JPH05103529A - Control device of operating speed of reaping part of combine - Google Patents

Abstract

PURPOSE:To obtain the title device automatically controlling operation speed of reaping part comprising a reaping speed detecting means, a traveling speed detecting means, a reaping speed setting means and a controlling means by making a discovered reaping speed coincident with a target value corresponding to a discovered traveling speed. CONSTITUTION:In a control device of an operating speed of a reaping part of a combine, a reaping part A is connected to an output side of a ring cone speed regulator 18. When movement of a handling lever 57 of a hydraulic speed change gear 9 to shift speed of a crawler 11 is detected by a lever sensor, a target value corresponding to a target value of a shifter 38 of the ring cone speed regulator 18 is set based on the detected value by the lever sensor. When difference between the detected value of shifter sensor to discover the position of the shifter 38 and the target value, the shifter 38 is driven by a ring cone motor 42 so that both the values are coincident. Under a condition of the completion of the control, a target reaping speed of the reaping part A is set from the detected value of a traveling speed sensor to discover a traveling speed of a traveling part G and the shifter 38 is driven and controlled in such a way that the detected value of the reaping speed sensor is coincident with the target reaping speed.

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a harvesting part operating speed control device for automatically controlling the operating speed of a harvesting part in a combine harvester according to the napped state of a crop in a field. It is a thing. As a conventional combine, a crawler of a traveling section is connected from an engine through a hydraulic transmission (hereinafter referred to as HST) and a transmission.
The power of the mowing and threshing parts is also extracted from the output shaft of the HST. In addition, to deal with the lodging of crops to be harvested,
A gearbox is installed between the output shaft of the HST and the mowing section, and when harvesting crops in the lodging state, the transmission is operated to drive the mowing section at high speed to ensure the occurrence of the lodging crops. .. However, in this conventional combine, the mowing speed can be changed according to the falling state of the grain, but the mowing speed changes depending on the traveling speed, and the relationship between them, that is, the reduction ratio, is mechanically defined. However, there is a drawback that the change cannot be changed to an appropriate value due to restrictions on the change. Therefore, the applicant of the present invention uses the traveling speed sensor to control the speed of the traveling portion so that the cutting operation can be performed at an appropriate cutting speed according to the conditions of the cutting operation. Detecting, while setting a predetermined target mowing speed by the control unit corresponding to this traveling speed, the mowing speed of the mowing unit is detected by the mowing speed sensor, and the detected mowing speed and its target mowing speed are compared, We are prototyping a reaper operating speed control device that changes the gear ratio of a continuously variable transmission so that they match. This has the advantage that the grain can be mowed at an appropriate mowing speed according to the mowing condition, and that the relationship between the traveling speed and the mowing speed can be arbitrarily set without mechanical restriction. By the way, in this prototype device, photo-couplers or the like are used as the traveling speed sensor and the cutting speed sensor, which are attached to the side ends of an appropriate rotary shaft in the power transmission path to rotate the shaft. The rotation speed was calculated based on the corresponding pulse signal. Since it takes a considerable amount of time to detect such a rotation speed, there is a problem that the control response cannot be performed until the detected rotation speed is output, and the control response is poor. In view of this problem, it is an object of the present invention to improve the responsiveness of the control when performing the control in which the cutting speed corresponds to the traveling speed. In order to solve the above problems, the combine harvester operating speed control device of the present invention comprises:
The first transmission which is interposed in the power path between the prime mover of the combine and the traveling section and which changes the gear ratio by operating the operation lever, and the first transmission which is interposed in the power path of the prime mover and the reaper, and which shifts the gear ratio by moving the shifter. A second transmission to be changed, a traveling speed detecting means for detecting a traveling speed of the traveling portion, a mowing speed detecting means for detecting a mowing speed of the mowing portion, and a predetermined value corresponding to a detection value of the traveling speed detecting means. The cutting speed setting means for setting the target cutting speed and the detection value of the cutting speed detecting means controls the gear ratio of the second transmission so that the detection value of the cutting speed setting means matches the target cutting speed set by the cutting speed setting means. First control means, lever position detection means for detecting the position of the operating lever in the first transmission, and the second control means
