving electric motor 91, and a conveyance drive. A rotation sensor 313 for detecting the output rotation speed of the electric motor 92 for driving, a rotation sensor 314 for detecting the rotation speed of the electric motor 93 for driving the feed chain, and an output rotation speed of the electric motor 94 for driving the discharge chain. The rotation sensor 315 is connected to a cutter rotation sensor 316 that detects the output rotation speed of the electric motor 95 for driving the discharge cutter.

  As shown in FIG. 6, a generator 89 driven by the engine 14 includes a pulling drive electric motor 90 and a pulling driver 301, left and right cutting blade driving electric motors 91 and left and right cutting blade drivers 302, and conveyance driving. Electric motor 92 and conveying driver 303, feed chain driving electric motor 93 and feed chain driver 304, waste chain driving electric motor 94 and waste driver 305, waste cutter driving electric motor 95 and cutter driver. 306 is connected. Using the generator 89 as a power source, the pulling drive electric motor 90, the left and right cutting blade driving electric motors 91, the conveyance driving electric motor 92, the feed chain driving electric motor 93, the rejection chain driving electric motor 94, the rejection The cutter driving electric motor 95 is configured to be operable. As shown in FIG. 5, the generator 89 is driven via the fan drive shaft 88, but may be driven via the sorting input shaft 82, and only when the threshing device 5 (handle cylinder 226) is in operation. The generator 89 can be configured to operate.

  Next, FIG. 7 is a flowchart of combine harvesting operation control. Referring to FIG. 7, pulling drive electric motor 90, left and right cutting blade drive electric motor 91, transport drive electric motor 92, feed chain drive electric motor 93, reject chain drive electric motor 94, reject Harvesting operation control for operating the cutter driving electric motors 95 will be described. When the threshing switch 272 is turned on (S1yes) and the work switch 272 is turned on (S2yes), cutter motor operation control is performed to operate the electric motor 95 for driving the waste cutter (S3). In this cutter motor operation control, the reject cutter 235 is driven by the reject cutter driving electric motor 95 at the vehicle speed synchronization speed calculated from the set value of the transport speed setter 263 and the detected value of the vehicle speed sensor 285. . Regardless of the setting value of the conveyance speed setting device 263 or the detection value of the vehicle speed sensor 285, the electric motor 95 for driving the discharge cutter is operated at a substantially constant drive speed, and the discharge cutter 235 is always operated at a substantially constant drive speed. May be driven.

  When the cutter motor operation control is executed and the discharge cutter driving electric motor 95 is started (S4yes), the discharge chain driving electric motor 95 is driven after a certain time (for example, about 1 to 3 seconds) when the operation of the motor 95 is stabilized. Exhaust motor operation control for operating the motor 94 is performed (S5). In this waste motor operation control, the waste chain driving electric motor 94 drives the waste chain 234 at a vehicle speed synchronization speed calculated from the set value of the transport speed setter 263 and the detected value of the vehicle speed sensor 285. The

  When the waste motor operation control is executed and the waste chain drive electric motor 94 is started (S6yes), the feed chain drive electric motor is passed after a certain time (for example, about 1 to 3 seconds) when the operation of the motor 94 is stabilized. F. Operate motor 93 C motor operation control is performed (S7). This F. In the C motor operation control, the feed chain 6 is driven by the feed chain driving electric motor 93 at the vehicle speed synchronization speed calculated from the set value of the conveyance speed setter 263 and the detected value of the vehicle speed sensor 285.

  F. When the C motor operation control is executed and the feed chain driving electric motor 93 is activated (S8 yes), the transport driving electric motor 92 is turned on after a certain time (for example, about 1 to 3 seconds) when the operation of the motor 93 is stabilized. Operation control to operate is performed (S9). In this transport motor operation control, the grain drive device 224 is driven by the transport drive electric motor 92 at the vehicle speed synchronization speed calculated from the set value of the transport speed setter 263 and the detected value of the vehicle speed sensor 285.

  When the conveyance motor operation control is executed and the conveyance drive electric motor 92 is activated (S10 yes), the cutting blade drive electric motor 91 is turned on after a certain time (for example, about 1 to 3 seconds) when the operation of the motor 92 is stabilized. The cutting blade motor operation control to operate is performed (S11). In this cutting blade motor operation control, the left and right cutting blades 32 are driven at the vehicle speed synchronization speed calculated from the setting value of the cutting blade speed setting device 262 and the detection value of the vehicle speed sensor 285 by the left and right cutting blade driving electric motors 91. Is driven.

  When the cutting blade motor operation control is executed and the cutting blade driving electric motor 91 is activated (S12yes), after a certain time (for example, about 1 to 3 seconds) when the operation of the motor 91 is stabilized, the pulling driving electric motor 90 is driven. The pulling motor operation control is performed (S13). When this pull-up motor operation control is executed and the pull-up drive electric motor 90 is started (S14yes), the pull-up drive electric motor 90 is calculated from the set value of the pull-up speed setter 261 and the detected value of the vehicle speed sensor 285. At the vehicle speed synchronization speed, the stalk raising apparatus 223 for six items is driven.

