Harvesting machine

Abstract

To provide a combine harvester capable of changing a traveling speed according to acceleration for securing safety. However, even if the vehicle runs at a constant speed without any acceleration change, high-speed running on an inclined ground such as a ridge crossing is dangerous. To provide a harvester capable of performing safe traveling and preventing danger such as falling of a machine body by regulating the maximum traveling speed according to the inclination of the machine body.SOLUTION: In a harvester equipped with a traveling device (4), a reaping device (15) for reaping crops from a field and a threshing device (6) for taking over and threshing the crops, the maximum speed is regulated when the reaping device (15) and the threshing device (6) are driven and an inclination detecting part (36, 37) for detecting the inclination of a machine body detects the inclination of the machine body more than a prescribed value. A control device (35) configured to release the regulation of the maximum speed when the inclination detection unit (36, 37) detects a predetermined horizontal state and the main speed change lever (24) is detected to be in a neutral position.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a harvesting machine such as a combine harvester. [Background technology]

[0002] There is a combine harvester that changes its running speed depending on acceleration to ensure safety (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2001-161146 Summary of the Invention [Problem to be solved by the invention]

[0004] However, even if the vehicle is traveling at a constant speed without any change in acceleration, high speed driving on slopes such as when crossing ridges is dangerous.

[0005] The present invention has been made in view of the above, and provides a harvester that can regulate the maximum traveling speed in accordance with the inclination of the machine body, thereby enabling safe traveling and preventing danger such as the machine body tipping over. [Means for solving the problem]

[0006] The invention described in claim 1 is a harvester equipped with a traveling device (4), a reaping device (15) that reaps crops from a field, and a thresher (6) that takes over and threshes the crops, characterized in that the harvester is provided with a control device (35) that restricts the maximum speed when the reaping device (15) and the thresher (6) are driven and an inclination detection unit (36, 37) that detects the inclination of the machine body detects that the machine body is inclined at a predetermined level or more, and that releases the restriction on the maximum speed when the inclination detection unit (36, 37) detects a predetermined horizontal state and it is detected that the main speed change lever (24) has been set to the neutral position. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a side view of a combine harvester according to an embodiment of the present invention. FIG. [Figure 2] FIG. 4 is a side view showing the operation of the main shift lever. [Figure 3] FIG. [Figure 4] 10 is a graph showing the relationship between the main shift lever operation amount and the traveling speed. DETAILED DESCRIPTION OF THE INVENTION

[0008] A combine harvester 1 as an embodiment of the present invention will be described below with reference to the accompanying drawings. To facilitate understanding, the directions are described as follows, with the front being the front side, the rear being the rear side, the right hand side being the right side, and the left hand side being the left side, as seen from the operator, but the configuration is not limited to these.

[0009] As shown in Figure 1, the combine harvester 1 has a traveling device 4 mounted on the lower side of a chassis 2, with a pair of left and right traveling crawlers 3 that travel on the soil surface. On the left and right sides of the chassis 2, there are mounted a threshing device 6 that threshes and sorts the grain stalks that are clamped and transported by a feed chain 5, a grain tank 7 that serves as a storage device for temporarily storing the grains, and a threshing auger 8 that serves as a discharge device for discharging the grain stored in the grain tank 7 outside the machine. A straw waste treatment device 9 is mounted on the rear end of the threshing device 6.

[0010] The grain discharge auger 8 is raised and lowered by actuating the auger lifting cylinder 10 when discharging grains.

[0011] In front of the threshing device 6, a harvesting device 15 having a grass dividing body 11 that divides unharvested stalks from the front end, a raising section 12 that raises the divided stalks, a cutting blade section 13 that cuts the raised stalks, and a supply adjustment conveying section 14 that rakes in the harvested stalks and adjusts the handling depth during transport and hands it over to the feed chain 5 is suspended from the front end of the chassis 2 so that it can be raised and lowered freely relative to the soil surface by a harvesting lifting cylinder 16.