A shifter position detecting means for detecting the position of the shifter in the transmission, a target position setting means for setting a target position of the shifter corresponding to a detection value of the lever position detecting means, and a target position set by the target position setting means. Deviation calculating means for calculating a deviation from the shifter position detected by the shifter position detecting means, and the second shift so that the detection value of the shifter position detecting means matches the target position set by the target position setting means. Second control means for controlling the gear ratio of the device;
A control switching means for selecting the second control means side when the deviation calculated by the deviation calculating means is larger than a predetermined value, and selecting the first control means side when the deviation is smaller than a predetermined value. Be prepared. According to the present invention, the mowing speed detecting means, the traveling speed detecting means, the mowing speed setting means, and the first controlling means make the detected mowing speed match the target value corresponding to the detected traveling speed. A first control system that controls the gear ratio of the second transmission is configured. On the other hand, in the shifter position detecting means, the lever position detecting means, the target position setting means, and the second control means, the shifter detection position substantially coincides with the target position corresponding to the operation lever detection position in the first transmission. A second control system that controls the gear ratio of the second transmission is configured as described above. Now, when the lever position detecting means detects the position of the operation lever, the target position setting means sets the target position of the shifter to the position corresponding to the detected value. The deviation calculating means calculates the deviation between the set target position and the detection value of the shifter position detecting means. When the deviation is larger than the predetermined value, the control switching means selects the second control means side, so that the control by the second control system is performed. When the deviation is smaller than the predetermined value, the control switching means switches to the first control means side, so that the control by the first control system is performed. As described above, according to the present invention, the two control systems are configured to be selected when the operation lever is operated. Therefore, when the operation lever is operated, the second control system temporarily completes the control in a short time. Then, the control can be shifted to the original control by the first control system, so that the control response and the control accuracy are improved. Embodiments of the present invention will be described below with reference to the drawings. 2 and 3, the combine embodying the present invention comprises a weeder 2 for aligning crops, a raising device 3 for raising the crops, and a cutting portion (not shown) for cutting the base of the crops, which are integrated with each other. A cutting unit A that interlocks with, a conveyance unit C that conveys the cut grain rod backward while changing the posture of the cut grain rod horizontally, a feed chain D that feeds the horizontal grain rod to the threshing selection unit E, and a saw that feeds the grain rod that has been supplied. Threshing sorting section E for threshing with a barrel and sorting with a sorting device (not shown), straw processing section (not shown) for processing straw discharged after threshing, crawler 11 of running section G for traveling the aircraft, and each of these sections. The engine H is driven by a power transmission mechanism described later. Next, an example of a power transmission mechanism for transmitting the power of the engine H to each of the above parts will be described with reference to FIGS. 2, 3 and 4. In this power transmission mechanism, a pulley 6 and a pulley 7 are attached to an output shaft 5 of an engine H, and the pulley 6 is connected by a belt 8 to an input shaft of a hydraulic transmission 9 (hereinafter referred to as HST) which is a first transmission. .. H
The output side of ST9 is connected to the input shaft of a transmission mechanism 10 having a clutch function, and the output shaft of the transmission mechanism 10 is connected to a pair of left and right crawlers 11, 11. On the other hand, the pulley 7 is the pulley 1 of the threshing part drive shaft 12 which is parallel to the engine output shaft 5.
3 by a belt 14 and the tension or the looseness of the belt 14 causes the engine output shaft 5 and the threshing part drive shaft 1 to rotate.
Threshing tension clutch 2 that connects and disconnects power transmission with 2
8 is provided. Further, a pulley 15 and a pulley 16 are attached to the threshing part drive shaft 12, and the pulley 15 is connected to the Karako part and the sorting part.