  As described above, the waste chain drive electric motor 94, the feed chain drive electric motor 93, the transport drive electric motor 92, and the cutting blade in this order from the waste cutter drive electric motor 95 on the downstream side of the grain pod. By starting the drive electric motor 91 and the pulling drive electric motor 90, it is possible to reduce the power supply voltage from being lowered at the time of startup, and to reduce the load on the generator 89. Can operate.

  Further, when the threshing switch 272 is turned on (S1yes) and the work switch 272 is turned on (S2yes), the waste cutter driving electric motor 95 does not start (S4no), or the waste chain driving electric motor 94. Does not start (S6no), or F. When the C motor operation control is executed and the feed chain driving electric motor 93 does not start (S8no), the conveyance driving electric motor 92 does not start (S10no), or the cutting blade driving electric motor 91 does not start (S12no), or when the pulling drive electric motor 90 does not start (S14no), the waste cutter drive electric motor 95, the waste chain drive electric motor 94, the feed chain drive electric motor 93, the transport drive electric motor Stop control for stopping and maintaining the cutting blade driving electric motor 91 and the pulling driving electric motor 90 is executed (S15). When each motor is started in order from the downstream side of the cereal transport, stop the start of the motor upstream of the abnormal motor that does not start, and the upstream of the abnormal motor that does not start Prevents clogging. In addition, if any motor fails while all the motors are operating, each rotation sensor indicates that the rotation of any one of the motors 90 to 95 has been reduced (overcurrent) due to, for example, overload (grain clogging etc.) When any one of 311 to 316 is detected, firstly, the failed overcurrent motor and the motor on the upstream side of the cereal conveyance are stopped at the same time, and after a certain time has elapsed from the failure, the failed overcurrent The motor on the downstream side of the transport of grain cereals is stopped in order from the upstream side of the transport to prevent untreated cereals (crop) from remaining in the middle of the transport.

  On the other hand, when the work switch 272 is switched from ON to OFF, the cutting blade driving electric motor 91, the conveying driving electric motor 92, and the feed chain driving electric motor are sequentially started from the pulling driving electric motor 90 on the upstream side of the grain pod. The motor 93, the waste chain driving electric motor 94, and the waste cutter driving electric motor 95 are stopped every time a predetermined time elapses. By stopping each motor at a different timing, it is possible to reduce the regenerative current generated when each motor stops, to reduce the power supply voltage from becoming abnormally excessive, and It can be prevented from remaining, and all motors can be stopped after the processing of the cereal (crop). Further, when a certain period of time has elapsed since the crop sensor 287 no longer detects cereals, the motors are stopped at different timings in the same manner as the operation switch 272 is turned off.

  Next, FIG. 8 is a flow chart of the speed control of the reaping device 3, and FIG. 9 is the reaping rotational speed KVx (of the reaping device 3) of the reaping device 3 (the cereal pulling and raising device 223, the cutting blade device 222, the culm transporting device 224). It is a diagram which shows the relationship between driving speed) and vehicle speed SV. With reference to FIG.8 and FIG.9, the control which switches the drive speed of the cereal conveyance apparatus 224 is demonstrated. When the work switch 273 is turned on (S16yes), the autolift switch 280 is turned on and the reaping device 3 is lowered to the culm cutting height (S17yes), the cutting rotational speed KVx of the electric motor 92 for driving and driving is rotated at a constant low speed. Low speed constant speed control to Vq is performed (S18). The grain drive device 224 is driven at the low speed and constant speed rotation Vq by the transfer driving electric motor 92.

  On the other hand, when the low speed constant speed control (S18) is being performed, when the moving speed is changed by the operator so as to increase the vehicle speed SV and the harvesting operation is started, it is input from the vehicle speed sensor 285. When the vehicle speed SV is increased to the vehicle speed qH corresponding to the lower return point Dt2 (S19yes), vehicle speed synchronization speed control is performed (S20). In this vehicle speed synchronization speed control, the drive speed of the grain transporting device 224 of the transport drive electric motor 92 is switched to a vehicle speed synchronization speed that is in synchronization with the vehicle speed SV and increases in proportion to the increase in the vehicle speed SV. It will be.

  When the vehicle speed synchronization speed control (S20) is performed, the movement speed is changed by the operator so as to slow down the vehicle speed SV, and the vehicle speed SV input from the vehicle speed sensor 285 corresponds to the lower shift point Dt. When the vehicle speed is reduced to the vehicle speed tH (S21 yes), the low speed constant speed control is performed to set the rotation speed KVx of the transport driving electric motor 92 to the low speed constant speed rotation Vq (S22). The vehicle speed tH corresponding to the lower shift point Dt is the lower limit of the vehicle speed SV in the vehicle speed tuning section D. The rotation speed Vt of the transport driving electric motor 92 corresponding to the lower shift point Dt is switched to the low speed constant speed rotation Vq corresponding to the lower constant speed point Dt1 substantially the same as the lower return point Dt2.

