JP2011160721A - Combine harvester - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a combine harvester that surely treats waste straws after threshing by a separately attached implement and does not damage the implement by a large applied load. <P>SOLUTION: The combine harvester 1 can hold the implement 90 (e.g., binder 90A or bundling machine 90B) for treating waste straws after threshing and includes a mounting condition detecting means 73 for detecting the mounting condition of the implement 90 and a control means 200 for controlling a traveling speed when the implement 90 is detected in a mounted condition by the mounting condition detecting means 73. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a combine technique, and more particularly, to a technique for limiting travel speed.

Conventionally, the combine equipped with the working machine for processing the waste after threshing is publicly known. For example, as shown in Patent Document 1. When such a combiner is equipped with a work machine, while harvesting, it harvests the grain culm in the field and threshs it to select the processed product after threshing, while processing the threshed culm with the work machine To do.
Here, “processing cocoons after threshing with a working machine” means, for example, when the working machine is a bundling device, bundling the mash after threshing with a bundling string by a bundling device. When the working machine is a focusing device, it means that the mash after threshing is focused by the focusing device and released to the outside by a predetermined amount.

Japanese Patent Laid-Open No. 7-246019

  However, when such a combine is equipped with a work machine (for example, a bundling machine or a bundling machine), it harvests the grain culm while traveling at the same high speed as when the work machine is not worn. When the series of operations up to the processing of the slaughter is performed, the amount of cereal after cutting increases, and the working machine receives a squeezed amount exceeding the processing capacity, and the slaughter after threshing is normal. May not be able to be processed (bundled or focused), and there may be a load more than the working machine can withstand.

  The present invention has been made in view of the situation as described above, and can be reliably processed by a work machine separately attached with the waste after threshing, and the work machine is heavily loaded and damaged. It is an object to provide a combine that eliminates such a problem.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

  That is, in claim 1, a combiner that can be equipped with a work machine for processing waste after threshing, comprising: a wearing state detection unit that detects a wearing state of the working machine; and the wearing state detection unit. And a control unit that limits a traveling speed when it is detected that the working machine is in the mounted state.

  According to a second aspect of the present invention, a type detection unit that detects the type of the work implement is provided, and the control unit enables the travel speed to be limited based on the type of the work implement detected by the type detection unit. Is.

  According to a third aspect of the present invention, there is provided work state detection means for detecting whether the state is a cutting work state or a non-cutting work state, and the control means limits the traveling speed based on a detection result of the wearing state detection means. When it is detected that the working state detecting means is in the non-reaching working state, the restriction on the traveling speed is released.

  As effects of the present invention, the following effects can be obtained.

  In other words, in the first aspect, when the work machine is mounted on the combine, it is possible to limit the traveling speed and reset the maximum speed at which the machine can travel lower than when the work machine is not mounted. Become. Therefore, when mowing with the work implement attached to the combine, even if the machine runs at the maximum speed and the amount of cereal after cutting increases, the amount of waste that exceeds the processing capacity of the work implement Is not transported to the working machine, so that the waste after threshing can be reliably processed by the working machine, and the working machine is not damaged by being subjected to a large load.

  In claim 2, it is possible to change the limit of the traveling speed based on the type of the work machine mounted on the combine and appropriately set the maximum speed at which the machine can travel according to the type of the work machine. It becomes. Therefore, when a cutting operation is performed with the work machine attached to the combine, the scouring after threshing can be appropriately and reliably processed by the work machine. Moreover, it becomes possible to work efficiently by working at the maximum speed according to the working machine.

  According to the third aspect of the present invention, even when the work machine is mounted on the combine, the traveling speed is not limited in the non-reaping work state in which the work machine is not used. Therefore, when in the non-reaping work state, the airframe can be smoothly run at the same wide speed range as when the work implement is not attached to the combine.

The side view which showed the whole structure of the combine which concerns on 1st embodiment of this invention. The top view which showed the whole structure of the combine which concerns on 1st embodiment of this invention. The figure which showed the attachment or detachment state of the working machine with respect to the combine which concerns on 1st embodiment of this invention. The figure which showed the structure of the transmission of the combine which concerns on 1st embodiment of this invention. The block diagram which showed the control structure of the combine which concerns on 1st embodiment of this invention. The flowchart figure which showed the control aspect of the combine which concerns on 1st embodiment of this invention.

  Embodiments of the present invention will be described below.

  First, the whole structure of the combine 1 which concerns on one Embodiment of this invention is demonstrated.

  As shown in FIGS. 1 and 2, the combine 1 includes a traveling unit 2, a cutting unit 3, a threshing unit 4, a sorting unit 5, a grain storage unit 6, a waste disposal unit 7, a steering unit 8, an engine unit 9, The mission unit 10 is provided, and the work machine 90 can be separately mounted.

  The traveling unit 2 is provided in the lower part of the body frame 20. The traveling unit 2 includes crawler type traveling devices 21 and 21 having a pair of left and right crawlers, and is configured so that the machine body can travel in the forward or reverse direction by the crawler type traveling devices 21 and 21.

  The cutting unit 3 is provided at the front end of the body frame 20 so as to be movable up and down with respect to the body. The mowing unit 3 includes a weeding tool 31, a pulling device 32, a cutting device 33, a transporting device 34, and the like, and uses the weeding tool 31 to weed the cereals in the field, and the cereals after weeding. Is caused by the pulling device 32, the stocker of the culm after ripening is cut by the cutting device 33, and the chopped culm can be transported to the threshing unit 4 side by the transport device 34.

  The threshing unit 4 is provided at the left front portion of the machine body frame 20 and is arranged behind the reaping unit 3. The threshing unit 4 has a feed chain 35, a handling cylinder, a processing cylinder, and the like, and the cereals conveyed from the cutting unit 3 are inherited by the feed chain 35 and conveyed to the waste processing unit 7 side. The cereal husk is threshed by the handling cylinder, and the untreated material from the handling cylinder side can be processed by the processing cylinder.

  The sorting unit 5 is provided on the left side of the machine body frame 20 and is disposed below the threshing unit 4. The sorting unit 5 has a rocking sorting device, a wind sorting device, a grain conveying device, and the like, and swings and sorts the processed material falling from the threshing unit 4 using the rocking sorting device, and wind sorting such as tang It is configured so that the wind can be sorted by the apparatus to discharge swarf and dust to the outside outside, while the grain can be conveyed to the grain storage unit 6 by the grain conveying device.

  The grain storage unit 6 is provided at the right rear portion of the machine body frame 20 and is arranged on the right side of the threshing unit 4 and the sorting unit 5. The grain storage unit 6 includes a grain tank 61, a grain discharge device 62, and the like. The grain storage unit 6 temporarily stores the grain transported from the sorting unit 5 in the grain tank 61, and stores the stored grain. It is configured so that it can be discharged from the grain tank 61 by the grain discharging device 62 and further discharged to the outside after being conveyed in an arbitrary direction.

  The waste disposal unit 7 is provided at the rear of the machine body frame 20 and is disposed behind the threshing unit 4. The waste disposal unit 7 includes a waste transport device 71, a waste cutting device 72, and the like. The cocoon processing unit 7 inherits the threshed sorghum from the threshing unit 4 as sewage by the sewage transfer device 71 and discharges it to the outside when the work machine 90 is not attached, or spills out. It is configured so that it can be transported to the cutting device 72 and the discharged waste after transported can be cut by the waste cutting device 72 and then discharged to the outside, without cutting when the work machine 90 is in the mounted state. It is comprised so that it can convey to the working machine 90. FIG.

  The work machine 90 is detachably attached to the machine body and is disposed behind the waste disposal unit 7. The work machine 90 is configured such that the waste from the waste processing unit 7 can be appropriately processed according to the type of the work machine 90 and then discharged to the outside. As the working machine 90, for example, as shown in FIG. 3, the binding device 90A, which is a device that binds the threshed mash after a predetermined amount with a tying string and releases it to the outside, or the mash after the threshing is focused. There is a focusing device 90B which is a device that discharges to the outside by a predetermined amount, and any one of them can be separately attached to the airframe. However, the type (model) of the work machine 90 is not particularly limited.

  The control unit 8 is provided at the right front portion of the body frame 20 and is disposed on the right side of the conveying device 34 of the cutting unit 3 and in front of the grain storage unit 6. The control unit 8 includes a cockpit 85, an operation tool including a main transmission lever 87 as a main transmission operation tool, an auxiliary transmission lever 88 as an auxiliary transmission operation tool, and a steering handle 89, and a cabin 25 that covers these. The operator can sit on the cockpit 85 and operate the operation tools.

  The engine unit 9 is provided at the front right side of the machine body frame 20 and is disposed in front of the grain storage unit 6. The engine unit 9 includes an engine 27 and the like, and is configured so that power can be transmitted from the engine 27 to each unit device using this as a drive source via an appropriate power transmission mechanism to drive each unit device. Is done.

  The mission unit 10 is provided at the front right side of the body frame 20 and is disposed in front of the engine unit 9. The transmission unit 10 includes a transmission 23 including hydraulic continuously variable transmissions 40 and 50 (see FIG. 4), and the power of the engine 27 of the engine unit 9 is the crawler type traveling device 21 of the traveling unit 2 and the cutting unit 3. The transmission 23 is configured to be able to shift the power before being transmitted to the transmission.

  In this way, the combine 1 transmits the power of the engine 27 to the devices of the respective parts by operating the operation tools in the control unit 8, while the traveling unit 2 travels the body, while the harvesting unit 3 The threshing part 4 is reaped, the threshing part 4 is threshed, the sorting part 5 is used to sort the processed product from the threshing part 4, and the grain storage part 6 is used to sort the grain from the sorting part 5 When the work implement 90 is not attached at the same time, the waste disposal unit 7 can discharge the waste from the threshing unit 4 to the outside, and the work implement 90 is in the attachment state. Is configured so that the waste processing unit 7 can transport the waste from the threshing unit 4 to the work machine 90 and process it with the work machine 90 and then discharge the waste to the outside.

  Next, the configuration of the mission unit 10 will be described.

  As shown in FIGS. 1 and 4, in the transmission unit 10, the transmission 23 includes a traveling hydraulic continuously variable transmission (hereinafter referred to as traveling HST) 40, and a steering hydraulic continuously variable transmission. (Hereinafter referred to as steering HST) 50, a transmission mechanism 70, and a transmission case are provided. Then, the transmission mechanism 70 is accommodated in the transmission case, and the traveling HST 40 and the steering HST 50 are attached to the transmission case, and the transmission mechanism 70 of the traveling system of the combine 1 is constituted by these.

  As shown in FIG. 4, the traveling HST 40 is provided with a variable displacement traveling pump 40P and a fixed displacement traveling motor 40M. The traveling pump 40P and the traveling motor 40M are respectively composed of a hydraulic pump and a hydraulic motor, and are fluidly connected to each other. Note that at least one of the traveling pump 40P and the traveling motor 40M may be a variable displacement type.

  The travel pump 40P includes a travel pump shaft 41, a plunger, a cylinder, and travel pump capacity adjusting means 43. The traveling pump shaft 41 is coupled to the output shaft of the engine 27, and the cylinder is supported by the traveling pump shaft 41 so as not to be relatively rotatable. A plurality of plungers are accommodated in the cylinder so as to be slidable back and forth. The travel pump capacity adjusting means 43 has a movable swash plate and a control shaft. By tilting the movable swash plate with the control shaft, the stroke of the reciprocating sliding of the plunger is changed, and the discharge amount from the travel pump 40P is changed. Configured to be changeable.

  The travel motor 40M includes a plunger, a cylinder, a travel motor shaft 45, and a fixed swash plate. The cylinder is supported by the traveling motor shaft 45 so as not to be relatively rotatable. The fixed swash plate is fixed to the traveling motor main body 44, and the plunger and the traveling motor shaft 45 are rotated by the pressure oil fed from the traveling pump 40P.

  The traveling HST 40 can be operated by the traveling pump capacity adjusting means 43 by a speed change operation device. As shown in FIG. 4 or FIG. 5, the speed change operation device includes a main speed change lever 87 as a main speed changeable manipulator, a first operation position detection sensor 87a, and a speed change actuator which is an operating device for the traveling pump 40P. 141P is provided. The first operation position detection sensor 87a and the speed change actuator 141P are connected to a control means 200 (described later) provided in the combine 1.

  The main speed change lever 87 is disposed in the vicinity of the cockpit 85 in the control section 8 and can be rotated from the neutral position to the forward speed increasing side located in front of the neutral speed position, and from the forward speed increasing side to the neutral position. Thus, it can be turned to the forward deceleration side. Further, the main transmission lever 87 can be operated to rotate from the neutral position to the reverse acceleration side located behind it, and can be operated to rotate from the reverse acceleration side to the reverse deceleration side toward the neutral position. (See FIGS. 1 and 2).

  The first operation position detection sensor 87 a is provided at the rotation base of the main transmission lever 87 and can detect the rotation angle of the main transmission lever 87 as the operation position of the main transmission lever 87. In this embodiment, transmission actuator 141P includes a hydraulic cylinder, a solenoid valve, a solenoid for operating this solenoid valve, and the like. However, the speed change actuator 141P is not particularly limited, and may be configured by an electric motor, an electric cylinder, or the like.

  When the main transmission lever 87 is turned from the neutral position to the forward acceleration side, the operation position is detected by the first operation position detection sensor 87a, and the forward solenoid of the transmission actuator 141P is operated by the control means 200. Thus, the solenoid valve is switched to the speed increasing side. By switching the electromagnetic valve, the hydraulic cylinder is extended to a length corresponding to the detection value of the first operation position detection sensor 87a, and the travel pump capacity adjusting means (movable swash plate) 43 is tilted from the neutral position to the forward acceleration side. The capacity of the traveling pump 40P is changed.

  When the main transmission lever 87 is turned to the forward speed increasing side and is turned to the forward deceleration side toward the neutral position, the operation position is detected by the first operation position detection sensor 87a. The forward solenoid of the speed change actuator 141P is operated by the control means 200, and the electromagnetic valve is switched to the deceleration side. By this switching of the solenoid valve, the hydraulic cylinder is contracted to a length corresponding to the detection value of the first operation position detection sensor 87a, and the traveling pump capacity adjusting means (movable swash plate) 43 moves toward the forward deceleration toward the neutral position. The displacement of the traveling pump 40P is changed.

  When the main transmission lever 87 is turned from the neutral position to the reverse acceleration side, the operation position is detected by the first operation position detection sensor 87a, and the reverse solenoid of the transmission actuator 141P is operated by the control means 200. Thus, the solenoid valve is switched to the speed increasing side. By switching the electromagnetic valve, the hydraulic cylinder is extended to a length corresponding to the detection value of the first operation position detection sensor 87a, and the traveling pump capacity adjusting means (movable swash plate) 43 is tilted from the neutral position to the reverse acceleration side. The capacity of the traveling pump 40P is changed.

  When the main speed change lever 87 is turned to the reverse speed increasing side and turned to the reverse speed toward the neutral position, the operation position is detected by the first operation position detecting sensor 87a. The reverse solenoid of the speed change actuator 141P is actuated by the control means 200, and the electromagnetic valve is switched to the deceleration side. By this switching of the solenoid valve, the hydraulic cylinder is contracted to a length corresponding to the detection value of the first operation position detection sensor 87a, and the traveling pump capacity adjusting means (movable swash plate) 43 moves toward the reverse deceleration side toward the neutral position. The displacement of the traveling pump 40P is changed.

  Thus, in the travel HST 40, when the travel pump 40P is driven, the capacity of the travel pump 40P is changed according to the tilt of the travel capacity adjusting means (movable swash plate) 43, so that the travel pump 40P changes to the travel motor 40M. The discharge amount and the discharge direction of the discharged hydraulic oil are changed, the rotation direction of the traveling motor shaft 45 is changed to the forward or reverse direction, and the rotation speed is changed steplessly.

  As shown in FIG. 4, the steering HST 50 includes a variable displacement steering pump 50P and a fixed displacement steering motor 50M. The steering pump 50P and the steering motor 50M are respectively composed of a hydraulic pump and a hydraulic motor, and are fluidly connected to each other. Note that at least one of the steering pump and the steering motor may be a variable displacement type.

  The steering pump 50P is provided with a steering pump shaft 51, a plunger, a cylinder, and a steering pump capacity adjusting means 53. The steering pump shaft 51 is linked to the engine 27 and the cylinder is supported by the steering pump shaft 51 so as not to rotate relative to the steering pump shaft 51. A plurality of plungers are accommodated in the cylinder so as to be slidable back and forth. The steering pump capacity adjusting means 53 has a movable swash plate and a control shaft, and the stroke of the reciprocating sliding of the plunger is changed by tilting the movable swash plate with the control shaft, and the discharge from the steering pump 50P. It is configured so that the amount can be changed.

  The steering motor 50M includes a plunger, a cylinder, a steering motor shaft 55, and a fixed swash plate. The cylinder is supported by the steering motor shaft 55 so as not to be relatively rotatable. The fixed swash plate is fixed to the steering motor main body 54, and the plunger and the traveling motor shaft 55 are rotated by the pressure oil sent from the traveling pump 50P.

  In the steering HST 50, the travel pump capacity adjusting means 53 can be operated by the steering operation device. As shown in FIG. 4 or FIG. 5, the steering operation device includes a steering handle 89 as a steering operation means that can be manually operated, a steering position detection sensor 89a, and an operation device for the steering pump 50P. A directional actuator 142 is provided. The steering position detection sensor 89 a and the steering actuator 142 are connected to the control means 200.

  The steering handle 89 is disposed in front of the control seat 85 in the control unit 8 and can be rotated left and right (see FIGS. 1 and 2). The steering position detection sensor 89 a is provided at the rotation base of the steering handle 89 and can detect the rotation angle of the steering handle 89 as the operation position of the steering handle 89. In the present embodiment, the steering actuator 142 includes a hydraulic cylinder, a solenoid valve, a solenoid that operates the solenoid valve, and the like. However, the steering actuator 142 is not particularly limited, and may be configured by an electric motor, an electric cylinder, or the like.

  When the steering handle 89 is turned, the operation position is detected by the steering position detection sensor 89a, and the solenoid of the steering actuator 142 is operated by the control means 200 based on the detection value of the steering position detection sensor 89a. And the solenoid valve is switched. By this switching of the solenoid valve, the hydraulic cylinder is expanded and contracted to a length corresponding to the detected value of the steering position detection sensor 89a, and the traveling pump capacity adjusting means (movable swash plate) 53 is tilted, so that the steering pump 50P The capacity is changed.

  Thus, in the steering HST 50, when the steering pump 50P is driven, the displacement of the steering pump 50P is changed in accordance with the inclination of the travel capacity adjusting means (movable swash plate) 53, so that the steering pump 50P The discharge amount and discharge direction of the hydraulic oil discharged to the steering motor 50M are changed, the rotation direction of the steering pump shaft 51 is changed to the normal or reverse direction, and the rotation speed is changed steplessly.

  As shown in FIG. 4, the transmission mechanism 70 includes a pair of planetary gear mechanisms, that is, a first planetary gear mechanism 80a and a second planetary gear mechanism 80b, a traveling output transmission mechanism 100, and a steering output transmission mechanism 110. It is done.

  The first planetary gear mechanism 80a includes a sun gear 81, an internal gear 84, a plurality of planetary gears 82, 82. The sun gear 81 is fixed to the rotating shaft 86, and the internal gear 84 is disposed so as to surround the sun gear 81 concentrically. Each planetary gear 82 is interposed between both gears so as to mesh with the internal teeth of the internal gear 84 and the external teeth of the sun gear 81, and is rotatably supported by the carrier 83. The carrier 83 is fixed to the first output shaft 60a.

  Similarly, the second planetary gear mechanism 80b includes a sun gear 81, an internal gear 84, a plurality of planetary gears 82, 82,. The sun gear 81 is fixed to the rotating shaft 86, and the internal gear 84 is disposed so as to surround the sun gear 81 concentrically. Each planetary gear 82 is interposed between both gears so as to mesh with the internal teeth of the internal gear 84 and the external teeth of the sun gear 81, and is rotatably supported by the carrier 83. The carrier 83 is fixed to the second output shaft 60b.

  The traveling output transmission mechanism 100 includes an output shaft 101, a branch shaft 105, a first traveling output gear train 106 a, a second traveling output gear train 106 b, a gear meshing type sub-transmission mechanism 107, and a parking brake device 102. Provided. The output shaft 101 is interlocked with the travel motor shaft 45 of the travel motor 40M in the travel HST 40, and the branch shaft 105 is interlocked with the output shaft 101 via the auxiliary transmission mechanism 107.

  The subtransmission mechanism 107 is configured so that the rotational power of the traveling motor shaft 45 for traveling can be shifted in multiple stages between the output shaft 101 and the branch shaft 105. In the present embodiment, the sub-transmission mechanism is configured to be capable of shifting between the low speed stage for work and the high speed stage for traveling, but is configured to be capable of shifting to three or more stages. May be.

  The auxiliary transmission mechanism includes a high-speed drive gear and a low-speed drive gear, a high-speed driven gear and a low-speed driven gear, and a traveling system shifter. The high-speed drive gear and the low-speed drive gear are each supported by the transmission shaft so as to be relatively rotatable. The high speed drive gear and the high speed driven gear are meshed, and the low speed drive gear and the low speed driven gear are meshed. The high-speed driven gear and the low-speed driven gear can be selectively engaged with the transmission shaft via the traveling system shifter.

  The auxiliary transmission mechanism can be operated by an auxiliary transmission operating device. As shown in FIG. 4 or FIG. 5, the auxiliary transmission operating device is provided with an auxiliary transmission lever 88 as an auxiliary operation tool that can be manually operated, and a second operation position detection sensor 88a. The second operation position detection sensor 88a is connected to the control means 200.

  The auxiliary transmission lever 88 is disposed in the vicinity of the cockpit 85 in the control unit 8 and can be rotated back and forth to a low speed position for work or a high speed position for traveling located behind the low speed position (FIG. 1). FIG. 2). The second operation position detection sensor 88a is provided at the rotation base of the sub transmission lever 88, and can detect the operation position of the sub transmission lever 88.

  When the auxiliary transmission lever 88 is turned to the working low-speed position, the turning angle is detected by the second operation position detection sensor 88a as the operation position of the auxiliary transmission lever 88. By this speed change operation, the traveling system shifter is moved to the low-speed driven gear side, and the low-speed driven gear is engaged with the transmission shaft via the traveling system shifter. As a result, the rotational power shifted to the low speed side is transmitted from the output shaft to the branch shaft via the transmission shaft.

  On the other hand, when the auxiliary transmission lever 88 is rotated to the high speed position for traveling, the operation position is detected by the second operation position detection sensor 88a, and the shift system shifts the traveling system shifter to the high speed driven gear side. The high-speed driven gear is moved and engaged with the transmission shaft via the traveling system shifter. As a result, the rotational power shifted to the high speed side is transmitted from the output shaft to the branch shaft via the transmission shaft.

  A PTO pulley 48 is fixed to the traveling motor shaft 45 of the traveling motor 40M, and the rotational power of the traveling motor 40M can be transmitted from the PTO pulley 48 to the transmission mechanism of the cutting unit 3.

  The first traveling output gear train 106a transmits the rotational power of the branch shaft 105 to the internal gear 84 of the first planetary gear mechanism 80a, and the second traveling output gear train 106b transmits the rotational power of the branch shaft 105 to the second planetary gear. The gear mechanism 80b can be transmitted to the internal gear 84. The transmission directions and transmission ratios of the first traveling output gear train 106a and the second traveling output gear train 106b are set to be the same.

  The parking brake device 102 includes a brake shaft 103 and a brake unit 104, receives rotational power from the output shaft 101 by the brake shaft 103, and outputs it to the branch shaft 105. The brake unit 104 selectively selects the brake shaft 103. It is comprised so that braking force can be added to.

  The steering output transmission mechanism 110 includes an output shaft 111, a common shaft 112, a first steering output gear train 113a, a second steering output gear train 113b, a clutch device 115, and a steering brake device 114. It is done.

  The output shaft 111 is linked to the steering motor shaft 55 of the steering motor 50M in the steering HST 50, and the common shaft 112 is linked to the output shaft 111 via the clutch device 115. The clutch device 115 is configured to be able to transmit or block the rotational power from the output shaft 111 to the common shaft 112.

  The first steering output gear train 113 a transmits the rotational power of the common shaft 112 to the sun gear 81 of the first planetary gear mechanism 80 a via a rotational shaft or the like, and the second steering output gear train 113 b is connected to the common shaft 112. The rotational power is transmitted to the sun gear 81 of the second planetary gear mechanism 80b via the rotary shaft 86 and the like. The transmission ratios of the first steering output gear train 113a and the second steering output gear train 113b are set to be the same, and the transmission directions are set to opposite directions.

  The steering brake device 114 is configured to selectively apply a braking force to the output shaft 111.

  In such a configuration, the steering motor 50M of the steering HST 50 is stopped without turning the steering handle 89, the main transmission lever 87 is turned from the neutral position, and the traveling motor 40M of the traveling HST 40 is moved. When driving, the rotational power of the traveling motor 40M is transmitted from the traveling motor shaft 45 to the output shaft 101 of the traveling output transmission mechanism 100, the branch shaft 105, the first and second traveling output gear trains 106a and 106b, the first and second The internal gear 84, the planetary gear 82, and the carrier 83 of the second planetary gear mechanisms 80a and 80b are transmitted to the respective members in this order, and then transmitted to the first and second output shafts 60a and 60b.

  Due to the transmission of the rotational power, the first output shaft 60a and the second output shaft 60b are rotated at the same rotational speed, and as a result, the drive wheels provided on the left and right crawler type traveling devices 21 have the same rotational speed in the same rotational direction. It is rotated by. As a result, the left and right crawler type traveling devices 21 are driven, and the airframe travels straight.

  When the main transmission lever 87 is rotated to the neutral position, the traveling motor 40M of the traveling HST 40 is stopped, and the steering handle 89 is rotated to drive the steering motor 50M of the steering HST 50. The rotational power of 50M is supplied from the steering motor shaft 55 to the output shaft 111 of the steering output transmission mechanism 110, the common shaft 112, the first and second steering output gear trains 113a and 113b, and the first and second planets. The sun gear 81, the planetary gear 82, and the carrier 83 of the gear mechanisms 80a and 80b are transmitted to the respective members in this order, and then transmitted to the first and second output shafts 60a and 60b.

  By the transmission of this rotational power, the first output shaft 60a and the second output shaft 60b are rotated in opposite directions, and the drive wheels of the left and right crawler type traveling devices 21 are rotated in the forward or reverse direction, and the other left and right The drive wheels of the crawler type traveling device 21 are rotated in the reverse or forward direction. As a result, the left and right crawler type traveling devices 21 are driven, and the spin turn of the aircraft is performed on the spot. Thereby, the direction change in a farm field or a headland is enabled, for example.

  When the main transmission lever 87 is rotated from the neutral position to drive the traveling motor 40M in the traveling HST 40, and the steering handle 89 is rotated to drive the steering motor 50M of the steering HST 50, the traveling motor The first and second planetary gear mechanisms 80a, 80a, and the rotational power transmitted from 40M through the traveling output transmission mechanism 100 and the rotational power transmitted from the steering motor 50M through the traveling output transmission mechanism 100 are the same. After being combined at 80b, they are transmitted to the first and second output shafts 60a and 60b.

  By the transmission of this rotational power, the first and second output shafts 60a and 60b are rotated at different rotational speeds, and as a result, the drive wheels of the left and right crawler type traveling devices 21 are rotated at different rotational speeds. As a result, the left and right crawler type traveling devices 21 are driven with a difference in speed, and the aircraft is traveling and turning left or right at the same time. The turning direction and turning radius are determined according to the speed difference between the left and right crawler type traveling devices 21.

  In these cases, the traveling direction is forward when the main transmission lever 87 is turned to the forward acceleration or deceleration side, and the main transmission lever 87 is turned to the backward acceleration or deceleration side. If it is, it will go backwards. Further, the traveling speed of the machine body is changed according to the operation positions of the main transmission lever 87 and the auxiliary transmission lever 88.

  Next, the control configuration in the present embodiment will be described.

  As shown in FIG. 5, the control unit 200 includes an arithmetic device 210 such as a CPU and a storage device 220 such as a RAM, a ROM, and an HDD. The storage device 220 stores speed limit information 221 in addition to various programs and data. The speed limit information 221 is information for appropriately limiting the traveling speed of the machine body according to the type of the work machine 90 when the work machine 90 is mounted on the combine 1.

  As described above, the control means 200 is connected to the first operation position detection sensor 87a, the second operation position detection sensor 88a, and the steering position detection sensor 89a, and is connected to the speed change actuator 141P and the steering actuator 142. . Further, the control unit 200 is connected to the mounting state detection unit 73, the type detection unit 74, the work state detection unit, and the traveling speed detection unit 70a.

  The mounting state detection means 73 detects the mounting state of the work machine 90 to the combine 1. In the present embodiment, the attachment state detection means 73 is configured such that the work machine 90 is attached to the combine 1, the connector disposed in the waste disposal processing unit 7 is connected to the connector provided in the work machine 90, and the wrinkle treatment By being energized between the unit 7 side and the work machine 90 side, it is configured to detect that the work machine 90 is in the mounted state. The wearing state detection means 73 is also configured to detect that the work machine 90 is not attached when the heel processing unit 7 side and the work machine 90 side are not energized.

  The type detection unit 74 detects the type (model) of the work machine 90. In the present embodiment, the type detection means 74 is connected to a connector disposed in the waste disposal processing unit 7 and a connector provided in the work implement 90 so that the energization between the scissor treatment unit 7 side and the work implement 90 side is performed. By detecting the voltage value at the time when the operation is performed, the type of the work machine 90, for example, the binding machine 90A or the bundling machine 90B can be detected. Here, the various working machines 90 are provided with resistors having resistance values set in advance so that the voltage value varies depending on the type of the working machine 90.

  Note that the wearing state detection unit 73 and the type detection unit 74 are not limited to those described above. For example, a contact or non-contact type sensor is disposed on the heel processing unit 7 side, and the work machine 90 side is disposed. The configuration may be such that the type of the work implement 90 attached to the combine 1 is detected by disposing a detection member corresponding to the work implement at a position facing the sensor at the time of attachment.

  The work state detection means detects whether the combine 1 is in a cutting work state or a non-cutting work state. In the present embodiment, the work state detection means is also the second operation position detection sensor 88a. In other words, the work state detection means detects that the combine 1 is in the cutting work state when the sub-shift lever 88 is turned to the work low-speed position, and the sub-shift lever 88 is in the high-speed position for traveling. Is configured to detect that the combine 1 is in a non-reaching work state. However, the work state detection means is not limited to the above-described configuration, and may be configured to detect the rotation of a work lever (threshing lever or reaping lever).

  The traveling speed detection means 70a detects the traveling speed of the aircraft. In the present embodiment, the traveling speed detection unit 70a is configured to detect the rotational speed of an appropriate shaft or gear in the transmission 23 as the traveling speed.

  Next, the flow of control by the control means 200 will be described using FIG.

First, the control means 200 determines whether or not it is in the cutting work state (S110), and if it is determined that it is not in the cutting work state, the speed limit is released (S180), the travel speed is not limited (S190), The process proceeds to step S110.
Whether or not it is in the cutting work state is determined based on the detection information of the work state detection means (second operation position detection sensor 88a) whether the combine 1 is in the cutting work state or the non-cutting work state (S110). ). In the present embodiment, the control means 200 determines whether the auxiliary transmission lever 88 is rotated to a working low speed position or to a traveling high speed position.

  When it is determined that the control unit 200 is in a non-reaping work state, that is, the auxiliary transmission lever 88 is rotated to the high speed position for traveling, the speed limit is released (S180), and the traveling speed is not limited. (S190), the process proceeds to step S110. In this case, the control means 200 controls the speed change actuator 141P of the travel HST 40 so that the airframe can travel within the range up to the normal maximum speed according to the operation position of the main speed change lever 87.

  If it is determined in step 110 that the state is the cutting work state, the control unit 200 determines whether the work implement 90 is attached to the combine 1 based on the detection information of the attachment state detection unit 73 (S120). .

  When it is determined that the work implement 90 is not attached to the combine 1, the control means 200 cancels the speed limit (S180), does not limit the travel speed (S190), and proceeds to step S110. In this case, the control means 200 controls the speed change actuator 141P of the travel HST 40 so that the airframe can travel within the range up to the normal maximum speed according to the operation position of the main speed change lever 87.

When it is determined that the work machine 90 is mounted on the combine 1, the control unit 200 acquires information on the type of the work machine 90 by the type detection unit 74 and determines whether the work machine 90 is the binding machine 90A (S130).
When the binding machine 90A is attached, the speed limit is set to Va (S140). In this case, the control means 200 acquires the speed limit Va that is the maximum speed at which the machine can travel when the binding machine 90A is mounted from the speed limit information 221 and the travel speed V0 detected by the travel speed detection means 70a. And the speed limit Va are compared, and the speed change actuator 141P of the travel HST 40 is controlled so that the travel speed V0 is equal to or lower than the speed limit Va.

When the type of the work machine 90 is not the binding machine 90A, the control unit 200 determines whether or not the focusing machine 90B is attached (S150). When the focusing device 90B is attached, the speed limit is set to Vb (S160). In this case, the control means 200 acquires the speed limit Vb that is the maximum speed at which the machine can travel when the focusing device 90B is mounted from the speed limit information 221 and the travel speed V0 detected by the travel speed detection means 70a. And the speed limit Vb, and the speed change actuator 141P of the travel HST 40 is controlled so that the travel speed V0 is equal to or lower than the speed limit Vb.
When the type of the work machine 90 is not the focusing machine 90B, the control unit 200 determines that another work machine is mounted and sets the predetermined speed limit Vc suitable for the work machine (S170). In this case, the control means 200 compares the travel speed V0 detected by the travel speed detection means 70a with the speed limit Vc, and controls the speed change actuator 141P of the travel HST 40 so that the travel speed V0 is equal to or lower than the speed limit Vc. .

  As described above, when the cutting operation is performed, that is, when the auxiliary transmission lever 88 is rotated to the low-speed position for operation and the work implement 90 is attached to the combine 1, the main transmission lever 87 moves forward. Even when the operation is turned to the maximum operating position toward the speed increasing side, the predetermined maximum speed set by this turning operation is the same as the main speed change lever when the work implement 90 is not attached to the combine 1 as described above. It becomes lower than the maximum speed set when 87 is rotated.

  The maximum speed here is that the combine 1 performs the cutting operation while traveling at the maximum speed, the amount of cereal after threshing threshing at the threshing unit 4 is increased, and the amount of waste after threshing is increased. Even in such a case, the speed limit information 221 is appropriately set in advance so as to be different for each type of the work implement 90 so that the work implement 90 can reliably process the waste. With regard to this predetermined traveling speed, for example, the maximum speed (limit speed Va) corresponding to the binding machine 90A is set lower than the maximum speed (limit speed Vb) corresponding to the converging machine 90B.

  In addition, when the speed limit is set as described above (S140, S160, S170), the control unit 200 proceeds to step S110, and when it is determined that it is in the non-reaping work state, the speed limit is set. The travel speed is released (S180), the travel speed is not limited (S190), and the process proceeds to step S110. In this case, the control means 200 controls the speed change actuator 141P of the travel HST 40 so that the airframe can travel within the range up to the normal maximum speed according to the operation position of the main speed change lever 87.

  When the travel speed is limited, the control means 200 corresponds to the operation amount of the main speed change lever 87, and the rotation amount of the control shaft linked to the movable swash plate of the travel pump 40P in the travel HST 40 is the travel speed. The speed change actuator 141P of the traveling HST 40 is controlled so as to be smaller than before the limit. As a result, even when the traveling speed is limited by the control means 200, the operator uses the entire operation range of the main transmission lever 87 as before the traveling speed is limited. 87 makes it possible to change the traveling speed steplessly.

  As mentioned above, the combine 1 which concerns on one Embodiment of this invention can mount | wear with the working machine 90 for processing the waste after threshing, for example, the binding machine 90A and the convergence machine B, Comprising: A mounting state detecting unit 73 that detects the mounting state of the 90, and a control unit 200 that limits the traveling speed when the mounting state detecting unit 73 detects that the work machine 90 is in the mounting state. .

  Thereby, when the work implement 90 is mounted on the combine 1, it is possible to limit the travel speed and reset the maximum speed at which the machine can travel lower than when the work implement 90 is not mounted. Therefore, when the harvesting operation is performed with the work machine 90 mounted on the combine 1, the amount exceeding the processing capability of the work machine 90 even if the machine travels at the maximum speed and the amount of cereal after harvesting increases. So that the waste after the threshing can be reliably processed by the work machine 90, and the work machine is overloaded and damaged. Nothing will happen. Specifically, for example, when the work machine 90 is a binding machine 90A, the cocoons after cereal can be reliably bound with a binding string by a predetermined amount and discharged to the outside. Moreover, when the working machine 90 is the converging machine 90B, the mash after threshing can be reliably focused and discharged to the outside by a predetermined amount.

  Further, the combine 1 according to the embodiment of the present invention includes a type detection unit 74 that detects the type of the work machine 90, and the control unit 200 sets the type of the work machine 90 detected by the type detection unit 74. Based on this, the travel speed limit can be changed.

  Thereby, based on the type of the work machine 90 attached to the combine 1, it is possible to change the limit of the running speed and appropriately set the maximum speed at which the machine can run according to the type of the work machine 90. It becomes. Specifically, for example, when the traveling speed is limited, when the working machine 90 is the binding machine 90A, the maximum speed at which the machine can travel can be set lower than when the working machine 90 is the bundling machine 90B. . Therefore, when the harvesting operation is performed in a state where the work machine 90 is mounted on the combine 1, the work machine 90 can appropriately and reliably process the scouring after threshing. Moreover, it becomes possible to work efficiently by working at the maximum speed according to the working machine.

  In addition, the combine 1 according to the embodiment of the present invention includes a work state detection unit that detects whether the state is a cutting work state or a non-cutting work state, and the control unit 200 includes the mounting state detection unit 73. In the case where the traveling speed is limited based on the detection result, the restriction on the traveling speed is canceled when it is detected by the work state detecting means that the state is the non-reaping work state.

  Thereby, even if it is a case where the working machine 90 is mounted | worn with the combine 1, at the time of the non-harvesting work state which does not use the working machine 90, a traveling speed will not be restrict | limited. Therefore, when in the non-reaping work state, the machine body can be smoothly run in the same wide speed range as when the work machine 90 is not attached to the combine 1.

DESCRIPTION OF SYMBOLS 1 Combine 73 Wearing state detection means 74 Type detection means 87a 1st operation position detection sensor 88a 2nd operation position detection sensor 90 Work machine 200 Control means

Claims (3)

It is a combine that can be equipped with a work machine for processing the waste after threshing,
A mounting state detecting means for detecting a mounting state of the work implement;
A combiner comprising: a control unit that limits a traveling speed when the mounting state detection unit detects that the work implement is in a mounting state. Type detection means for detecting the type of the work implement,
The combine according to claim 1, wherein the control unit is capable of changing a travel speed limit based on a type of the work machine detected by the type detection unit. Provided with a work state detecting means for detecting whether the state is a cutting work state or a non-cutting work state,
The control means limits the traveling speed when the working state detecting means detects that it is in a non-reaping work state when the traveling speed is restricted based on the detection result of the wearing state detecting means. The combine according to claim 1 or 2, wherein the combine is released.

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