Input shaft 1 of the ring cone transmission 18 which is the second transmission
Connect to 9. Further, the output shaft 2 of the ring cone transmission 18
A pulley 21 is attached to 0, and this pulley 21 is connected to a pulley 23 of an input shaft of a speed reducer 22 via a belt. A pulley 24 is further attached to the input shaft of the speed reducer 22 and is connected via a belt 25 to a pulley 26 provided on the input shaft of the mowing unit A. A sprocket 27 for driving the feed chain D is connected to the output shaft 31 of the speed reducer 22.
The pulley 24 of the input shaft 32 of the speed reducer 22 and the pulley 26
In between, a reaping tension clutch 29 for intermittently transmitting power by tensioning or loosening the belt 25 is provided. The ring cone transmission 18 includes the transmission ring 3
7 is a continuously variable transmission that changes the reduction ratio of the input shaft 19 and the output shaft 20 by moving 7 in the axial direction by the shifter 38. As shown in FIG. 6A, the shifter 38 has the link 4
It is connected to the fan-shaped rack plate 39 outside the gear case 86 via the rotary shaft 1 and the rotary shaft 46. Further, a ring cone motor 42 capable of forward and reverse rotation is provided at a predetermined position, and is connected to the rack plate 39 via a gear 45. Then, as schematically shown in FIG. 6B, a shifter sensor 79 such as a potentiometer is attached to the rack plate 39 as a shifter position detecting means for detecting the position of the rack plate 39, that is, the position of the shifter 38. As a detecting means for detecting the traveling speed of the traveling section G, a traveling speed sensor 35 composed of a photo coupler or the like.
Is provided at the side end of any shaft (not shown) forming the transmission mechanism 10 of the traveling system and its periphery. Further, as a detecting means for detecting the mowing speed of the mowing section A, a mowing speed sensor 36 including a photocoupler is provided at the end of the output shaft 20 of the ring cone transmission 18 and its periphery. Next, an example of the configuration of the operating portion in the driver's seat will be described with reference to FIG. In FIG. 7, reference numeral 55 is a reaping and threshing clutch lever for selecting one of the stop, the threshing work, and the reaping and threshing work. When a predetermined work is selected by the reaping threshing clutch lever 55, the switching motor 69 (see FIG. 5) rotates forward and reverse in response to this, and the threshing tension clutch 28 and the reaping tension clutch 29 are intermittently connected accordingly. Reference numeral 57 is an HST for changing the gear ratio of the HST 9.
A lever sensor (78 in FIG. 5) serving as a lever position detecting means for detecting an inclination angle (operation angle) that rotates with the operation is attached to a fulcrum portion of the HST operation lever 57. The detection value of the lever sensor 78 corresponds to the gear ratio of the HST 9, that is, the traveling speed of the traveling section G. Furthermore, this HST operation lever 57
A work mode changeover switch 54 is provided at the grip portion of. The work mode changeover switch 54 is one of a "standard mode" used when the grain is erected and a "falling mode" used when the grain is lying in the grain cutting operation. One is selected. Again 7
Reference numeral 9A is an auxiliary shift lever for switching a speed change portion (not shown) in the transmission mechanism 10 to three positions of work traveling, neutral and non-work traveling. Next, an example of the control system of the embodiment thus constructed will be described with reference to FIG. The control section J controls each section in a predetermined procedure as will be described later in response to an operator's instruction or the like. The traveling speed sensor 35, the mowing speed sensor 36, the mowing threshing clutch lever 55, the work mode changeover switch 54, the lever sensor 78, and the shifter sensor 79 are electrically connected to the input side of the control unit J, respectively. To the output side of the control unit J, the speed increasing relay 52 and the speed reducing relay 53 for rotating the above-mentioned ring cone motor 42 in the normal direction or the reverse direction are connected. The ring cone motor 42 has a contact 52 for both relays 52, 53.