  When the low speed constant speed control (S22) is performed, the cereals harvested by the reaping device 3 are carried out to the threshing device 5, and the cereals detected by the crop sensor 287 disappear from the reaping device 3. (S23no), stop control is performed to stop all the reaping devices 3 including the culm conveying device 224 (S24).

  When the vehicle speed synchronization speed control (S20) is being performed, the movement speed is changed by the operator so as to increase the vehicle speed SV, and the vehicle speed SV input from the vehicle speed sensor 285 corresponds to the upper shift point Dr. When the vehicle speed is increased to the vehicle speed rH (S25yes), high speed constant speed control is performed so that the cutting rotational speed KVx of the electric motor 92 for transport driving is changed to the high speed constant speed rotation Vrx (S26). The speed rotation Vr of the reaping device 3 corresponding to the upper shift point Dr is switched to the high speed constant speed rotation Vrx corresponding to the first upper constant speed point Dr1, and all of the reaping devices 3 including the grain feeder 224 are constant at high speed. Driven by the speed rotation Vrx. The vehicle speed rH corresponding to the upper shift point Dr becomes the upper limit of the vehicle speed SV in the vehicle speed tuning section D.

  On the other hand, when the high-speed constant speed control (S26) is being performed, the movement speed is changed by the operator so as to slow down the vehicle speed SV, and the vehicle speed SV input from the vehicle speed sensor 285 becomes the upper return point Dr3. When the vehicle speed is reduced to the corresponding vehicle speed pH (S27yes), vehicle speed synchronized speed control is performed (S5). The drive speed of each part in all the reaping devices 3 including the grain feeder 224 is switched from the high speed constant speed rotation Vrx corresponding to the second upper constant speed point Dr2 to the vehicle speed synchronized speed rotation Vry corresponding to the upper return point Dr3. The vehicle speed is synchronized with the vehicle speed SV, and the vehicle speed is synchronized with the vehicle speed synchronization pattern that increases in proportion to the increase in the vehicle speed SV.

  9 and 10, a vehicle speed tuning section D of the transport driving electric motor 92 and a vehicle speed tuning section E of the transport driving electric motor 92 are formed. The upper and lower limits of the vehicle speed SV are different in the vehicle speed synchronization speed in each of the vehicle speed synchronization sections D and E. On the other hand, the range (Vr to Vt) of the vehicle speed synchronization speed corresponding to the vehicle speed SV in each of the vehicle speed synchronization sections D and E, and the reaping device 3 (the grain culling device 223, the cutting blade device 222, and the culm conveying device 224). The same value is adopted for the low speed constant speed Vq and the high speed constant speed Vrx of the cutting device 3.

  In other words, the driving speed KVx in the reaping device 3 (the grain culling and grain raising device 223, the cutting blade device 222, the corn straw conveying device 224) is synchronized with the vehicle speed SV and increases in proportion to the increase in the vehicle speed SV. The reaping device 3 is driven by switching to one of the substantially constant rotation speeds Vq and Vrx set in advance regardless of the increase or decrease in the vehicle speed synchronization speed or the vehicle speed SV. When the vehicle speed SV in the vehicle speed synchronization section D decelerates to the lower shift point Dt, the driving speed KVx of the reaping device 3 is switched to the low constant speed Vq, while when the vehicle speed SV increases to the upper shift point Dr, Control is performed so that the driving speed KVx is switched to the high-speed constant speed Vrx.

  Therefore, when the vehicle speed SV in the vehicle speed synchronization section D is decelerated to the lower shift point Dt, the driving speed KVx of the reaping device 3 (the grain feeder 224) is switched to the low constant speed Vq. By determining the vehicle speed tH of the lower shift point Dt so that it can be driven at a vehicle speed synchronization speed slower than the constant speed Vq, the reaping operation of the reaping device 3 in the low-speed traveling harvesting work with the low-speed constant speed control is performed. It is possible to prevent the grain tips from being handled and shed.

  On the other hand, when the vehicle speed SV is increased to the upper shift point Dr, the driving speed KVx of the reaping device 3 (the grain feeder 224) is controlled to be switched to the high speed constant speed Vrx. By determining the vehicle speed rH of the upper shift point Dr so as to be able to be driven at a high speed constant speed Vrx faster than the tuning speed, it is possible to prevent an overload in the high speed traveling harvesting operation with the high speed constant speed control.