[0012] An operating device 20 for controlling the operation of the combine 1 and an operating seat 21 where the operator sits are provided at the upper rear of the reaping device 15, and an engine 22a, a hydrostatic continuously variable transmission (hereinafter referred to as HST) 22b and a transmission case are mounted below the operating seat 21, the grain tank 7 is positioned at the rear, and a cabin 23 is provided to cover the operating device 20 and operating seat 21, and these traveling devices 4, threshing device 6, reaping device 15, operating device 20, engine 22, cabin 23, etc. are mounted on the chassis 2 of the combine.

[0013] The operation device 20 is operated forward and backward by an operator seated in the operation seat 21 to operate the trunnion shaft of the HST 22b to switch between forward and backward travel, change the speed for forward travel, change the speed for reverse travel, and stop the machine. The operation device 20 is operated left and right to operate the left and right traveling actuators that operate the left and right side clutches and the left and right side brakes of the left and right traveling crawlers 3, 3 by tilting the operation device left and right, thereby performing left and right steering and turning in various turning modes. The operation device 20 is operated forward and backward to operate the reaping lifting cylinder 16 to raise and lower the reaping device 15. The reaping / threshing lever 26 operates the reaping / threshing clutch actuator to turn on and off the drive of the reaping device 15 and the threshing device 6. The position of the discharge port 8a at the tip of the threshing auger 8 is moved up and down by operating the auger lifting cylinder 10, and the left and right turning actuator is operated. The machine is equipped with various operating devices such as an auger operating lever 27 which moves left and right by operating the actuator, an auger drive switching lever 28 which operates an auger drive electromagnetic clutch which turns the drive of the threshing auger 8 on and off, thereby discharging the grain in the grain tank 7 out of the machine through the discharge port 8a, an auxiliary speed change lever 29 which switches the gear-type transmission in the transmission case to change the speed between road driving speed (rear side) and working speed (low speed side), a wet paddy field mode setting switch 30 which, when pressed, controls the body to be horizontal and switches to pivot turn mode, etc., as a wet paddy field mode setting operating device, a maximum speed setting dial 31 which regulates the maximum output of the HST 22b to adjust the maximum driving speed, and a hand lever 32 which operates the threshing clutch actuator to turn the drive of the threshing device 6 on and off.

[0014] A headlight 40 is provided on the top of the reaping device 15.

[0015] The headlamp 40 is operated by a power supply that is linked to the power supply of an engine ECU that has an after-run function.

[0016] Therefore, when getting off the combine harvester 1 after finishing work at night, if the headlights 40 are turned on, the surroundings of the combine harvester 1 can be checked, and the lights are automatically turned off after the after-run, which is convenient and allows the timing when the engine ECU's after-run has ended to be determined.

[0017] Furthermore, if the key is turned off within a certain period of time after the headlights 40 are turned on or switched from the on state to the off state, the headlights 40 are turned on for a certain period of time and then turned off.

[0018] Therefore, by utilizing the after-run function of the engine ECU, a dedicated self-holding circuit for keeping the headlights 40 on is not required.

[0019] The operator's seat 21 is located to the right rather than in the center of the aircraft, and a work light is provided on the right side where the operator's seat 21 is located.

[0020] The work lights are powered by a power supply linked to the engine ECU power supply with after-run function.

[0021] Therefore, when getting off the combine harvester 1 after finishing work at night, if the work lights are on, the surroundings of the combine harvester 1 can be checked, and the lights are automatically turned off after the after-run, which is convenient and allows the timing when the engine ECU's after-run has ended to be determined.

[0022] Furthermore, if the key is turned off within a certain period of time after the work light is turned on or switched from the on state to the off state, the work light is turned on for a certain period of time and then turned off.

[0023] Therefore, by using the after-run function of the engine ECU, there is no need for a dedicated self-holding circuit to keep the work lights on.