It is configured such that normal and reverse rotation can be performed by switching a and 53a. Similarly, on the output side of the control unit J, a switching motor 69 for switching the clutches 28 and 29 in accordance with the operation of the above-described harvesting threshing clutch lever 55, and a normal rotation for rotating the switching motor 69 in the normal or reverse direction. Relay 71,
The contacts 71a, 72a of the reverse rotation relay 72 are connected. Next, an operation example of the embodiment of the present invention having such a configuration will be described. When the engine H is started, its power is transmitted to the input shaft of the HST 9 via the output shaft 5 and the belt 8. Next, set the mowing threshing clutch lever 55 to
Threshing tension clutch 2 when set to the "Thrush" position
8, the reaping tension clutch 29 is in the connected state, and the power of the engine H is transmitted to the threshing section E via the output shaft 5, the belt 14 and the threshing section drive shaft 12, while the threshing section drive shaft 12 and the belt are further transmitted. It is transmitted to the input shaft 19 of the ring cone transmission 18 via 17. Thereafter, each part of this embodiment is controlled according to the selection of the work mode changeover switch 54, and when the standard mode is selected as shown in FIG. 8, the traveling speed of the traveling part and the reaping part. Is controlled so as to be proportional to the mowing speed, and when the lodging mode is selected, they are controlled not to be proportional but to have a constant relationship. This is for cutting the grain at an appropriate cutting speed according to the cutting conditions. Below, it demonstrates concretely with reference to FIG. First, the detection value of the lever sensor 78 is read, and based on this detection value, a target value corresponding to the target position of the shifter 38 of the ring cone transmission 18 (value corresponding to the selection mode of the work mode changeover switch 54) is read. ) Is set (S
1). Next, the detection value of the shifter sensor 79 is read, and the difference between this detection value and the target value set in step S1 is obtained as a deviation (S2), and it is determined whether the deviation is larger than a predetermined value χ1. A determination is made (S3). When this deviation is larger than the constant value χ1, the speed increasing relay 52 or the speed reducing relay 53 is excited so that the detection value of the shifter sensor 79 matches the set target value (S4), and the ring cone motor 42 is accordingly responded. Rotates normally or reversely, and the shifter 38 of the ring cone transmission 18 moves. Next, the deviation between the detection value of the shifter sensor 79 and the set target value is obtained again (S
2) until the deviation becomes smaller than the predetermined value χ1 (S
3), the above operation is repeated. After that, on the condition that the deviation between the detected value of the shifter sensor 79 and the set target value is smaller than the predetermined value χ1 (S3), that is, on the condition that the position of the shifter 38 substantially coincides with the target position. Control goes to steps S5 to S8. First, the traveling speed detected by the traveling speed sensor 35 is read, and the control unit J sets the target cutting speed corresponding to the detected traveling speed according to the selection mode of the work mode changeover switch 54 by table processing or the like. Further, the rotational speed of the mowing side detected by the mowing speed sensor 36 is read, and the deviation between the detected mowing speed and the previously set target mowing speed is calculated (S5). Next, it is judged whether or not the calculated deviation is within the range of the predetermined value χ2 (S6). If it is judged that the deviation is outside the range of the predetermined value χ2, the ring cone shift is performed. The acceleration / deceleration output is performed toward the machine 18 (S7). That is, when the detected cutting speed is lower than the target cutting speed,
The speed-up relay 52 is excited, and its relay contact 52a is switched to the reverse side of the drawing. As a result, the ring cone motor 42 normally rotates to rotate the ring cone transmission 18
Since the shifter 38 of is moved to the speed increasing side, the speed of the cutting unit is increased. On the other hand, when the detected mowing speed exceeds the target mowing speed, the deceleration relay 53 is excited and the relay contact 53a is switched to the opposite side to that shown in the figure. As a result, the ring cone motor 42 rotates in the reverse direction to move the shifter 38 of the ring cone transmission 18 to the deceleration side.
