JPS60244229A - Harvester - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to a harvester equipped with a threshing device.

[Prior art]

The harvester feeds the shell culm harvested in the reaping section to the threshing device using a conveyance device, the shell culm is threshed by the threshing device, and the threshed grains are further sorted and refined. It is for extracting.

Among such harvesters, one has been developed that detects the load on the handling barrel of the threshing device and controls the traveling speed, engine speed, etc. of the machine so that the load is in an appropriate state.

In harvesters that are able to control vehicle speed in this way,
At the start of work, the amount of husk fed to the threshing equipment is not stable, and therefore the handling barrel load is also not constant, so controlling the vehicle speed based on such an unstable handling barrel load will be wasteful. There is a risk that the speed will increase further, resulting in a very dangerous situation. Therefore, it is possible to prevent vehicle speed control based on the handling cylinder load for a predetermined period of time at the start of work to prevent erroneous control. Even when it is necessary to stop traveling, vehicle speed control is not performed and if the vehicle continues to travel, the range of the abnormality may expand and become extremely dangerous.

〔the purpose〕

The present invention was made in view of such circumstances, and its purpose is to decelerate or stop the aircraft to ensure safety when it is necessary to decelerate or stop the aircraft at the start of work. The goal is to provide a harvester with improved performance.

〔composition〕

The present invention is designed to automatically control vehicle speed and engine rotation speed based on a predetermined threshing load in a threshing device,
For a predetermined period of time after detecting the culm being conveyed to the threshing device,
Only the deceleration or stop control of the aircraft is performed, and then the automatic control is performed.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below based on drawings showing embodiments thereof. FIG. 1 is an external perspective view of a harvester according to the present invention.

In the figure, 1 is a running roller, and the driving force of the engine is transmitted to the running roller 1 via a main clutch, a gear-meshing sub-transmission, a main transmission using a power shift transmission, and a side clutch. While running the machine, the handling cylinder, winnowing device, etc. in the threshing device 3 above the running rollers 1, and the cutting blades 2 in the reaping section 4 at the front of the machine. It is designed to drive the lifting device 7 and the like.

In addition, 9 in the figure is an operation column provided in front of the driver's seat 8;
6 is an auxiliary operation column provided on the side of the driver's seat 8;
The auxiliary operation column 6 is provided with a main shift lever 93 for changing the running speed in the main transmission, and an auxiliary shift lever 95 for changing the running speed in the auxiliary transmission. Also 1
Reference numeral 0 denotes a vertical conveying device, the terminal end of which faces the starting end of the feed chain 12 of the husk kneading transfer device 11, and near this and in front of the threshing device 3, there is a vertical conveying device that is fed to the threshing device. A shell culm sensor 62 is provided to detect the conveyance of the shell culm. The shell culm sensor 62 is not limited to this position, but may be placed on the side of the starting end of the shell culm pinching transfer device 11 or within the conveyance path of the vertical conveyance device 10, and in a harvester equipped with an automatic handling depth adjustment device. It may also be configured to be used in common with a sensor provided for culm length detection.

The culm pinching transfer device has a feed chain 12 and a pinching rod 13.
It is provided along the handling opening of the threshing device 3.

FIG. 2 is a partially cutaway vertical sectional view of the threshing device 3.

The threshing device 3 has a handling barrel 17 having a large number of handling teeth 16, 16... mounted on a shaft in a handling chamber 15 formed in the upper part of the machine housing 14, and parallel to the axial direction of the handling barrel 17. In addition to extending the handling port, a receiving net 18 is provided in the lower part of the handling chamber 15, and a swing sorting device 19 is provided in the lower part of the handling chamber 15, which is substantially parallel to the axial direction of the handling cylinder 17. It is something that The handling cylinder 17 is provided with a handling cylinder sensor 59 that detects its rotational speed.

Furthermore, a processing chamber 50 for reprocessing the No. 2 reduced product is provided at the upper right side of the handling cylinder 17 (near the center of #B body). Handling trunk 17
A processing shaft 51 having a large number of handling teeth 52, 52, .