  Therefore, the reaping device 3 (the grain culling and raising device 223, the cutting blade device 222, the corn straw transporting device 224) is operated at a constant low speed Vq or a constant constant high speed during either the low speed traveling harvesting operation or the high speed traveling harvesting operation. It can be appropriately driven at the speed Vrx, can improve the harvesting workability of the low-speed traveling harvesting work, and can improve the work efficiency of the high-speed traveling harvesting work.

  The low speed constant speed Vq is set higher than the driving speed KVx of the reaping device 3 (the grain hauling device 224) corresponding to the vehicle speed SV being the lower shift point Dt. When the reaping device 3 is driven at a vehicle speed synchronization speed that follows the vehicle speed synchronization pattern, the vehicle speed in the vehicle speed synchronization section is set at the lower shift point Dt so that the drive speed KVx of the reaping device 3 is lower than the constant low speed Vq. Even if it is temporarily decelerated to near, the driving speed KVx of the reaping device 3 is kept at the vehicle speed synchronization speed that follows the vehicle speed synchronization pattern, and the tip of the cereal is handled by the raising operation of the cutting section and shed. Can be prevented.

  When the vehicle speed SV is increased by an appropriate value from the lower shift point Dt, the driving speed KVx of the reaping device 3 (the grain haul transport device 224) once at the low speed constant speed Vq is on the vehicle speed synchronization pattern. After returning to the lower return point Dt2, the work controller 282 switches to adopt the vehicle speed tuning speed on the vehicle speed tuning pattern as the driving speed KVx, so the vehicle speed qH of the lower return point Dt2 is changed to the lower shift point Dt. By making the speed faster than the vehicle speed tH, the driving speed KVx of the reaping device 3 can be smoothly switched from the low speed constant speed Vq to the vehicle speed tuning speed according to the vehicle speed tuning pattern.

  The high-speed constant speed Vrx is set higher than the driving speed KVx of the reaping device 3 (the grain feeder 224) corresponding when the vehicle speed SV in the vehicle speed synchronization section D is the upper shift point Dr. The driving speed KVx of the reaping device 3 can be switched from the vehicle speed tuning speed along the vehicle speed tuning pattern to the high speed constant speed Vrx with a margin for the output of the engine 14. When the reaping device 3 is driven at a vehicle speed synchronization speed that follows the vehicle speed synchronization pattern, the reaping device 3 can be smoothly shifted to the high-speed traveling harvesting operation that is driven at the high-speed constant speed Vrx. Can be improved.

  When the vehicle speed SV is decelerated by an appropriate value from the upper shift point Dr, the driving speed KVx of the reaping device 3 (the grain feeder 224) that has once reached the high speed constant speed Vrx is the upper return point on the vehicle speed synchronization pattern. After returning to Dr3, the work controller 282 switches to adopt the vehicle speed tuning speed on the vehicle speed tuning pattern as the driving speed KVx. Therefore, the vehicle speed pH of the upper return point Dr3 is changed to the vehicle speed rH of the upper shift point Dr. The driving speed KVx of the reaping device 3 can be smoothly switched from the vehicle speed tuning speed along the vehicle speed tuning pattern to the high speed constant speed.

  The work controller 282 switches the driving speed KVx of the reaping device 3 (the grain culling and raising corn device 223, the cutting blade device 222, and the corn straw conveying device 224) from the vehicle speed synchronized speed to the low constant speed Vq when moving backward. To control. Since the reaping device 3 is in a stopped state during reverse travel, even if the reaping device 3 is driven from a stopped state, the reaping device 3 starts to be driven at a constant low speed Vq. The impact load at the start of driving can be suppressed.

  As shown in the flowchart of FIG. 11 and the output diagram of FIG. 12, the reaping device 3 (the grain culling apparatus 223, the blade apparatus 222, and the grain conveying apparatus 224) is operated at a speed higher than the vehicle speed synchronization speed. The high-speed cut control for constant rotation will be described. When the vehicle speed synchronization control is being performed (S28yes), when the vehicle speed SV is equal to or higher than the vehicle speed a (S29yes), high speed constant rotation control is performed to rotate the mowing device 3 at a speed higher than the vehicle speed synchronization speed (S30). On the other hand, when the vehicle speed SV is not equal to or higher than the vehicle speed a (S29no), vehicle speed synchronization control is performed (S31). On the other hand, when the vehicle speed tuning control is not being performed (S28no), when the vehicle speed SV is less than the vehicle speed b (S32yes), the vehicle speed tuning control is performed (S31). On the other hand, when the vehicle speed SV is not less than the vehicle speed b (S32no), high speed constant rotation control is performed to rotate the reaping device 3 at a speed higher than the vehicle speed synchronization speed (S30).

  As shown in FIG. 12, when the reaping device 3 is driven at a constant speed at a low speed or at a high speed, the work speed when switching to a high speed cut that is driven at a high speed and a constant speed, and the work speed when canceling this switching. And different. When the work speed becomes higher than the vehicle speed a (or vehicle speed b) in the state of cutting work (high speed or low speed), the driving of the cutting apparatus 3 is switched to high speed cutting (high speed and constant speed driving). Further, when the cutting quick operation is canceled, the high speed cut is maintained when the operating speed is reduced until the operating speed of the high speed cutting cancellation value that is smaller than the high speed cutting of the cutting driving speed reaches the vehicle speed c (or the vehicle speed d). . When the work speed reaches the vehicle speed c (or the vehicle speed d), the driving of the reaping device 3 is returned to the normal speed.

  As shown in the flowchart of FIG. 13 and the output diagram of FIG. 14, a quick harvesting control for rotating the mowing device 3 (the grain culling and raising device 223, the cutting blade device 222, and the cocoon conveying device 224) will be described. When the pouring pedal, which is a mowing quick pedal, is stepped on and the pouring switch 278 is turned on (S33yes), it moves forward (S34yes), the mowing speed is high, and the vehicle speed SV is higher than the vehicle speed a ( (S35yes), a cutting quick “high” rotation control is performed to drive the reaping device 3 at a constant speed at a speed higher than or equal to the vehicle speed synchronization speed (S36). On the other hand, when the vehicle speed SV is not equal to or higher than the vehicle speed a (S35no), a cutting quick “low” rotation control is performed in which the driving speed of the reaping device 3 is driven to rotate at a constant speed at a low speed lower than or equal to the vehicle speed synchronization speed (S37). ).

  When the vehicle is not moving forward (S34no), the reaping device 3 performs reaping quick “low” rotation control that drives the reaping device 3 at a constant speed at a low speed lower than or equal to the vehicle speed synchronization speed (S38). Further, when the pouring switch 278 is off, vehicle speed tuning control is performed.

  Therefore, as shown in FIG. 14, the driving speed of the reaping device 3 (the corn straw pulling and raising device 223, the cutting blade device 222, the corn straw conveying device 224) is set to a low constant speed, a vehicle speed synchronization speed, or a high speed constant speed. Therefore, it is possible to prevent the grain tip from being handled in the pulling work of the reaping device 3 in the low-speed traveling harvesting work and preventing the grain from being shattered. On the other hand, it is possible to prevent an overload in a high-speed traveling harvesting operation. In either the low-speed traveling harvesting operation or the high-speed traveling harvesting operation, the mowing device 3 is properly controlled by the mowing quick “low” rotation control (low speed constant speed) or the mowing quick “high” rotation control (high speed constant speed). It is possible to drive, improve the harvesting workability of the low-speed traveling harvesting work, and improve the work efficiency of the high-speed traveling harvesting work.

  As shown in FIG. 14, the cutting quick “low” rotation control (low speed constant speed) is performed when the vehicle speed in the vehicle speed tuning section is a lower shift point for switching the driving speed of the cutting device 3 to the low speed constant speed. The driving speed of the reaping device 3 is set to be higher than the driving speed of the corresponding reaping device 3. Therefore, when the reaping device 3 is driven at a vehicle speed synchronization speed that follows the vehicle speed synchronization pattern, the driving speed of the reaping device 3 is less than the reaping quick “low”. Even if the vehicle speed in the vehicle speed synchronization section is temporarily decelerated to near the lower shift point so as to be lower than the rotation control, the driving speed of the reaping device 3 is maintained at the vehicle speed synchronization speed according to the vehicle speed synchronization pattern. It is possible to prevent the tip of the reed from being shattered by being handled in the raising operation of the cutting device 3.

  As shown in FIG. 14, the cutting quick “high” rotation control (high speed constant speed) is performed when the vehicle speed in the vehicle speed tuning section is an upper shift point for switching the driving speed of the cutting device 3 to the high speed constant speed. Since the driving speed of the corresponding reaping device 3 is set higher than the driving speed of the corresponding reaping device 3, the driving speed of the reaping device 3 is changed from the vehicle speed synchronization speed according to the vehicle speed synchronization pattern with a margin in the output of the engine 14. Can switch to “high” rotation control. When the reaping device 3 is driven at a vehicle speed synchronization speed that follows the vehicle speed synchronization pattern, the reaping device 3 can be smoothly shifted to the high speed traveling harvesting operation driven by the mowing quick “high” rotation control. Work efficiency can be improved.

  In addition, the reaping device 3 is driven at a vehicle speed synchronized drive that changes the cutting speed in synchronization with the vehicle speed or a constant speed casting drive speed that keeps the cutting speed substantially constant, while the constant speed casting driving speed is reduced to a high speed and a low speed. Since the reaping device 3 is driven at the above-mentioned constant speed pouring drive speed of high speed or low speed, the reaping device 3 can be used in either the low speed traveling harvesting operation or the high speed traveling harvesting operation. It can be appropriately driven by the harvesting quick “low” rotation control or the harvesting quick “high” rotation control, improving the harvesting workability of the low-speed traveling harvesting operation, and improving the work efficiency of the high-speed traveling harvesting operation. In addition, by making the vehicle speed tuning speed of the reaping device 3 lower than the constant speed driving driving speed on the low speed side, the driving speed of the reaping device 3 can be changed by the operator's switching operation in the entire vehicle speed tuning speed of the reaping device 3. Speeds up and allows the operator to operate without any discomfort.

  Referring to the flowchart of FIG. 15, the conveyance driving electric motor 92, the feed chain driving electric motor 93, the waste chain driving electric motor 94, and the waste cutter driving electric motor 95 are respectively operated in reverse rotation, and are being conveyed. The reverse rotation control that removes the cereals that are clogged in the box will be explained. When the threshing switch 272 is off (S39no) and the reverse rotation switch 265 is turned on (S40yes), the conveyance motor reverse rotation control for performing the reverse rotation operation of the conveyance drive electric motor 92 is performed (S41). In this conveyance motor reverse rotation control, the culm conveying device 224 is driven to rotate in the reverse direction to the conveying direction of the harvested cereal.

  When the conveyance motor reverse rotation control is executed and the conveyance drive electric motor 92 is activated (S42yes), the feed chain drive electric motor 93 is turned on after a predetermined time (for example, about 1 to 3 seconds) when the operation of the motor 92 is stabilized. F. Reverse rotation operation C motor reverse rotation control is performed (S43). This F. In the C motor reverse rotation control, the feed chain 6 is driven to rotate reversely by the feed chain driving electric motor 93 in the direction opposite to the conveying direction of the harvested cereal.

  F. When the C motor reverse rotation control is executed and the feed chain driving electric motor 93 is started (S44yes), after a predetermined time (for example, about 1 to 3 seconds) for the operation of the motor 93 to stabilize, the waste chain driving electric motor is driven. Exhaust motor reverse rotation control for reversely rotating 94 is performed (S45). In the waste motor reverse rotation control, the waste chain driving electric motor 94 drives the waste chain 234 in the reverse direction to the direction opposite to the conveying direction of the waste (cutting grain).

  When the waste motor reverse drive control is executed and the waste chain drive electric motor 94 is activated (S46yes), after a certain time (for example, about 1 to 3 seconds) when the operation of the motor 94 is stabilized, the waste cutter drive motor is driven. Cutter motor reverse rotation control for reversely rotating the electric motor 95 is performed (S3). In this cutter motor reverse rotation control, the waste cutter driving electric motor 95 drives the waste cutter 235 in the reverse direction in the direction opposite to the cutting direction of the waste (cutting grain).

  When the cutter motor operation control is executed and the rejecting cutter driving electric motor 95 is activated (S48yes), a fixed time (for example, about 5 to 10 seconds) in which the clogging of the culm or the rejected clogging during the conveyance is released. After the elapse, stop control is executed (S50), and the motors 92, 93, 94, 95 are sequentially stopped from the upstream side of the cereal conveyance. With the motors 92, 93, 94, and 95 stopped, the cereal grains or wastes that are clogged during the conveyance can be removed by the operator. In particular, even if the right stock transport chain 33R, the left stock transport chain 33L, the central stock transport chain 33C, the vertical transport chain 34, the auxiliary transport chains 35, 36, etc. are clogged, they are forcibly pulled out. There is no need, and it is not necessary to cut the clogged portion, and the clogged can be easily removed.

  In the above-described embodiment, by operating the reverse rotation switch 265, the motors 92, 93, 94, 95 are reversely rotated in association with each other. However, the motors 92, 93, 94, 95 are individually reversely rotated. A plurality or a single reverse rotation switch 265 may be provided, and one or more of the motors 92, 93, 94, 95 may be selected and reversely rotated by the multiple or single reverse rotation switch 265. Similarly to the motors 92, 93, 94, 95, the cutting blade driving electric motor 91 or the pulling driving electric motor 90 may be rotated in reverse.

Referring to the flowchart of FIG. 16, the feed chain driving electric motor 93, the waste chain driving electric motor 94, and the waste cutter driving electric motor 95 are operated, and the operator cuts the feed chain 6 on the conveyance start end side. The handling control for threshing the harvested cereal by the handling operation for supplying the cereal is described. When the threshing switch 272 is on (S51yes) and the hand switch 264 is turned on (S52yes), cutter motor operation control is performed to operate the electric motor 95 for driving the waste cutter (S53). In this cutter motor operation control, the reject cutter 235 is driven by the reject cutter driving electric motor 95 at a substantially constant drive speed.

  When the cutter motor operation control is executed and the waste cutter driving electric motor 95 is started (S54yes), after a certain time (for example, about 1 to 3 seconds) when the operation of the motor 95 is stabilized, the waste chain driving electric motor 95 is driven. Exhaust motor operation control for operating the motor 94 is performed (S55). In this waste motor operation control, the waste chain 234 is driven by the waste chain drive electric motor 94 at the handling work speed calculated from the set value of the transport speed setter 263.

  When the waste motor operation control is executed and the waste chain drive electric motor 94 is started (S56yes), the feed chain drive electric motor is passed after a certain time (for example, about 1 to 3 seconds) when the operation of the motor 94 is stabilized. F. Operate motor 93 C motor operation control is performed (S57). This F. In the C motor operation control, the feed chain 6 is driven by the feed chain driving electric motor 93 at the handling operation speed calculated from the set value of the transport speed setting unit 263.

  As described above, the waste chain drive electric motor 94 and the feed chain drive electric motor 93 are started in order from the waste cutter drive electric motor 95 on the downstream side of the cereal conveyance, and the handling operation is executed. . When the reverse rotation switch 265 is turned off (S58yes), stop control is executed (S57), and the waste chain drive electric motor 94 and the waste chain are sequentially operated from the feed chain drive electric motor 93 on the upstream side of the cereal conveyance. The cutter driving electric motor 95 is stopped and the handling operation is completed.

  As described above, the combine according to the present embodiment includes the traveling machine body 1 on which the engine 14 is mounted, the reaping device 3 for reaping uncut cereals in the field, and the threshing device 5 for threshing the harvested cereals. The reaping device 3 includes a culm pulling device 223 that causes uncut cereals in the field, a cutting blade device 222 that cuts the stock of the uncut cereals that are raised by the culm pulling device 223, and a cutting blade device. And a culm conveying device 224 that conveys the chopped culm harvested by 222. In addition, the pulling drive electric motor 90 that drives the cereal pulling device 223, the cutting blade driving electric motor 91 that drives the cutting blade device 222, and the conveyance driving electric motor 92 that drives the cereal conveying device 224. The culm pulling device 223, the cutting blade device 222, and the culm conveying device 224 are configured to be driven by their respective electric motors 90, 91, 92. While preventing the grain posture of the grain straw being conveyed from being disturbed by the grain straw transporting device 224, the driving speed of the grain straw transporting device 224 can be changed. In other words, it is possible to reduce a rapid change in the speed at which the cereals are transported by the culm pulling device 223, the cutting blade device 222, and the culm transporting apparatus 224, and to prevent disturbance of the transporting posture of the culm. Even when moving at a low speed, it is possible to mow the cereal so that a clean cut remains. In addition, since the driving speeds of the culm pulling device 223, the cutting blade device 222, and the culm transporting device 224 can be set arbitrarily, the pulmonary pulling device 223 can be used for forward movement at a low speed or partial harvesting of the lying straw. It is possible to easily increase the speed at which the grain is raised. In the backward movement, the culm pulling device 223 and the cutting blade device 222 are stopped, and only the culm conveying device 224 can be driven easily.

  Further, the rotation speed of the pulling drive electric motor 90, the rotation speed of the cutting blade drive electric motor 91, and the rotation speed of the conveyance drive electric motor 92 are manually operated by the speed setting devices 261, 262, and 263. Each is configured to be adjustable. Therefore, the trimming synchronization speed can be selected steplessly. Regardless of the travel speed (vehicle speed) of the traveling machine body 1, the threshing pulling device 223, the cutting blade device 222, and the culm transporting device 224 can be driven at an appropriate speed according to the properties of the crop, so that the threshing load can be reduced. In addition, the unhandled loss can be reduced. Even when the uncut grain culm on the field is partly lying down, the driving speed of the grain culling pulling device 223 can be changed without stopping the traveling machine 1, and the work efficiency can be improved even in the field with bad harvesting conditions. .

  As is clear from the above description and FIG. 6, the vehicle speed sensor 285 that detects the moving speed of the traveling machine body 1 is provided, and when the traveling speed of the traveling machine body 1 is within a certain range (standard work speed), In synchronization with the moving speed, the driving speed of the pulling drive electric motor 90, the cutting blade driving electric motor 91, and the conveyance driving electric motor 92 is changed, and the moving speed of the traveling machine body 1 is constant. When out of the range (a speed lower or higher than the standard work speed), the drive speeds of the pulling drive electric motor 90, the cutting blade drive electric motor 91, and the conveyance drive electric motor 92 are maintained at the set speeds. It is configured as follows. As a result, when the moving speed (vehicle speed) of the traveling machine body 1 is low speed or reverse, the driving speeds of the grain raising device 223, the cutting blade device 222, and the grain conveying device 224 can be arbitrarily set. That is, when the traveling speed of the traveling machine body 1 is low, the driving speeds of the cutting blade device 222 and the culm conveying device 224 are arbitrarily set to appropriate speeds while offsetting the driving speed of the culm pulling device 223 to the high speed side. it can. During reverse travel, the culm pulling device 223 and the cutting blade device 222 can be stopped while maintaining the driving speed of the culm conveying device 224 at an appropriate speed regardless of the moving speed of the traveling machine body 1.

  As is clear from the above description and FIGS. 1, 5, and 6, a traveling machine body 1 that includes a traveling crawler 2 as a traveling unit, and a reaping device 3 that is disposed on the traveling machine body 1 and chops corn. For a feed chain that drives a feed chain 6 in a combine comprising a feed chain 6 that inherits and transports the harvested cereal from the reaper 3 and a threshing device 5 that threshs the cereal that is conveyed by the feed chain 6. An electric motor 93, a transport speed setting device 263 as a feed chain speed setting device for variably setting the rotation speed of the feed chain electric motor 93, and a hand switch 264 for operating and stopping the feed chain electric motor 93. Since it is provided, the driving speed of the feed chain 6 can be set independently regardless of the driving speed of the engine 14 or other driving system. The skill level, the conveying speed of the culms the operator wishes, can perform harvesting, can be improved harvesting efficiency. Even if the combine is moving, the conveyance speed of the feed chain 6 can be arbitrarily changed. Can be operated. In addition, the feed chain 6 can be driven at a cereal conveyance speed suitable for the skill level of the operator performing the handling operation.

  As is apparent from the above description and FIG. 6, a crop sensor 287 that detects the presence or absence of cereal straw conveyed by the feed chain 6 is provided, and the feed chain electric motor 93 is operated substantially simultaneously with the cereal detection of the crop sensor 287. Since the feed chain electric motor 93 is configured to stop when a certain period of time has elapsed since the crop sensor 287 no longer detects the cereal, the cereal is fed to the feed chain 6. In such a state, the feed chain 6 can be stopped. Therefore, it is possible to move with low noise and low fuel consumption when changing direction at a headland. In the handling operation, the harvested cereal can be easily supplied to the cereal supply part on the conveyance start end side of the feed chain 6.

  As apparent from the above description and FIG. 6, the feed chain electric motor 93 is provided with a feed chain rotation sensor 314 as a load sensor for detecting the output load of the feed chain electric motor 93, and by detecting an output load exceeding a specified value. Since 93 is configured to be able to stop, the feed chain electric motor 93 can be stopped quickly when the feed chain 6 is clogged with cereal grains in the middle of conveyance. Therefore, the cereal grains packed in the feed chain 6 can be easily removed, and the harvesting operation can be resumed smoothly. Instead of the feed chain rotation sensor 314 that detects the rotation speed of the feed chain electric motor 93, an overload current of the feed chain driver 304 is detected by using a current sensor in the controller 282 as a load sensor. The feed chain electric motor 93 may be stopped by detecting the load current.

It is a side view of the combine for 6-saw cutting of 1st Embodiment of this invention. It is the same top view. It is side surface explanatory drawing of a reaping apparatus. It is a plane explanatory view of a reaping device. It is a drive system diagram of a combine. It is a functional block diagram of the control means of a reaping device. It is a flowchart of harvest work control. It is a flowchart of cutting speed control. It is a diagram which shows the relationship between the cutting speed KVx which drives a cutting device, and vehicle speed SV. It is a diagram which shows the relationship between the cutting speed KVx when the driving speed of a reaping device is high speed and low speed, and the vehicle speed SV. It is a flowchart of high-speed cut control. It is an output diagram of high-speed cut control. It is a flowchart of the cutting quick control. It is an output diagram of cutting quick control. It is a flowchart of reverse rotation control. It is a flowchart of handling control.

1 traveling machine body 2 traveling crawler (traveling section)
3 Mowing device 5 Threshing device 93 Electric motor for feed chain 263 Conveyance speed setting device (feed chain speed setting device)
H.264 Hand switch 287 Crop sensor 314 Feed chain rotation sensor (load sensor)

Claims (1)

A traveling machine body provided with a traveling unit, a reaping device arranged on the traveling machine body for cutting grain culm, a feed chain that inherits and transports the harvested corn straw from the reaping device, and a grain that is conveyed by the feed chain In a combine comprising a threshing device for threshing rice bran, a waste chain that inherits the waste after threshing from the feed chain, and a waste cutter that cuts the waste passed to the waste chain ,
An electric motor for driving the feed chain, an electric motor for driving the exhaust chain for driving the exhaust chain, an electric motor for driving the exhaust cutter for driving the exhaust cutter, and an electric motor group . A feed speed setter that variably sets the rotation speed; a threshing switch that detects a driving state of the threshing device; and a hand switch that operates and stops the electric motor group .
When the handling switch is turned on while the threshing switch is on, the waste cutter driving electric motor is activated, and after a certain time has elapsed when the operation of the waste cutter driving electric motor is stabilized, The feed chain driving electric motor is started after the chain driving electric motor is started, and after a certain period of time when the operation of the exhaust chain driving electric motor is stabilized.
Combine.

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