The speed of the reaper decreases. As a result of such control, when it is determined that the deviation in step S5 is within the predetermined range χ2, the excitation of the speed increasing relay 52 or the speed reducing relay 53 is released (S8), and the control is performed. finish. Here, in the control of steps S5 to S8, in order to improve the accuracy of control,
The value of the above-mentioned predetermined value χ2 is determined in consideration of that point. Therefore, by such control, the mowing speed of the mowing unit becomes the target value. As described above, in the first embodiment, the deviation between the detected value of the shifter sensor 79 and the set target value is obtained, and when the deviation is larger than the predetermined value χ1, each of the lever sensor 78 and the shifter sensor 79 shown in step S4. When priority is given to the control of the ring cone transmission 18 based on the detected value, and the deviation becomes smaller than the predetermined value χ1 by the control in step S4, the traveling speed sensor 35 shown in steps S5 to S8.
And the control of the ring cone transmission 18 based on the respective detection values of the cutting speed sensor 36. Therefore,
Even when the operation amount of the HST operation lever 57 is large and the deviation between the detected value of the shifter sensor 79 and the target value is large, the control of step S4 ends the control for a short time, and after that, steps S5 to S8. Since it will shift to the control of
Control responsiveness is good and highly precise control can be performed. Next, a second embodiment related to the present invention will be described. The second embodiment is intended to detect an abnormality of the actuator such as the ring cone motor 42 and the shifter sensor 79 in the first embodiment described above, and the procedure of the abnormality detection will be described with reference to the flowchart of FIG. First, it is determined whether or not the speed increasing signal is output to the ring cone motor 42, that is, whether or not the speed increasing relay 52a of the ring cone motor 42 is excited (S11). When the speed-up output is being performed, it is determined whether or not the signal is output for a fixed time (S12), and the detected value of the shifter sensor 79 does not change despite the speed-up output for the fixed time. Is set to a speed increase abnormality flag indicating that the speed increase is abnormal (S13, S
14). Further, if the value detected by the shifter sensor 79 changes as a result of the acceleration output for a certain period of time, the deceleration abnormality flag indicating that the deceleration is abnormal is reset (S15). Control ends. On the other hand, in step S11, when it is determined that the acceleration output is not being performed, the ring cone motor 4
It is determined whether or not the deceleration signal is being output toward 2 (S16). Next, when deceleration output is being performed, it is determined whether or not the signal is output for a certain period of time (S1).
7) If there is no change in the detection value of the shifter sensor 79 after deceleration output for a fixed time, the deceleration abnormality flag is set (S18, S19). Further, when the value detected by the shifter sensor 79 changes as a result of deceleration output for a certain period of time, the speed increase abnormality flag is reset (S20), assuming that the operation is normally performed, and the control ends. In such control, when an abnormality occurs in the actuator such as the ring cone motor 42 or the shifter sensor 79, the operation of the ring cone motor 42 or the like can be immediately stopped, so that the expansion of the failure range can be prevented early. The advantage is that the subsequent repair work can be facilitated. Next, a third embodiment relating to the present invention will be described. Since the traveling speed of the traveling unit G changes depending on the output rotation speed of the engine H, for example, when the output rotation speed of the engine H is lower than the rated rotation speed due to a load or the like, the traveling speed is set to the HST operation lever 57. It becomes lower than the original traveling speed corresponding to the operation position of. Meanwhile, in the control of the first embodiment (FIG. 9), steps S1 to S
By the control corresponding to 4, the shifter 38 of the ring cone transmission 18 is controlled following the operation position of the HST operation lever 57, so that the rotation angle of the shifter 38 is maintained without moving to the deceleration side. On the other hand, by the control corresponding to steps S7 to S10 in the above-described first embodiment,
The rotation speed on the output side of the ring cone transmission 18 is set to a low value corresponding to the traveling speed. As a result, when switching between the control of step S4 and the control of steps S5 to S8 as in the first embodiment, first, steps S1 to S4 are performed.
