JPH0974875A - Speed-controlling apparatus for reaping machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To set the speed reduction ratio at the end of a reaping work to a level corresponding to the difference of the gyration state varying different by the working state, etc., and to avoid the above troubles caused by the unnecessary speed reduction while keeping the traveling safety. SOLUTION: This speed-controlling apparatus for reaping machine is provided with an electric motor 43 to change the speed of a traveling speed changer, a culm base sensor S0 to detect whether the reaping machine is in reaping state and a speed-reduction controlling means 100 to effect the speed-reducing action of the electric motor 43 according to the detection of the change of the culm base sensor S0 from the reaping state to a non-reaping state. It is further provided with a change lever 18 to set the quickness degree of turn in the gyration of the mobile machine body. The speed reduction controlling means 100 sets the speed reduction ratio larger as larger the quickness degree, based on the result set by the change lever 18 and reduces the speed of the electric motor 43 at a preset reduction ratio.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an actuator for shifting a traveling transmission device, a work state detecting means for detecting whether or not the work is in a mowing work state, and the work state detecting means for changing the work state from the mowing work state. The present invention relates to a vehicle speed control device for a reaping work machine, which is provided with deceleration control means for decelerating the actuator upon detecting a change to a non-rearing work state.

[0002]

2. Description of the Related Art A vehicle speed control device for a mowing machine having the above-mentioned structure, for example, in mowing work of stem culms in a field, carries out mowing work while the vehicle body is running along a planting line, At the terminal end, the car body is turned on the headland and travels to the next work step. In this way, when the car body is turned and traveled after the mowing work in a certain work step is completed, With the sudden increase in running load,
Since the work load such as threshing treatment of the cut grain culm is still left, the engine load may increase and the engine may stop.

Therefore, conventionally, the vehicle speed is decelerated by a preset amount in accordance with the change of the reaping work state from the non-rearing work state detected by the work state detecting means.
The engine load was prevented from becoming excessive during turning.

[0004]

By the way, as a work form of the above-mentioned mowing work, for example, FIG.
As shown in FIG. 5, when the work in the work stroke is completed, the reciprocating mowing form in which the work travels in a straight line on the headland to start the work in the work stroke located on the opposite side, and as shown in FIG. Immediately after the work in the stroke is completed, there is an adjacent strip cutting mode in which the direction of the vehicle body is reversed and the cutting work on the adjacent strip is started.
In the reciprocating mowing mode, the traveling load on the headland is relatively moderate because the turning traveling is relatively gentle, but in the adjacent cutting mode, it is necessary to rapidly change the direction of the vehicle body, so the traveling load is large. Will occur.

Therefore, conventionally, it is necessary to prevent the engine load from becoming excessively large in any work form, so that the deceleration amount set in advance is set to a large value.

However, since the automatic deceleration is executed with the deceleration amount thus set to a large value, the running safety is ensured in the work in the adjacent strip cutting mode, but the reciprocating cutting mode and the like are ensured. When the load associated with turning is relatively small, the amount of deceleration becomes too large, and deceleration is carried out more than necessary, causing sudden uncomfortable feeling to the operator and lowering work efficiency. However, there was still room for improvement.

The present invention has been made by paying attention to such a point, and an object thereof is to set the deceleration amount at the end of mowing so as to correspond to the difference in different turning states due to the work form and the like. The point is to avoid the above-mentioned disadvantages due to unnecessary deceleration while ensuring safety in traveling.

[0008]

According to a characteristic construction of claim 1, in a vehicle speed control device for the reaping work machine,
A turning state setting means for setting a degree of grading in turning traveling of the traveling machine body is provided, and the deceleration control means, based on a setting result by the turning state setting means, makes the degree of deceleration larger as the degree of grading becomes steeper. Is set to decelerate the actuator at the set deceleration amount, and therefore, for example, based on the degree of slowness in turning traveling preset based on the difference in the mowing work mode, etc. As the degree becomes steeper, the traveling load becomes larger and the engine load also becomes larger. Therefore, the deceleration amount is set to a large amount, so that the deceleration amount corresponds to the expected load.

As a result, when the working state detecting means detects the change from the working state to the non-working state, the deceleration of the actuator is controlled by a deceleration amount suitable for the working state. The deceleration operation is performed more than necessary when the dynamic running load is expected to be small, which reduces the work efficiency and avoids disadvantages such as uncomfortable feeling to the driver due to rapid deceleration. When the load is large, it is possible to secure driving safety by decelerating with a sufficiently large deceleration amount.

According to the second aspect of the present invention, the engine load detecting means for detecting the engine load is provided.
The deceleration control means is configured to set the deceleration amount such that the larger the engine load at the time of the change from the mowing work state to the non-mowing work state, the greater the deceleration control means, based on the detection information of the engine load detecting means. So, for example,
Depending on the amount of water, etc., it may change depending on the condition of the traveling road surface, such as when the traveling load is large or small, and such a difference in traveling load is detected by the engine load detection means, and the difference in the traveling conditions is detected. Based on the above, the deceleration amount is set to be larger as the engine load is larger, so that the deceleration control of the actuator is performed at the deceleration amount more suitable for the working situation.

According to the third aspect of the invention, the threshing device for threshing the cut culms, the storage tank for storing the threshed grains, and the storage amount of the grains stored in the storage tank. And the deceleration control means is configured to set the deceleration amount such that the larger the amount of the reservoir detected by the reservoir amount detection means is, the greater the deceleration amount is. Immediately after the start of the mowing work, the amount of grains stored in the storage tank is small, the weight of the vehicle body is light, and the traveling load is small accordingly. Therefore, the deceleration amount is set to be small. Therefore, the amount of deceleration is not unnecessarily increased. Also, as the amount of grains in the storage tank increases due to the mowing work, and the traveling load also increases as the vehicle body weight becomes heavier, by setting the deceleration amount to a large value, the engine load during turning traveling becomes excessive. It can be effectively prevented from becoming.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION A combine as a reaping work machine according to the present invention will be described below. As shown in FIG. 3, the combine is a pair of left and right crawler type traveling devices 2.
4, a threshing device 48 and a storage tank 57 that stores threshed grains are mounted on a vehicle body V, and a boarding control section 54 is provided at the front of the vehicle body V.
A pre-mowing processing section 49 is provided on the front side of the so as to be vertically movable. The pre-cutting processing unit 49 is a raising device 50 that causes grain culms in the field, a cutting blade 51 that cuts the root of the grain culm that has been caused, a threshing feed on the rear side of the vehicle body while changing the posture of the stalks to the sideways tilting posture. Each of the transport devices 52 that transports toward the chain 53 is provided.

Further, a stock origin sensor S0 is provided at a position on the carrying start end side of the carrying device 52 so as to come into contact with the stock of the grain culvert to be carried and to be turned on. If the explanation is added, as the cutting operation is started, the grain culm, whose stock is cut by the cutting blade 51, comes into contact with the stock sensor S0, and the stock sensor S
As 0 is turned on and the mowing operation is completed,
The grain culm supply is stopped and the stock origin sensor S0 is turned off. That is, the stock origin sensor S0 corresponds to a work state detecting means for detecting whether or not the combine is in the cutting work state.

Inside the storage tank 57, three grain amount detection switches are provided as a storage amount detecting means for detecting the storage amount of the grain stored in the storage tank 57. That is, when the stored grain in the tank exceeds the first set amount, the first grain amount detection switch S1 is turned ON, and when the stored grain exceeds the second set amount which is larger than the first set amount. The second grain amount detection switch S2 that is turned on, and is turned on when the stored grain number exceeds the third set amount, which is larger than the second set amount.
A third grain amount detection switch S3 that operates is provided respectively, and the amount of stored grain is detected in four stages based on the detection states of these switches. In other words, all switches are OFF, "very small", first
"Small" in which the grain amount detection switch S1 is ON
It is configured to detect the states of "medium" in which the second grain amount detection switches S2 and S3 are ON, and "large" in which all the grain amount detection switches are ON. .

As shown in FIGS. 1 and 2, the output of the engine E is transmitted to the threshing device 48 via a belt transmission mechanism having a threshing clutch, and the output of the engine E is a belt having a tension clutch. The power from the output shaft 3 of the transmission 1 is transmitted to the input pulley 2 of the continuously variable transmission 1 utilizing hydraulic pressure via the transmission mechanism, and the power from the output shaft 3 of the transmission 1 is transmitted via the first transmission shaft 4 in the transmission case 8 of the traveling system. , Is transmitted to the pre-reaping processing unit 49.

Next, the traveling transmission structure in the transmission case will be described. The power from the first transmission shaft 4 is the first
It is transmitted to the second transmission shaft 11 via the gear 9 and the second gear 10. A shift gear 14 is slidably fitted on the second transmission shaft 11 by a spline structure, while a high speed gear 16 and a medium speed gear 17 are attached to the third transmission shaft 15.
And the low speed gear 6 is fixed. With the above-described structure, the shift gear 14 is slid and operated to switch the high-speed gear 7, the medium-speed gear 17, or the low-speed gear 6 that meshes with the high-speed gear 16 to mesh with each other. The forward rotation power is transmitted to the first transmission gear 19 that meshes with the medium speed gear 17. As described above, by the shift gear 14 and the high speed gear 7, etc.,
The gear shift mechanism 13 is configured.

A right side gear 21R and a left side gear 21L are fitted to the support shaft 20 supporting the first transmission gear 19 so as to be rotatable relative to each other, and an input gear 23 of the left and right axles 22 is a left and right side gear 21R, 21L is always occluded. As a result, the right or left side gear 21R, 2
The first transmission gear 19 and the left and right side gears 21R, 1L are slidably operated with respect to the first transmission gear 19 so as to be occluded and separated from each other to perform power transmission and transmission interruption operation with respect to the crawler type traveling device 24. 21L and side clutches 25R and 25L are configured.

Next, a structure for braking one traveling device 24 will be described. As shown in FIG. 2, the support shaft 20
A pair of left and right second transmission gears 26R and 26L are rotatably supported by the bearings, and a pair of left and right fourth transmission gears 29 having a small diameter are fixed to the fourth transmission shaft 27.
The transmission gear 29 meshes with the left and right second transmission gears 26R and 26L. A multi-plate hydraulically operated side brake 28 is provided at one end of the fourth transmission shaft 27, and the right side gear 21R or the left side gear 21L is connected to the first transmission gear 19.
It is possible to apply braking to one of the traveling devices 24 by further separating and engaging the right or left second transmission gears 26R and 26L, and by turning on and operating the side brake 28. That is, this is a turning state.

Next, a structure for reversing the traveling device 24 on one side will be described. As shown in FIG. 2, the third transmission shaft 1
The third gear 37 that meshes with the high speed gear 16 of No. 5 is externally fitted to the fourth transmission shaft 27 so as to be rotatable relative to the third gear 37.
A second hydraulic clutch 30 is provided between the second hydraulic clutch 30 and the fourth transmission shaft 27. As a result, when the right side gear 21R or the left side gear 21L is engaged with the right or left second transmission gears 26R, 26L as described above, when the second hydraulic clutch 30 is operated to be engaged, The power is transmitted in the reverse rotation state and is decelerated to 1/2 and is transmitted to one of the traveling devices 24. In other words, this is the super-trust turning state.

Next, the structure for driving one traveling device 24 in the normal direction at a lower speed than the other traveling device 24 will be described. As shown in FIG. 2, a small-diameter output gear 38 is fixed to the boss portion of the first transmission gear 19 and the fourth transmission shaft 27 is formed.
The third transmission gear 40 having a large diameter is fitted to the outer surface of the third transmission gear 40 so as to be relatively rotatable,
The third transmission gear 40 meshes with the output gear 38. Then, the first hydraulic clutch 12 is provided between the third transmission gear 40 and the fourth transmission shaft 27, whereby the right or left side gears 21R and 21L are connected to the right or left second transmission gear 26.
When the first hydraulic clutch 12 is engaged and operated in the state of being engaged with R and 26L, the forward drive power for straight traveling transmitted to the first transmission gear 19 is output gear 38, the third transmission gear 40, the first hydraulic clutch. 12, fourth transmission shaft 27, fourth transmission gear 2
9 and the right or left second transmission gears 26R, 26L as one of the traveling devices 2 as a sufficiently reduced forward rotation power.
It is transmitted to 4. That is, this is the gentle turning state.

Next, hydraulic cylinders 31R and 31L for sliding the left and right side gears 21R and 21L, respectively,
The hydraulic oil supply structure for the side brake 28 and the first and second hydraulic clutches 12, 30 will be described. FIG.
As shown in FIG.
3 is supplied to the left and right hydraulic cylinders 31R and 31L, and the oil passage 34 from the side surface of the hydraulic cylinders 31R and 31L causes the second switching for the side brake 28 and the first and second hydraulic clutches 12 and 30. It is connected to the valve 35. Further, a side brake 28 and a variable relief valve 36 for the first and second hydraulic clutches 12 and 30 are connected to the oil passage 34, and right or left side gears 21R and 21L are connected to the right or left in the middle thereof. A sequence valve 47 is provided for ensuring in the hydraulic cylinders 31R, 31L the pressure necessary to completely engage the second transmission gears 26R, 26L.

Next, the operation of the first switching valve 33, the second switching valve 35 and the variable relief valve 36 will be described. As shown in FIG. 1, information on the operation position of the switching lever 18 is input to the control device 5 using a microcomputer,
Based on the operation position information of the switching lever 18, the electromagnetically operated second switching valve 35 supplies the operating oil to the first turning position 35a for supplying the hydraulic oil to the first hydraulic clutch 12 and the side brake 28 by the control device 5. The turning position 35b
Also, the operation is switched to the super-spot turning position 35c for supplying hydraulic oil to the second hydraulic clutch 30. Further, a steering operation lever 39 as a steering operation tool for human operation for turning the vehicle body V is provided, and the steering operation lever 39, the first switching valve 33, and the variable relief valve 36 are respectively provided in the first position. The first linkage mechanism 55 and the second linkage mechanism 56 are mechanically linked.

Next, the steering operation by operating the steering operation lever 39 will be described. When the steering lever 39 is operated to the neutral position N when the switching lever 18 is operated to the gentle turning position, that is, when the second switching valve 35 is switched to the gentle turning position 35a, the first operation Switching valve 3
3 is also operated to the neutral position and left and right hydraulic cylinders 31R, 3
1L contracts and the left and right side gears 21R and 21L mesh with the first transmission gear 19. As a result, the normal rotation power transmitted to the first transmission gear 19 is transmitted to the left and right traveling devices 24, the left and right traveling devices 24 are driven at the same speed, and the vehicle body travels straight.

Next, when the steering operation lever 39 is operated from the neutral position N to the first turning position R1 on the right or the first turning position L1 on the left, only the first switching valve 33 is operated and the hydraulic cylinder 31R or 31L. Depending on the right or left operation unit 46R,
The right or left side gears 21R and 21L, which are in mesh with the first transmission gear 19, are separated from the first transmission gear 19 via 46L, and are in mesh with the right or left second transmission gears 26R and 26L. In this case, since the variable relief valve 36 is in the fully open state and the first hydraulic clutch 12 is in the disengaged state,
The transmission to the right or left traveling device 24 is cut off (the transmission of the side clutch 25R or 25L is cut off),
The body slowly turns to the right or left.

Next, when the steering operation lever 39 is further operated from the right or left first turning position R1, L1 to the right or left second turning position R2, L2, the right or left side gear 21R, 21L is the right or left second transmission gear 26R, 26
L is engaged, and the second switching valve 35 is in the gentle turning position 35a.
The variable relief valve 36 is gradually operated from the fully opened state to the closed side. As a result, the first hydraulic clutch 12 starts to act, the right or left traveling device 24 is gradually driven to rotate forward at a low speed, and the vehicle body slowly turns to the right or left. Then, at the right or left second turning position R2, L2 of the steering operation lever 39, the slow turning speed becomes maximum.

The state in which the switching lever 18 is operated to the pivot position, that is, the second switching valve 35 is in the pivot position 35.
When the steering operation lever 39 is operated to the neutral position N in the state of being switched to b, the steering operation lever 39 goes straight as in the above, and the steering operation lever 39 is moved to the right or left from the neutral position N. When operated to the one-turn position R1, L1, the transmission cutoff state of the right or left side clutch 25R, 25L appears as in the above.

Next, when the steering operation lever 39 is operated from the right or left first turning position R1, L1 to the right or left second turning position R2, L2, the right or left side gear 21R, 21L is the right or left second transmission gear 26R, 26
L is engaged with the second switching valve 35 and the second turning valve 35
In the state of being operated to b, the variable relief valve 36 is gradually operated from the fully opened state to the closed side as described above.
As a result, the side brake 28 starts to act and the right or left traveling device 24 is gradually braked, and the vehicle body makes a right turn or left turn. The braking force of the side brake 28 becomes maximum at the right or left second turning position R2, L2 of the steering operation lever 39.

With the switching lever 18 operated to the super-position turning position, that is, the second switching valve 35 being switched to the super-position turning position 35c, the steering operation lever 39 is moved to the neutral position N. If the steering lever 39 is operated, it goes straight as described above. When the steering operation lever 39 is operated from the neutral position N to the right or left first turning position R1, L1, the right or left side is moved as described above. The transmission cutoff state of the clutches 25R and 25L appears.

Next, when the steering operation lever 39 is operated from the right or left first turning position R1, L1 to the right or left second turning position R2, L2, the right or left side gear 21R, 21L is the right or left second transmission gear 26R, 26
The second switching valve 35 is engaged with L and the second switching valve 35 is in the super-spinning turning position 3
In the state of being operated to 5c, the variable relief valve 36 is gradually operated from the fully opened state to the closed side as described above. As a result, the second hydraulic clutch 30 starts to act, the right or left traveling device 24 is gradually driven in reverse, and the vehicle body makes a super turning turn to the right or left. Then, at the right or left second turning position R2, L2 of the steering operation lever 39, the reverse rotation speed becomes maximum.

The side clutches 25R and 25L described above
In the turning by the transmission interruption operation, the slow turning in which one traveling device 24 is normally driven at a low speed, the solid turning in which the one traveling device 24 is braked, and the supertrust turning in which the one traveling device 24 is driven in reverse. The turning radius becomes smaller in the order of turning by the above-mentioned transmission cutoff operation, gentle turning, land turning, and super land turning. In the present embodiment, the slow turn is defined as a slow turn state, and both the solid turn and the super fine turn are defined as a sharp turn state. It functions as a turning state setting means for setting.

In general, the reciprocating cutting mode as shown in FIG. 5 (a) is set to a gentle turning state, and the adjacent cutting mode shown in FIG. 5 (b) is set to a sharp turning state. Will be done.

Next, the structure of the vehicle speed shifting operation will be described with reference to FIG. An electric motor 43 as an actuator for shifting the transmission 1 is linked to a linkage mechanism 45 of the manual gearshift lever 42 and the transmission 1 via a friction transmission mechanism 44. That is, the manual shift lever 42 and the electric motor 4 are configured in such a manner that the manual shift operation is prioritized over the shift operation by the electric motor 43.
The gear shift operation can be performed at 3.

The engine E is provided with a rotation speed sensor S4 for detecting the rotation speed thereof, and a vehicle speed sensor S5 for detecting the traveling vehicle speed based on the rotation speed of the transmission shaft is provided in the middle of the traveling transmission system. Is provided.

Next, the control configuration of the combine will be described. As shown in FIG. 1, the control device 5 includes the stock origin sensor S0 and each grain amount detection switch S1, S2, S.
3, the signals from the rotation speed sensor S4, the vehicle speed sensor S5, and the switching lever 18 are input, and the operation state of the threshing lever provided in the boarding control unit 54 for operating the threshing device 48 is detected. Threshing switch S
The signal from 6 is input. Further, the above-mentioned switching operation signal for the second switching valve 35 and the drive signal for the electric motor 43 are output from the control device 5.

Then, the control device 5 is used to detect that the stock-source sensor S0 has changed from the mowing work state (ON state) to the non-mowing work state (OFF state). Deceleration control means 1 for decelerating
00 and engine load detection means 101 for detecting the engine load.

Explaining the engine load detecting means 101, for example, before the mowing work, the threshing switch S
When 6 is ON, the engine speed when the vehicle speed reaches the set speed is stored as the reference engine speed in the unloaded state. However, thereafter, when it is detected that the engine speed detected under the above conditions is higher than the stored engine speed, the value is updated as a new reference engine speed. Then, the amount of decrease in the engine speed from the reference speed is detected as the engine load.

Next, the deceleration control means 100 will be described. The deceleration control means 100 sets the deceleration amount such that the steeper or steeper degree in the turning traveling becomes larger,
Based on the detection information of the engine load detection means 101, the deceleration amount is set to increase as the engine load increases when the cutting operation state changes to the non-cutting operation state, and the grain in the storage tank 57 is increased. The deceleration amount is set such that the larger the grain storage amount is, the larger the deceleration amount is set, and the electric motor 43 is decelerated at the set deceleration amount.

The deceleration control operation of the control device 5 will be described based on the flowchart shown in FIG. When it is detected that the stock loss switch S0 is switched from the ON state to the OFF state while the threshing switch S6 is in the ON state and the vehicle speed is equal to or higher than the set value and it is determined that the vehicle is traveling for work. (Steps 1 to 3), it is determined whether the turning state is the rapid turning state or the gentle turning state based on the setting state of the switching lever 18 (step 4). If the vehicle is in a sharp turning state, that is, if the vehicle is set to the turning turn or the super turning turn, the deceleration amount of the vehicle speed is set to a large value (step 5). Next, if the vehicle is in the gentle turning state, the stock switch S0 is turned off.
If the engine load (the amount of down of the engine speed) detected by the engine load detection unit 101 when the N state is switched to the OFF state is equal to or more than the set amount, the deceleration amount is set to a large amount (steps 6 and 5). If it is less than the set amount, the process proceeds to step 7, where each grain amount detection switch S1,
Based on the detection information of S2 and S3, it is determined whether or not the grain amount in the storage tank 57 is "large", and the grain amount is "large".
If so, the deceleration amount is set to a large value. If the grain amount in the storage tank 57 is "medium", the deceleration amount is set to medium (steps 8 and 9), and if the grain amount is "small", the deceleration amount is set to "small" (step). 10, 11). If the grain amount is "minimum", the deceleration amount is set to zero (step 12). Then, the electric motor 43 is decelerated by the deceleration amount set as described above (step 13).

Therefore, since the deceleration operation is automatically executed in advance as the mowing work in the working stroke is completed, the turning traveling is performed when the machine body is swung at the ridge to move to the next working stroke. It is possible to avoid disadvantages such as causing an engine stop due to an increase in running load. In addition, since the deceleration amount of the vehicle speed is changed and set based on the work situation such as the difference in the turning state, for example, the turning work is performed in a state where there is no disadvantage such as unnecessarily large deceleration in the slow turning state and the work efficiency is lowered. In addition to being able to perform,
When the traveling load during turning is large, the vehicle can be decelerated sufficiently to ensure traveling safety.

[Other Embodiments] (1) Regardless of the amount of grains in the storage tank 57, the deceleration amount may be set based only on the determination result of the turning state and the detection information of the engine load. . That is, if the turning state is a sharp turning state, or if the engine load is larger than the set value even in the slow turning state, the deceleration amount is set to a large value, and the turning state is the slow turning state,
Moreover, when the engine load is smaller than the set value, the deceleration amount may be set to a small value.

(2) Further, the deceleration amount may be set based only on the determination result of the turning state. That is,
The deceleration amount may be set to a large amount when the turning state is the rapid turning state, and may be set to a small amount when the turning state is the gentle turning state.

(3) As for the determination of the turning state, instead of the configuration for determining the two states of the sudden turning state and the gentle turning state, each of the super turning turn, the turning point turning and the gentle turning turn is carried out. Depending on the state, the deceleration amount may be set to large, medium and small in that order.

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

[Brief description of drawings]

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

[Fig. 2] Transmission system diagram

FIG. 3 is an overall side view of the combine.

FIG. 4 is a flowchart of control operation.

FIG. 5 is a plan view showing a work form.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 gearbox 18 turning state setting means 43 actuator 57 storage tank 100 deceleration control means 101 engine load detection means S0 work state detection means S1, S2, S3 storage amount detection means

Claims (3)

[Claims] 1. An actuator (43) for gear-changing a traveling transmission (1), a work state detecting means (S0) for detecting whether or not a cutting operation state is present, and the work state detecting means (S0). ), The deceleration control means (100) for decelerating the actuator (43) in response to the detection of the change from the mowing work state to the non-mowing work state is provided. Then, a turning state setting means (18) for setting a slowness degree in the turning traveling of the traveling machine body is provided, and the deceleration control means (100) determines the slowness degree based on the setting result by the turning state setting means (18). Is set so that the steeper the speed becomes, the greater the deceleration amount is set, and the vehicle speed control of the reaper is configured to decelerate the actuator (43) at the set deceleration amount. Apparatus. 2. An engine load detection means (101) for detecting an engine load is provided, and the deceleration control means (100) determines the cutting operation state based on the detection information of the engine load detection means (101). 2. The vehicle speed control device for a reaping work machine according to claim 1, wherein the deceleration amount is set to be larger as the engine load is larger when changing to the non-pruning work state. 3. A threshing device (4) for threshing a cut culm.
8) and a storage tank (57) for storing threshed grains
And storage amount detecting means (S1), (S2), (S) for detecting the storage amount of the grains stored in the storage tank (57).
3) is provided, the deceleration control means (100) increases the deceleration amount so that the larger the stored amount detected by the stored amount detecting means (S1), (S2), (S3), the greater the deceleration amount. The vehicle speed control device for the reaping work machine according to claim 1 or 2, which is configured to be set.