The swinging sorting device 19 includes a swinging sorting board 20 extending in an inclined manner,
It is composed of a chaff sheave 21 provided at the lower rear of the swinging sorting board 20, a stroke rack 22, etc. connected to the rear of the chaff sheave 21, and a swinging arm that swings in conjunction with a drive source. 23.24 said handling cylinder 17
It consists of a shaft that swings in the longitudinal direction of the shaft.

Further, below the swing sorting device 19, there is a first grain removal section (first) 2 consisting of a first grain plate 25 and a first screw 26.
7, and a second grain removal section (second port) 30 consisting of a second flow grain plate 28 and a second screw 29.
1 is formed.

The grain that fell first into the grain removal section 27 is the first grain that has fallen into the first screw 2.
6 to the paddy tank 5, and also to the second grain take-out section 30.
The grains that have fallen are blown up from the second screw 29 into the second thrower cylinder 48 by the blower 47, and are sent to the processing cylinder from the processing cylinder cover 53 protruding above the processing chamber 50 of the roof plate of the threshing device 3. 51 to be re-sorted. The second screw 29 is provided with a second rotation sensor 63 that detects the number of revolutions of the screw 29, and the processing cylinder cover 53 is provided with a second reduction sensor 63 that detects the amount of the second reduction substance returned to the processing cylinder. A sensor 64 is provided.

In the air passage 31, a grain sieve 32 is provided below the chaff sieve 21, and a winnowing device 33 is provided on the wind raising side of the air passage 31. Then, the airflow from the karate device 33 is rectified by the rectifying plates 34 and 35, passes through the air passage 31, and is discharged to the outside of the machine from the dust exhaust port (No. 3 6) 36 at the rear of the machine. There is.

At the rear upper part of the stroke rack 22, a suction/discharge seat device 37 using an axial fan is provided, while the suction/discharge seat device 3
An upper suction cover 38 is disposed above the suction cover 38 and a lower suction cover 39 is disposed below the suction/discharge seat device 37.
is opened toward the dust exhaust port 36.

Above the upper suction cover 38, a fourth gutter 43 is provided that extends diagonally upward from both ends to form a fourth gutter 44, which is used to collect the culm after threshing, that is, the two prickles taken out from the straw. The structure is such that the grains are returned to the upper part of the stroke rack 22.

FIG. 3 is a block diagram of the control system of the machine of the present invention.

In the figure, 8o is a control unit using a microcomputer, and an input port al in its input interface receives the output of a handling cylinder sensor 59, which is attached to the rotating shaft of the handling cylinder 17 and detects the rotation speed of the handling cylinder 17. It is being

The input port a2 is attached to the output shaft of the engine 72,
The output of an engine sensor 60 that detects the engine speed is given.

A shift sensor 61 using a potentiometer is connected to the input port a3+ a4+ as, which is attached to the base end pivot portion of the main shift lever 93 in the main shift device using a power shift, and outputs a potential according to the amount of rotation thereof. The output potential of the shift sensor 61 causes the main shift lever 9 to
3 is 4th forward speed rF4J, 3rd forward speed rp3''; 2nd forward speed rF2J, 1st forward speed ``Fl'' and neutral speed rN
Determine which state J is in.

The output of a husk sensor 62 that detects the conveyance of the husk sent to the threshing device 3 is given to the input port as.

The output of the second sensor 63 that detects the number of rotations of the second screw 29 is given to the input capo a7, and the second sensor 63 detects when the number of rotations of the second screw 290 is below a predetermined value. outputs a high level signal when the boat a
Set 7 to high level and turn on the second screw alarm LED.
71 is lit.

The output of the second reduction sensor 64 that detects the amount of the second reduction product is given to the input capo) as, and when the amount of the second reduction product exceeds a predetermined value, the second reduction sensor 64 outputs a high level signal. , the boat AS is set to high level, and the second reduction product amount LED 72 is lit.

An automatic switch 65 for controlling the vehicle speed is connected to the input capo AS, and when the switch 65 is turned on, the vehicle speed is controlled.

A reaping switch 66 that is turned on when the reaping latch is engaged is connected to a+o.
In addition, a threshing switch 67 that is turned on when the threshing clutch is engaged is connected to the input port 81H, and when each of the switches 66 and 67 is turned on, the input port alf
l+all respectively become high level.

The input ports a12+a13 are provided at the base end pivot portion of the sub-shift lever 95 in the gear-meshing sub-transmission device,
An auxiliary shift lever switch 68 is provided that operates according to the rotational position of the auxiliary shift lever 95, and when the auxiliary shift lever 95 is in the low gear state rLJ, the input port aI2 is at a low level +alff is a high level signal. , middle gear state rMJ
When this is the case, both the driver's ports av and ai3 are at a high level, and furthermore, when the high speed stage state rHJ is, the input port ai2 is at a high level and the input port a13 is at a low level.

The input port a14 has a regulator switch 69 that is turned on when the regulator lever 73a in the engine 73 reaches the rotation limit position (maximum engine output state).
is connected, and when the switch 69 is turned on, the input port a14 becomes high level.

An emergency switch 70 that is turned on when stopping the aircraft in an emergency is connected to the input port aI5, and when the switch 70 is turned on, the input port a
i5 becomes low level.

On the other hand, a shift motor 74 for rotating the main shift lever 93 is connected to output ports b1 and b2 of the output interface in the control unit 80, and when the output port b1 becomes high level and the output port b2 becomes low level, the shift motor 74 rotates in the normal direction to shift the main gear, and the bar 93 is rotated to the high-speed traveling gear side.Conversely, when output port b becomes low level and output port b2 becomes high level, the motor 74 rotates in the reverse direction and the main shift lever 93 is rotated. It is rotated to the low-speed traveling stage side.

An accelerator motor 75 for rotating the accelerator lever 94 is installed in the output ports b3 and b4.
When output port b4 becomes high level and output port b4 becomes low level,
When the accelerator motor 75 is rotated in the normal direction, the accelerator lever 94 is rotated to the high speed side, and conversely, when the output port (b) becomes a low level and the output port b becomes a high level, the accelerator motor 75 is rotated in the reverse direction and the accelerator lever 94 is rotated to the high rotation side. 94 is rotated to the low rotation side.

An automatic lamp 76 is connected to the output port b, and is turned on when the automatic control state is established, and the automatic lamp 76 is turned on by the low level output of the output port b5.

A speed increase instruction lamp 77 is connected to the output port b6 to prompt the user to rotate the auxiliary shift lever 68 toward the high speed side, and to the output port b7, a speed increase instruction lamp 77 is connected to prompt the user to rotate the auxiliary shift lever 68 toward the low speed side. A deceleration instruction lamp 78 is connected to prompt the driver to do what he should do, and the lamps 77 and 78 are turned on by low level signals from the output ports b6 and b7, respectively.

An alarm buzzer 79 is connected to the output port b8,
The buzzer 79 sounds in response to the high level signal at the output port b8.

An alarm LED 90 is connected to the output port b9.
The LED 90 lights up due to the high level signal of the port b9.

A load monitor 91 that displays the rotation speed of the handling cylinder is connected to the output port bw, and the output port b is connected to a load monitor 91 that displays the rotation speed of the handling cylinder. , a self-diagnosis LED 92 that displays a predetermined display.
is connected.

The operation of the apparatus of the present invention constructed as described above will be explained based on the flowcharts of FIGS. 4 to 8 and the time chart of FIG. 9. When the key switch is turned on, a flag K indicates that it is time to start mowing, an engine flag S1 indicates that engine speed control has been performed at the start of work, and a stored value of the traveling speed stage of the main shift lever 95 in the main transmission device. Pm and the stored value Ps of the speed stage of the sub-shift lever 95 are all reset (=O). Then, it is determined whether the engine 73 is started based on the output of the engine sensor 60.

Now, when the engine is started and the automatic switch 65 is turned on to control the vehicle speed, the threshing clutch is placed in the connecting state and the threshing switch 67 is turned on.
is ready for vehicle speed control.

That is, the reaping latch is cut off and the reaping switch 66 is off, and since no reaping work is being performed, there is no conveying culm, the culm sensor 62 is off, and the engine flag S is is in the reset state S=0, the control device 80 flashes the automatic lamp 76 to notify that automatic control based on the rotation speed of the handling cylinder has not been started, and also sets the engine rotation speed to the appropriate rotation speed during work. The range is (α-β). This is done by determining whether the rotation speed of the engine 73 is within the appropriate range (α-β) based on the detected value of the engine sensor 60, and if the detected value is below the minimum value α (or the maximum value β) of the appropriate range. or above), the control unit 80 continuously outputs a predetermined signal to continuously drive the accelerator motor 75 in forward (or reverse) rotation, and controls the accelerator lever 94 so that the engine speed increases (or decreases). Rotate the engine in the direction shown below to keep the engine speed within the appropriate range. Even when the engine speed falls within the appropriate range, the engine flag S is not set to the cent state and remains in the reset state.

Now, when the engine speed is within the appropriate range, the reaping latch is set to the engaged state, and the main gear shift lever 93 is manually operated to set a predetermined traveling speed stage to start work, the reaping section 4 The culm harvested in
is lit, and the accelerator motor 75 is operated for a predetermined time t.
The engine is rotated in the normal direction for 2 seconds, increasing the engine speed slightly above the appropriate range. This means that when you start work with the engine running at the proper speed, the handling cylinder 17. Ichiban Screw 2
Since the load is suddenly applied to the 6th grade, the engine speed decreases, and while the engine speed is brought back within the appropriate range, there is a risk that threshing processing accuracy, sorting accuracy, etc. will deteriorate, resulting in grain loss. This was done in order to avoid such a situation.

When the engine speed reaches a value slightly higher than the appropriate range, the engine flag S, which indicates that the predetermined control of the engine speed at the start of work, is set to S = 1.
It is said that In this case, since the mowing start flag is in the recent state = 0, automatic control of the vehicle speed and engine speed based on the rotation speed of the handling drum is performed after waiting for the elapse of the predetermined time t4. During this time t4, since the amount of husks transported is not constant at the start of work and the threshing work is also unstable, if automatic control is performed based on the rotation speed of the handling cylinder in such an unstable state, the machine Since this is extremely dangerous as the speed is controlled to increase, this situation was designed to be avoided.

If the rotational speed of the handling cylinder becomes abnormally low during this time t4 (see Fig. 9), or if the No. 2 screw 29 becomes clogged during the time t4 and the No. 2 rotation sensor 63 turns on. As shown in FIG. 5, the shift motor 74 is driven in the reverse direction to stop the aircraft from moving, thereby continuously shifting down to the neutral position rNJ. If the amount of the second reduction product becomes too large and the second reduction sensor 64 is turned on, the shift motor 74 is driven in the reverse direction to downshift as shown in FIG.

Thereby, even if the second screw 29 becomes clogged, there is no risk of damaging the second screw 29, and there is no risk of grains being sorted in a low sorting accuracy state where the number of second reduced products has increased.

When the predetermined time t4 has elapsed, the mowing start flag is set (K=1), and if the main gear shift lever 93 is not in the neutral state rNJ and the machine is running, automatic control is performed based on the rotation speed of the handling barrel. is performed, and if the aircraft is in a stopped state, the control device 80 enters a standby state.

Next, automatic control of vehicle speed and engine speed based on the rotational speed of the handling cylinder will be explained based on the flowcharts of FIGS. 6 to 8 and Tables 1 and 2. This is a summary of the relationship i between the rotational speed X and the control contents.

Table 1 Vehicle speed and engine rotation speed are controlled based on the rotation speed of the handling drum. X≦C), and a second low rotation range lower than the first low rotation range (a<X
≦b), an abnormally low rotation range lower than the second low rotation range (
X≦a), first high rotation range higher than the proper range (d≦X
<'e), and a second high rotation range higher than the first high rotation range (e≦X).

Now, to explain the control contents in each range, when the handling barrel rotation speed falls within the second high rotation range (e≦X), the control device 80 drives the shift motor 74 in normal rotation to move the main shift lever 93 to high speed. Rotate to the side and shift down by -speed gear. This is because the load on the handling torso is very light, so the speed of the aircraft is increased to increase the amount of shells fed to the handling torso.

On the other hand, when the rotation speed of the handling cylinder falls within the second low rotation range (a<X≦b), the shift motor 74 is driven in the reverse direction to shift the main shift lever 9.
3 to the low speed side and downshift by -speed gear.

At the same time, the accelerator motor 75 is driven to rotate forward for a predetermined period of time to increase the engine speed by a predetermined amount.

Since the load on the handling torso is very heavy, the number of shells fed to the handling torso is reduced by decelerating the aircraft, and the engine speed is slightly increased to slightly increase the handling torso rotation speed. This is what we are trying to do. After such a change in vehicle speed, wait until a predetermined time t7 (or te) has elapsed, and then open the handling cylinder rotational speed to ensure that the handling cylinder rotational speed is still within the second high rotational speed range (e≦X) [or Second low rotation speed range (a<X
If it is within ≦b)), the same control is further repeated.

By repeating this control, even if the traveling speed of the main shift lever 93 reaches the 4th gear rF4J (or the 1st gear rFIJ), the handling cylinder rotation speed remains within the second high rotation speed range (e≦X) [or the second If the engine speed is within the low engine speed range (a<) (≦b), the accelerator motor 75 is driven in reverse (or forward) for a predetermined period of time to decrease (or increase) the engine speed by a predetermined amount. Even after the predetermined time tiI has passed, the rotation speed of the handling cylinder remains in the second high rotation speed range (e: 5X) (or the second low rotation speed range (a<).
(≦b)), the speed increase (or deceleration) instruction lamp 77 (or 78) flashes to prompt the user to change the sub-shift lever 95 in the sub-transmission device to the high speed side (or low speed side). let

When the sub-shift lever 95 is operated to change, the sub-shift lever switch 6
8 is switched, or the auxiliary gear shift lever 95 is set to high speed gear r.
When the vehicle is in HJ (or low speed gear "L"), the speed increase (or deceleration) instruction lamp 77 (or 78) does not flash.

When the rotational speed of the handling cylinder falls within the first high rotational speed range (d≦X<e) [or the first low rotational speed range (b<X≦C)], the accelerator motor 75 is operated for a predetermined period of time. The engine rotation speed is slightly decreased (or increased) by driving the engine in reverse (or forward) for a period of time, and then, after waiting for a predetermined time t5 (or ts) to elapse, the rotation speed of the handling cylinder is checked. is the first
High (or low) rotational speed range d≦X<e (or b×X≦C
), the shift motor 74 is driven to shift up (or downshift) the traveling speed stage of the main transmission.
do. In this case, the rotational speed of the handling cylinder is in the first high rotational speed range dl
If X<e, the accelerator motor 75 is driven for a predetermined period of time to increase the engine speed.

By controlling the engine speed in this manner, the main speed control can also keep the handling barrel speed within the first high (or low) speed range d≦) (
<e (or b<x≦C), the predetermined time 17 (
or te) Wait until the elapsed time and perform similar control. Then, the running speed of the main transmission is 4th gear rF4J (or 1
When the speed gear rFIJ is reached, the predetermined time 1. (or ts), the rotational speed of the handling cylinder remains within the first high (or low) rotational speed range dS
When X<e (or b<x≦C), the speed increase (or deceleration) instruction lamp 77 (or 78), which prompts an operation to change the running speed stage of the sub-transmission device, is blinked. This lamp 77
(or 78) is when the sub-shift lever 95 is operated and the sub-shift lever switch 68 is switched, or when the sub-shift lever 95 is in the high speed gear "H" (or the low speed gear "L") will not flash.

When the rotational speed of the handling cylinder is within the appropriate range (c<X<d), the accelerator motor 75 is driven forward for a predetermined period of time to increase the engine rotational speed. If it is within the appropriate range (c<X<d) even after the predetermined time t2, the accelerator motor 75 is further driven in forward rotation to increase the engine speed, and the maximum rotation of the engine 73 at which the regulator switch 69 is turned on. Increase the engine speed to a
Work is carried out in such a state.

Therefore, the threshing operation is performed with the rotational speed of the handling cylinder within the limit range and the engine output is at its maximum, and the threshing operation is performed with high efficiency.

Furthermore, when the engine speed is increased by a predetermined amount, if the handling cylinder speed increases and falls within the first high speed range, the above-mentioned control will be performed, and if possible, an upshift will be performed. , it is possible to increase the speed of the machine and make the threshing process even more efficient.

In addition, in controlling the vehicle speed and engine speed mentioned above,
The engine speed becomes abnormally low during a predetermined period of time after the shift amplifier or downshift of the main transmission is performed, or during a predetermined period of time after the engine speed is changed. If the range (X≦a) or the second screw 29 is clogged, the second rotation sensor 63
is turned on, as shown in FIG. 5, the vehicle speed and engine speed are not automatically controlled based on the rotation speed of the handling cylinder, and the shift motor 74 is driven in reverse to shift the main transmission 6 to neutral gear rNJ. , to stop the aircraft from moving.

Also, if the amount of the second reduction substance becomes too large, the second reduction sensor 64
When turned on, the shift motor 74 is driven in the reverse direction to downshift as shown in FIG.

In either case, the emergent engine switch 70
When turned on, the main transmission becomes neutral gear rNJ and the aircraft stops traveling.

- When the reaping operation of the stroke is completed, the culm sensor 62 is turned off, and the control device 80 stores the traveling speed stage of the main transmission as P- at the time when the culm sensor 62 is turned off, and also stores the traveling speed stage of the main transmission as P-. Store the traveling speed as Ps,
Automatic control based on the rotation speed of the handling cylinder is prohibited and the automatic lamp 76 is flashed. Then, a predetermined rotation operation is performed, and after the shell culm sensor 62 has been turned off and the rotation operation has been turned off for a predetermined period of time, the engine speed is controlled to be within the appropriate range (α-β). . This control is similar to the above-mentioned control to keep the engine speed within the appropriate range at the start of mowing,
The accelerator motor 75 is continuously driven so that the engine speed is within the appropriate range. This is because the husk remains in the threshing device at the start of the rotation, which adds a load to the handling barrel, and at the time of the rotation, the load for rotation (such as the load added when the running rollers are stopped) is also added. In order to add, the culm sensor 6
If the herring rotational speed is controlled immediately after 2 is turned off, the engine will be at high rotational speed, but after that the husk in the threshing device 3 will be threshed, the load on the handling barrel will be reduced, and the rotating operation will be completed. Since there is no accompanying load after that, the engine speed becomes abnormally high, so the engine speed is adjusted to an appropriate range after the rotation operation is completed.

When the rotation operation is completed and the shell culm sensor 62 detects the conveyed shell culm, the automatic lamp 76 lights up, the accelerator motor 75 is driven forward for a predetermined time t2, and the engine speed is made slightly higher than the appropriate value. After the predetermined time t9 has elapsed,
In order to set the main transmission and sub-transmission to the optimum running speed,
A predetermined traveling speed step setting control is performed.

FIG. 8 is a flowchart of travel speed stage setting control.

The control device 80 first determines whether or not the sub-transmission device has been operated to change gears based on the detection result of the sub-transmission Piva switch 68 and the stored value Ps.
If they match, it is assumed that the sub-shift lever 95 has not been operated, and the traveling speed stage of the main transmission is set to the speed stage before the rotation. That is, the current traveling speed is determined from the output signal of the shift sensor 61, and if the current speed and the stored value P+++ of the previous speed do not match, the traveling speed is set to the stored value P.
The shift motor 74 is driven so that When the traveling speed stage of the main transmission becomes equal to that before the same, automatic control of the vehicle speed and engine speed based on the rotation speed of the handling cylinder is performed after waiting for the elapse of a predetermined time t4.

On the other hand, if the running speeds of the auxiliary transmission before and after the turn do not match, the speed increase or deceleration instruction lamp 77 or 78 lights up and the running speed before the turn is 4th gear "F4" or 1st gear. When the stage is "Fl", the traveling speed stage of the main transmission is set so that the traveling speed after entrainment is approximately equal to the traveling speed of the aircraft before entrainment. Table 2 shows the set speed stages of the main shift in this case.

Table 2 In other words, in the case where the main transmission before rotation is in 4th gear "F4" and the sub-transmission is in low-speed gear "L", the auxiliary transmission after rotation is in middle-speed gear rMJ. When , the main transmission is set to 2nd gear "F2", and when the auxiliary transmission after the same is in high speed gear rHJ, the main transmission is shifted to 1st gear "Fl". Motor 74 is driven in reverse. Also, the main transmission before turning is 4th gear “F”.
4'', and when the auxiliary transmission is in the middle speed gear rMJ and the auxiliary transmission after rotation is in the high speed gear rHJ, the main transmission is in the first gear rFIJ.

On the other hand, if the main transmission before the rotation is in the first gear "Fl" and the auxiliary transmission is in the high speed gear rHJ, then the auxiliary transmission after the rotation is in the middle speed gear "M". When the auxiliary transmission is in the low-speed running gear rLJ, the main transmission is in the 3rd gear "F3", and when the auxiliary transmission is in the low speed rLJ, the main transmission is in the 4th gear "F4". In addition, when the main transmission before turning is in 1st gear "Fl" and the sub-transmission is in medium-speed running gear rMJ, and when the sub-transmission after accompanying is in low-speed running gear rLJ, The transmission is set to 3rd gear "F3".

When changing the running speed of the main transmission, if the speed before changing and the speed to be changed are two or more steps apart after the rotation, the intermediate running speed is held for a predetermined time tw. , change the speed stage sequentially.

If the combination of the running speeds of the main transmission and auxiliary transmission before the rotation and the combination of the running speed of the auxiliary transmission after the rotation is other than the above-mentioned embodiment, the stored value Pm of the running speed of the main transmission (P+*=0), and control is started at the travel speed set by the driver. The subsequent automatic control is the same as described above.

In the above-described embodiment, a power shift transmission is used as the main transmission, but a hydrostatic drive may be used instead.

〔effect〕

According to the present invention, when the amount of reaped culm during a predetermined period of time from the start of work is unstable, vehicle speed control is not performed based on the unstable handling trunk load state, so The vehicle can run stably without the risk of speed increase. Further, in this case, if an abnormality occurs in the handling cylinder, etc., the aircraft is controlled to decelerate and stop, so there is no risk of the handling cylinder becoming clogged, and safety is significantly improved.

[Brief explanation of drawings]

The drawings show embodiments of the present invention; Fig. 1 is an external perspective view of the machine of the present invention, Fig. 2 is a partially cutaway side view of the threshing device, and Fig. 3 is a schematic diagram of the control system of the machine of the present invention. block diagram, 4th
8 are flowcharts for explaining the present invention in detail, and FIG. 9 is a time chart of a part thereof. 1... Running roller 3... Threshing device 6... Sub operation column 17... Handling cylinder 29... No. 2 screw 59... Handling cylinder sensor 60... Engine sensor 61... Shift sensor 62...Culm sensor 63
...Second rotation sensor 64...Second reduction sensor 6
8...Sub-shift lever switch 73...Engine 7
4...Shift motor 75...Accelerator motor 76
... Automatic lamp 77 ... Speed increase instruction lamp 78.
...Deceleration instruction lamp 80...Control unit

Claims (1)

[Claims] 1. A detector for the culm to be threshed, a load detector in the threshing device, a transmission that changes the traveling speed, an engine speed changer that changes the engine speed, and the speed change based on the detected load. means for automatically controlling the aircraft or engine rotation speed changing machine; means for causing only the deceleration or stop control of the aircraft in the automatic control for a predetermined time after the detection of the culm; and means for controlling the automatic control only after the predetermined time. A harvesting machine characterized by comprising means for causing the harvesting.