After the mowing speed is set to a high rotation speed by the control of step 1, the control of changing the cutting speed to a low rotation speed is performed by the control of steps S5 to S8, which causes a problem that the responsiveness of the control is deteriorated. Therefore, the third embodiment is the same as the first embodiment described above.
It is another control example of the control corresponding to steps S1 to S4 in the embodiment, and is a configuration for correcting the harmful effect based on the fluctuation of the output rotation speed of the engine H as described above. The electrical construction of the third embodiment is shown in FIG.
As shown in FIG. 3, an engine rotation sensor 114, which should detect the output rotation speed of the engine H via an input interface 112, on the input side of the microcomputer 111,
Besides, each sensor 35, 36, 78, 79 is connected, and relays 52, 53 are connected to the output side of the microcomputer 111 via an output interface 115. The rest of the mechanical structure is the same as that of the first embodiment, and its control is only different as follows, so its explanation is omitted. The control of the third embodiment will be described with reference to the flowchart of FIG. First, the engine rotation sensor 1
The output speed of the engine H is detected at 14 (S21).
Next, the difference between the detected output speed of the engine H and the rated speed is calculated as a deviation (S22). Then, the detection value of the lever sensor 78 is corrected according to the magnitude of the deviation calculated in this way (S23). As shown in FIG. 12, this correction is based on the detection value of the engine rotation sensor 114, and the lever sensor 7 when the rotation speed of the engine H is the rated rotation speed.
It is assumed that the correction value is corrected to the detected value corresponding to the operation position of 8.
That is, when the output speed of the engine H is low, it is corrected to a low value according to the speed, and conversely
If the output rotation speed of is high, it is corrected to a high value according to the rotation speed. The lever sensor 78 thus obtained
The target value of the shifter 38 is calculated based on the correction value of (S2
4), the acceleration relay 52 or the deceleration relay 53 is excited so that the detected value of the shifter sensor 79 matches this target value (S25). As a result of this control, the mowing speed has a value according to the traveling speed, so that the control corresponding to the following steps S5 to S8 can be smoothly performed, and thus the responsiveness of the control can be improved. Next, a fourth embodiment related to the present invention will be described. In the above-described first embodiment, the potentiometer used for the shifter sensor 79 generally has a detection error of about ± 5 degrees in the angle of rotation, and the ring cone transmission 18 has a gap between the transmission ring 37 and its sliding portion. Due to the slippage, the rotation speed decreases at a constant rate when a load is actually applied to the mowing unit A or the like. Then, the sum of these mechanical errors is not constant, and the shifter 3
8 increases almost in proportion to the turning angle. Therefore, shifter 3
When the rotation angle of 8 is large, the sum of mechanical errors exceeds the value corresponding to the constant value χ1, and as a result, the first
The control of step S4 and steps S5 to S as in the embodiment
When performing the switching between the control of 8 and the control of 8,
Since the wasteful control of changing the cutting speed to the low rotation speed by the control of steps S5 to S8 may be performed after the cutting speed is set to the high rotation speed by the control of 1 to S4, the control response is poor. There was a problem that Therefore, in the fourth embodiment, the above-mentioned first
A discriminant value χ3 is provided in place of the constant value χ1 which is the discriminant value for control switching in the embodiment, and this discriminant value χ3 is changed in magnitude depending on the rotation angle of the shifter sensor 79. The configuration is such that the value is always larger than the value corresponding to the sum of mechanical errors. This will be described with reference to the flowchart of FIG. First, read the detection value of the lever sensor 78,
A target value corresponding to the target position of the shifter 38 is set based on this detected value (S31). Next, the discriminant value χ3 corresponding to this target value is set by table processing or the like (S
32). Next, read the detection value of the shifter sensor 79,
The difference between this detected value and the target value set in step S31 is determined as a deviation (S33), and it is determined whether the deviation is larger than the discriminant value χ3 (S34). If this deviation is larger than the discriminant value χ3, the speed-up relay 52 or the deceleration relay 53 is excited according to the deviation (S3).