[0024] In addition, if the operator's seat 21 is located on the left side of the aircraft rather than in the center, a work light is provided on the left side where the operator's seat 21 is located, and is operated by a power supply linked to the power supply of the engine ECU, which has an after-run function, as described above.

[0025] Furthermore, the work light may be installed anywhere on the aircraft, and in that case, it will be operated by a power supply linked to the power supply of the engine ECU with after-run function, as described above.

[0026] Here, the operation of the main speed change lever 24 and the travel speed control will be explained based on the operation explanatory diagram of the main speed change lever 24 in FIG. 2, the control block diagram in FIG. 3, and the travel speed graph in FIG.

[0027] A main speed change lever sensor 24a consisting of a potentiometer is provided on the pivot shaft portion where the main speed change lever 24 is operated back and forth, and detects the forward and backward operating position of the main speed change lever 24 and sends the detected operating position value to the control device 35.

[0028] The control device 35 operates the motor based on the detected value of the operation position of the main speed change lever 24 sent from the main speed change lever sensor 24a to rotate the trunnion shaft and control the HST 22b.

[0029] That is, when the main speed change lever 24 is operated to the neutral position in the center between the front and rear, the motor is operated based on the detection value of the neutral position of the main speed change lever 24 sent from the main speed change lever sensor 24a, causing the trunnion shaft to rotate, stopping the output of the HST 22b and bringing the aircraft to a halt.

[0030] The further the main speed change lever 24 is operated from the neutral position toward the forward forward position, the more the motor is operated based on the detection value of the operating position of the main speed change lever 24 sent from the main speed change lever sensor 24a, causing the trunnion shaft to rotate, increasing the forward output of the HST 22b and increasing the forward traveling speed of the vehicle.

[0031] The further the main speed change lever 24 is operated from the neutral position toward the rearward reverse position, the more the motor is operated based on the detection value of the operating position of the main speed change lever 24 sent from the main speed change lever sensor 24a, causing the trunnion shaft to rotate, increasing the rearward advancing force of the HST 22b and increasing the reverse traveling speed of the vehicle.

[0032] In addition, a longitudinal tilt detector (longitudinal tilt sensor) 36 that detects the longitudinal tilt of the aircraft and a lateral tilt detector (lateral tilt sensor) 37 that detects the lateral tilt are provided in the center of the aircraft.

[0033] In addition, a mowing / demolition lever sensor 38 is provided at the base of the mowing / demolition lever 26 to detect the on / off state of the mowing device 15 and the threshing device 6, and detects whether the mowing / demolition lever 26 is on or off, and sends the result to the control device 35.

[0034] When the control device 35 receives detection values ​​indicating that the vehicle is horizontal within a predetermined range from the longitudinal tilt detection unit 36 ​​and the lateral tilt detection unit 37 (when the vehicle is horizontal or approximately horizontal with the horizontal detection values ​​within the predetermined range), the control device 35 shifts the HST 22b to a traveling speed corresponding to the slope gradient line shown normally in Figure 4, depending on the amount of operation of the main shift lever 24 from the neutral position toward the forward forward position or toward the reverse position.

[0035] In other words, when the main speed change lever 24 is operated to the maximum forward position, the HST 22b has maximum output and the combine 1 reaches its maximum forward speed, and when the main speed change lever 24 is operated to the maximum rearward reverse position, the HST 22b has maximum output and the combine 1 reaches its maximum reverse speed.

[0036] On the other hand, there are cases where the harvesting operation is started by operating the cutting / removal lever 26 to drive and entering the field from a ridge or road, or where the harvesting operation is completed by exiting the field onto a ridge or road. In such cases, the machine body is at a large incline, and there is a risk of tipping over if it is driven at maximum speed.

[0037] Therefore, when the control device 35 receives information from the shear-release lever sensor 38 that the shear-release lever 26 has been operated to drive, and receives detection values ​​from the front-rear tilt detection unit 36 ​​and the left-right tilt detection unit 37 that indicate the machine is tilted beyond a predetermined horizontal range (when the detected tilt value is above the predetermined range and the machine is tilted significantly), the control device 35 shifts the HST 22b to a travel speed corresponding to the gentle slope line shown in the restriction in Figure 4, depending on the amount of operation of the main shift lever 24 from the neutral position toward the forward position or toward the reverse position, and restricts the maximum speed.

[0038] In addition, when the system receives information from the shear-release lever sensor 38 that the shear-release lever 26 has been operated to drive, and receives a detection value from the longitudinal tilt detection unit 36 ​​that the machine is tilting forward or backward beyond a predetermined horizontal range (when the longitudinal tilt detection value is above the predetermined range and the machine is tilting forward or backward significantly), the system may shift the HST 22b to a travel speed corresponding to the gentle slope line shown in Figure 4, and restrict the maximum speed, depending on the amount of operation of the main shift lever 24 from the neutral position toward the forward position or toward the reverse position.

[0039] Therefore, when the mowing / removal lever 26 is operated to the drive position and the combine harvester 1 is not in a horizontal position, the HST 22b is shifted to a traveling speed corresponding to the gentle slope gradient line shown in the regulation of Figure 4, so that the machine gradually increases in speed and the maximum speed is regulated, thereby preventing the machine from tipping over or other dangers.

[0040] In addition, there is no need to operate the maximum speed setting dial 31 to adjust the maximum travel speed when entering or leaving the field, which improves workability.

[0041] Then, after entering a farm field from a footpath or road, or after leaving the farm field onto a footpath or road, when the longitudinal tilt detection unit 36 ​​and the lateral tilt detection unit 37 detect that the machine is level within a predetermined range and the main shift lever sensor 24a detects that the main shift lever 24 has been returned to the neutral position, the above restriction is released and control is restored to shift the HST 22b to a traveling speed corresponding to the normal inclination gradient line in Figure 4.

[0042] Therefore, even if the longitudinal tilt detector 36 and the lateral tilt detector 37 detect that the vehicle is horizontal within a predetermined range (even if the vehicle is horizontal), the maximum speed restriction is not released unless the main speed change lever 24 is returned to the neutral position, so that it is possible to prevent a sudden increase in vehicle speed and a dangerous situation.

[0043] When the wet paddy field mode setting switch 30 is pressed to set the wet paddy field mode, the maximum speed restriction based on the inclination of the machine body is released.

[0044] Therefore, when the wet field mode is selected in wet fields, the maximum speed limit is lifted, so wet field driving performance is maintained.

[0045] As another control means for limiting the maximum speed, as shown in FIG. 2, when the control device 35 receives a detection value from the longitudinal tilt detection unit 36 ​​and / or the lateral tilt detection unit 37 that the vehicle is tilted beyond a predetermined horizontal range, the control device 35 may limit the maximum speed by maintaining the output of the HST 22b at the traveling speed at the restricted position and not increasing the traveling speed any further, even if the main shift lever 24 is operated significantly toward the forward or reverse position from the restricted position during operation while being operated forward or backward from the neutral position.

[0046] The control means for controlling the maximum speed limit may be adapted to any of the following maximum speed limits.

[0047] <Other embodiments> (1) When the mowing / removal lever 26 is in the drive-off position and a large tilt of the machine body is detected when exiting a field onto a footpath or road, or when loading or unloading the combine 1 onto a truck, the maximum speed is restricted.

[0048] In other words, when the control device 35 receives information from the shear-release lever sensor 38 that the shear-release lever 26 has been set to the drive-off position, and receives a detection value from the longitudinal tilt detection unit 36 ​​and / or the lateral tilt detection unit 37 indicating that the machine is tilted beyond a predetermined horizontal range (when the detected tilt value is above the predetermined range and the machine is tilted significantly), the control device 35 shifts the HST 22b to a travel speed corresponding to the gentle slope line shown in Figure 4, depending on the amount of operation of the main shift lever 24 from the neutral position toward the forward position or toward the reverse position, and regulates the maximum speed.

[0049] Therefore, when the mowing / removal lever 26 is operated to the drive-off position and the combine harvester 1 is not in a horizontal position, the HST 22b is shifted to a traveling speed corresponding to the gentle slope gradient line shown in the regulation of Figure 4, so that the machine gradually increases in speed and the maximum speed is regulated, thereby preventing the machine from tipping over or other dangers.

[0050] Furthermore, even if the longitudinal tilt detector 36 and / or the lateral tilt detector 37 detect that the aircraft has returned to a predetermined horizontal range, the maximum speed restriction is not lifted until the main shift lever 24 is returned to the neutral position.

[0051] Therefore, even if the vehicle receives a detection value indicating that the vehicle is horizontal within a predetermined range from the longitudinal tilt detection unit 36 ​​and / or the lateral tilt detection unit 37 (even if the vehicle is horizontal), the maximum speed restriction is not released unless the main shift lever 24 is returned to the neutral position, thereby preventing a sudden increase in vehicle speed and resulting in a dangerous situation.

[0052] (2) When the hand-operated lever 32 is operated to the hand-operated state, the maximum speed is restricted.

[0053] That is, when the control device 35 receives information that the hand-operated lever 32 has been operated to the hand-operated operation state from the hand-operated state detection sensor 32a, which detects that the hand-operated lever 32 has been operated to the hand-operated operation state, the control device 35 shifts the HST 22b to a traveling speed corresponding to the gentle slope line shown in the restriction of FIG. 4, depending on the amount of operation of the main speed-change lever 24 from the neutral position toward the forward position or toward the reverse position, and restricts the maximum speed.

[0054] Therefore, when the hand-threshing lever 32 is operated to the hand-threshing operation state, the HST 22b is shifted to a traveling speed corresponding to the gentle slope gradient line shown in the restriction in Figure 4, so the machine gradually increases in speed and the maximum speed is restricted, thereby increasing safety when an operator performs hand-threshing work near the combine 1.

[0055] Furthermore, even if a detection value is received indicating that the hand-threshing lever 32 has returned from the hand-threshing state to the normal harvesting state, the maximum speed restriction is not released until the main speed change lever 24 is returned to the neutral position.

[0056] Therefore, even if the hand-threshing lever 32 receives a detection value indicating that it has returned from the hand-threshing state to the normal harvesting state, the maximum speed restriction is not released unless the main speed change lever 24 is returned to the neutral position, so that it is possible to prevent a sudden increase in vehicle speed and a dangerous situation.

[0057] (3) When the auger operating lever 27 is operated to change the grain discharge auger 8 from the stored state to the auger extended state (discharge state), the maximum speed is restricted.

[0058] That is, when the control device 35 receives information that the auger control lever 27 has been operated to the auger extended state (discharge state) from the auger position detection sensor 27a, which detects that the auger control lever 27 has been operated to the auger extended state (discharge state), the control device 35 shifts the HST 22b to a travel speed corresponding to the gentle slope gradient line shown in the restriction in Figure 4, depending on the amount of operation of the main speed change lever 24 from the neutral position toward the forward forward position or toward the reverse position, and restricts the maximum speed.

[0059] Therefore, when the auger operating lever 27 is operated to the auger extended state (discharge state), the HST 22b is changed to a traveling speed corresponding to the gentle slope line shown in the regulation of Figure 4, so that the machine gradually increases in speed and the maximum speed is regulated, making it easy to adjust the position of the discharge outlet 8a at the tip of the grain discharge auger 8.

[0060] Even when starting with the auger extended (discharge state), the vehicle speed is low, making it easy to notice. Furthermore, even if a detection value is received indicating that the auger operating lever 27 has returned from the auger extended state (discharge state) to the retracted state, the maximum speed restriction is not released until the main speed change lever 24 is returned to the neutral position.

[0061] Therefore, even if a detection value is received indicating that the auger operating lever 27 has returned from the auger extension state (discharge state) to the storage state, the maximum speed restriction is not released unless the main speed change lever 24 is returned to the neutral position, so that a sudden increase in vehicle speed and a dangerous situation can be prevented.

[0062] (4) If the proximity sensor installed on the side of the aircraft detects an obstacle near the aircraft, the maximum speed will be restricted.

[0063] That is, when the control device 35 receives information that a proximity sensor provided on the side of the vehicle has detected an obstacle near the vehicle, the control device 35 shifts the HST 22b to a traveling speed corresponding to the gentle slope line shown in Figure 4 in accordance with the amount of operation of the main shift lever 24 from the neutral position toward the forward position or toward the reverse position, thereby restricting the maximum speed.

[0064] Therefore, when the proximity sensor detects an obstacle near the vehicle, the HST 22b is changed to a traveling speed corresponding to the gentle slope line shown in Figure 4, so the vehicle gradually increases its speed and the maximum speed is restricted, preventing collision with the obstacle and improving operability by gradually increasing speed near the obstacle.

[0065] Furthermore, even if the proximity sensor no longer detects an obstacle near the aircraft, the maximum speed restriction is not lifted until the main speed change lever 24 is returned to the neutral position.

[0066] Therefore, even if the proximity sensor no longer detects an obstacle near the vehicle body, the maximum speed restriction is not released unless the main speed change lever 24 is returned to the neutral position, so that a sudden increase in vehicle speed and a dangerous situation can be prevented.

[0067] (5) In fields with low yields, for example, it is acceptable to use the same maximum speed for 7-row mowing as for 6-row mowing. Therefore, in order to increase efficiency by increasing the maximum speed only when the load is light, the maximum speed is increased if the engine load at the working speed is below a certain level.

[0068] That is, when the control device 35 receives information from the sub-transmission operation position detection sensor that the sub-transmission lever 29 has been shifted to a working speed (low speed), and only when the control device 35 receives information from the engine ECU that controls the engine 22a that the engine load is below a predetermined level, the control device 35 shifts the HST 22b to a traveling speed corresponding to a line that has a steeper incline than the normal incline shown in FIG. 4 and has a higher maximum speed, depending on the amount of operation of the main transmission lever 24 from the neutral position toward the forward position or toward the reverse position, thereby increasing the maximum speed.

[0069] Therefore, when the sub-transmission lever 29 is operated to change to the working speed (low speed side) and harvesting work is being performed in the field, the HST 22b is changed to a traveling speed corresponding to the line with a steeper incline than the normal incline shown in Figure 4 and a faster maximum speed only when the load on the engine 22a is light, so the maximum speed is faster in fields with light load, and work efficiency is improved. [Explanation of symbols]

[0070] 4 Running gear 6. Threshing equipment 8 Grazing Auger 15 Reaping device 24 Main gear shift lever 30. Wet paddy field mode setting operation device (wet paddy field mode setting switch) 35 Control device 36 Tilt detection unit (front-rear tilt detection unit) 37 Tilt detection unit (left and right tilt detection unit)

Claims

[Claim 1] In a harvester equipped with a traveling device (4), a reaping device (15) for reaping crops from a field, and a threshing device (6) for taking over and threshing the crops, the maximum speed is restricted when the reaping device (15) and the threshing device (6) are driven and an inclination detection unit (36, 37) for detecting the inclination of the machine body detects that the inclination of the machine body is equal to or greater than a predetermined value; The harvester is characterized in that it is provided with a control device (35) that releases the restriction on the maximum speed when it is detected that the tilt detection unit (36, 37) is in a predetermined horizontal state and that the main speed change lever (24) has been set to the neutral position.

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