5) In response, the ring cone motor 42 rotates normally or reversely, and the shifter 38 of the ring cone transmission 18 moves. After that, the deviation between the detected value of the shifter sensor 79 and the target value is obtained again (S33), and the above operation is repeated until the deviation falls within the discriminant value χ3 (S34). According to such a configuration, the shifter sensor 7
9 and the discriminant value χ3, which always exceeds the mechanical error of the ring cone transmission 18, can be set, so that there is an advantage that the control delay due to the above-mentioned useless control can be prevented. As described above, the present invention comprises two control systems, which are selected when operating the operating lever. Therefore, when operating the operating lever, the second control system is used first. It is possible to end the temporary control in a short time and shift to the original control by the first control system, and thus it is possible to improve the control responsiveness and the control accuracy.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a functional block diagram corresponding to the present invention. FIG. 2 is a side view showing the combine of the embodiment of the present invention. FIG. 3 is a plan view showing a combine of the embodiment of the present invention. FIG. 4 is a diagram schematically showing a combine power transmission mechanism of the embodiment of the present invention. FIG. 5 is a diagram schematically showing a connection between a control unit and its peripheral devices. 6A and 6B are views showing a ring cone transmission and its peripheral devices, FIG. 6A is a side view thereof, and FIG. 6B is a rear view showing the outline thereof. FIG. 7 is a perspective view showing a configuration example of an operation unit in a driver's seat. FIG. 8 is a diagram schematically showing work modes “standard mode” and “falling mode”. FIG. 9 is a flowchart showing an example of control according to the first embodiment. FIG. 10 is a flowchart showing an example of control of the second embodiment. FIG. 11 is a diagram showing a connection between a control unit and its peripheral devices according to a third embodiment. FIG. 12 is a diagram showing a process of correcting a detection value of a lever sensor in the third embodiment. FIG. 13 is a flowchart showing an example of control according to the third embodiment. FIG. 14 is a flowchart showing an example of control according to the fourth embodiment. [Explanation of Codes] 9 HST 18 Ring Cone Transmission 35 Traveling Speed Sensor 36 Mowing Speed Sensor 57 HST Operating Lever 37 Shifting Ring 38 Shifter 78 Lever Sensor 79 Potentiometer A Mowing Section G Running Section H Engine J Control Section

Claims (1)

Claims: A first transmission that intervenes in a power path between a prime mover of a combine and a traveling portion and changes a gear ratio by operating an operating lever; and a shifter that intervenes in a power path between the prime mover and the mowing section. Of the traveling speed detecting means for detecting the traveling speed of the traveling portion, the cutting speed detecting means for detecting the cutting speed of the mowing portion, and the traveling speed detecting means. Mowing speed setting means for setting a predetermined target cutting speed corresponding to the detected value, and the second transmission so that the detection value of the cutting speed detecting means matches the target cutting speed set by the cutting speed setting means. Control means for controlling the gear ratio of the first transmission, lever position detection means for detecting the position of the operating lever in the first transmission, and shifter for detecting the position of the shifter in the second transmission. Position detecting means, target position setting means for setting a target position of the shifter corresponding to the detection value of the lever position detecting means, target position set by the target position setting means and shifter detected by the shifter position detecting means. Deviation control means for calculating the deviation from the position, and second control for controlling the gear ratio of the second transmission so that the detection value of the shifter position detection means matches the target position set by the target position setting means. And a switching means for selecting the second control means side when the deviation calculated by the deviation calculation means is larger than a predetermined value, and selecting the first control means side when the deviation is smaller than a predetermined value. A combine harvester operating speed control device comprising: