JP2010078005A

JP2010078005A - Continuously variable speed travel control device of combined harvester

Info

Publication number: JP2010078005A
Application number: JP2008244467A
Authority: JP
Inventors: Hiroki Matsuzawa; 宏樹松澤
Original assignee: Iseki and Co Ltd; Iseki Agricultural Machinery Mfg Co Ltd
Current assignee: Iseki and Co Ltd; Iseki Agricultural Machinery Mfg Co Ltd
Priority date: 2008-09-24
Filing date: 2008-09-24
Publication date: 2010-04-08

Abstract

<P>PROBLEM TO BE SOLVED: To provide a continuously variable speed travel control device of a combined harvester capable of stable and efficient travel by proper acceleration without requiring troublesome adjusting operation corresponding to a load on a main shift lever. <P>SOLUTION: The continuously variable speed travel control device of the combined harvester includes a vehicle speed indicating means 1a for controlling a continuously variable speed mechanism by a shift characteristic of continuously simply increasing a speed up to the highest speed from a stopping speed according to an operation position of the main shift lever, and is constituted so as to change the shift characteristic up to a predetermined intermediate operation position P1 of the main shift lever according to an engine speed of an engine. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

本発明は、主変速レバーの操作位置に応じて連続的に変速制御するコンバインの無段変速走行制御装置に関するものである。 The present invention relates to a combine continuously variable speed travel control device that performs continuous shift control according to an operation position of a main shift lever.

主変速レバーの操作位置に応じて停止速から最高速まで連続的に変速制御するコンバインの無段変速走行制御装置が知られている。例えば、特許文献１に示す無段変速走行制御装置は、主変速レバーの操作位置に応じて停止速から最高速まで直線パターンの変速特性によって無段変速機を制御する車速指示手段を備えることにより、主変速レバーの操作に応じてコンバインをスムーズに変速走行することができる。
特許第３７６９９８１号公報 2. Description of the Related Art A combined continuously variable speed travel control device that performs continuous speed control from a stop speed to a maximum speed in accordance with an operation position of a main speed change lever is known. For example, the continuously variable speed travel control device disclosed in Patent Document 1 includes vehicle speed instruction means for controlling the continuously variable transmission by a linear pattern shift characteristic from the stop speed to the maximum speed according to the operation position of the main shift lever. The combine can be smoothly shifted in accordance with the operation of the main shift lever.
Japanese Patent No. 3769981

しかしながら、コンバインの刈取運転等の際に、脱穀負荷、刈取負荷、走行負荷等による過大な負荷変動を受けるとエンジン回転が低下し、この場合においてオペレータが走行車速を確保するべく主変速レバーを大きく増速操作すると、負荷の増大によってエンジン回転が更に低下することとなり、走行の不安定化を招くという問題があった。 However, when the harvesting operation of the combine or the like is performed, excessive engine load fluctuation due to a threshing load, a harvesting load, a traveling load, or the like causes the engine rotation to decrease. In this case, the operator increases the main shift lever to ensure the traveling vehicle speed. When the speed increasing operation is performed, the engine rotation is further reduced due to an increase in load, which causes a problem that the running becomes unstable.

本発明の目的は、主変速レバーについて負荷対応の煩わしい調節操作を要することなく、適切な加速によって安定かつ能率の良い走行が可能ととなるコンバインの無段変速走行制御装置を提供することにある。 SUMMARY OF THE INVENTION An object of the present invention is to provide a continuously variable speed travel control device for a combine that enables stable and efficient travel by appropriate acceleration without requiring a burdensome adjustment operation for the main speed change lever. .

請求項１に係る発明は、主変速レバーの操作位置に応じて停止速から最高速まで連続的に単純増速する変速特性によって無段変速機構を制御する車速指示手段を備えるコンバインの無段変速走行制御装置において、上記主変速レバーの所定の中間操作位置までの変速特性をエンジンの回転数に応じて変化させる構成としたことを特徴とする。
上記構成の無段変速走行制御装置は、エンジンの回転数と対応する可変特性に沿って車速を変速制御することから、主変速レバーによる増速度（レバー操作による増速の程度）がエンジンの回転数に依存することとなり、すなわち、エンジンが低回転の場合は中間操作位置まで増速度が低く抑えられ、逆に、エンジンが高回転の場合は増速度が高くなる。 The invention according to claim 1 is a combine continuously variable transmission comprising vehicle speed indicating means for controlling a continuously variable transmission mechanism by a transmission characteristic that is continuously simply increased from a stop speed to a maximum speed in accordance with an operation position of a main transmission lever. The travel control device is characterized in that a shift characteristic up to a predetermined intermediate operation position of the main shift lever is changed in accordance with an engine speed.
The continuously variable speed travel control device configured as described above shifts the vehicle speed in accordance with variable characteristics corresponding to the engine speed, so that the speed increase by the main speed change lever (the degree of speed increase by lever operation) is the engine speed. In other words, when the engine is running at a low speed, the acceleration is kept low until the intermediate operation position, and conversely, when the engine is running at a high speed, the acceleration is increased.

請求項２に係る発明は、請求項１の構成において、前記変速特性は、エンジンの回転数が定格回転数未満で所定の下限回転数を越える範囲について複数の回転数区分を設け、その区分毎に代表回転数と対応して中間操作位置で中折れする折線パターンを適用することを特徴とする。
上記構成の無段変速走行制御装置は、エンジンの回転数が定格回転数未満で下限回転数を越える場合のレバー操作に限り、エンジン回転数区分に応じた簡易な折線パターンの変速特性によって変速制御を行う。 According to a second aspect of the present invention, in the configuration of the first aspect, the speed change characteristic includes a plurality of rotation speed categories in a range where the engine rotation speed is less than the rated rotation speed and exceeds a predetermined lower limit rotation speed. In addition, a polygonal line pattern that is bent at an intermediate operation position corresponding to the representative rotational speed is applied.
The continuously variable speed travel control device having the above-described configuration is controlled by a shift characteristic of a simple broken line pattern according to the engine speed category only for lever operation when the engine speed is less than the rated speed and exceeding the lower limit speed. I do.

請求項１のコンバインの無段変速走行制御装置は、主変速レバーによる増速度（レバー操作による増速の程度）がエンジンの回転数に依存し、すなわち、エンジンが低回転の場合は主変速レバーの所定の中間操作位置まで増速度が低く抑えられ、逆に、エンジンが高回転の場合は増速度が高くなることから、脱穀負荷、刈取負荷、走行負荷等による過大な負荷変動の有無にかかわらず、変速レバーの特段の操作を要することなく、エンジン回転に応じた適正な加速が可能となるので、スムーズな走行性やエンジン負荷による排ガスの低減が可能となる。 The continuously variable speed travel control device for a combine according to claim 1 is characterized in that the speed increase by the main speed change lever (the degree of speed increase by lever operation) depends on the engine speed, that is, the main speed change lever when the engine is at a low speed. The speed increase is kept low until the predetermined intermediate operation position, and conversely, the speed increase is high when the engine is running at high speed, so whether or not there is an excessive load fluctuation due to threshing load, cutting load, traveling load, etc. Therefore, since it is possible to perform appropriate acceleration according to the engine rotation without requiring any special operation of the shift lever, smooth running performance and reduction of exhaust gas due to engine load can be achieved.

請求項２のコンバインの無段変速走行制御装置は、請求項１の効果に加え、エンジンの回転数が定格回転数未満で下限回転数を越える場合のレバー操作について、エンジン回転数区分に応じた簡易な折線パターンによる変速特性により、負荷に応じて安定走行を簡易に確保することができる。 In addition to the effect of claim 1, the continuously variable speed travel control device for the combine according to claim 2 is adapted to the engine speed category for lever operation when the engine speed is less than the rated speed and exceeding the lower limit speed. Due to the speed change characteristics with a simple broken line pattern, stable running can be easily ensured according to the load.

上記技術思想に基づいて具体的に構成された実施の形態について以下に図面を参照しつつ説明する。
本発明の適用対象となるコンバインは、主要構成として、圃場から穀稈を刈取る刈取部、刈取った穀稈を受けて脱穀選別する脱穀部、脱穀選別された穀粒を貯留する収納部、貯留された穀粒を機外に排出するオーガ機構による排出部等の各種の作業機と、走行手段である左右のクローラと、上記作業機および機体走行を操作するための操縦部等を備える。また、機体内には、コンバインの原動部であるエンジンとその制御装置、ＨＳＴと略称されて上記クローラの動力を前後進無段変速する静油圧式無段変速機構を組み込んだ走行伝動装置等を備える。 Embodiments specifically configured based on the above technical idea will be described below with reference to the drawings.
The combine to which the present invention is applied includes, as main components, a harvesting unit that harvests cereals from a field, a threshing unit that receives and harvests cereals, a storage unit that stores threshed and selected grains, Various working machines, such as a discharge part by an auger mechanism which discharges the stored grains to the outside of the machine, left and right crawlers as traveling means, and a steering part for operating the working machine and the machine body traveling are provided. Also, in the fuselage, there are an engine and a control device that are the prime mover of the combine, a traveling transmission device that is abbreviated as HST and incorporates a hydrostatic continuously variable transmission mechanism that abruptly shifts the power of the crawler forward and backward. Prepare.

上記操縦部に構成した運転台には、オペレ―タの座席を中心に、モニターパネルおよびＨＳＴレバーと略称される前後進変速用の車速コントロールレバーである主変速レバー、機体の左右旋回と刈取部の昇降をワンレバーに構成したパワステレバー、各種作業機器の操作のための各種のスイッチや操作レバー等が配置されるほか、これら操作具による操作信号および機器のセンサー信号によってエンジンを含む諸機器を制御する制御装置を備える。 The driver's cab constructed in the above-mentioned control section is centered on the operator's seat, the main shift lever which is a vehicle speed control lever for forward and backward shifting, abbreviated as the monitor panel and HST lever, the left and right turning and cutting part of the aircraft Power steering lever with a single lever for lifting and lowering, various switches and operation levers for operation of various work devices, etc., as well as control of various devices including the engine by operation signals from these operation tools and device sensor signals A control device is provided.

（車速制御）
制御装置１は、図１のシステム構成図に示すように、無段変速走行制御装置の要部を構成する車速指示手段１ａを備え、通信系２を介してＨＳＴ制御部３と接続し、このＨＳＴ制御部３により、走行伝動装置を構成する無段変速機構のトラニオン軸を駆動制御して走行車速を制御可能に構成することにより、車速指示手段１ａの制御指令に沿ってコンバインの変速走行を制御する無段変速走行制御装置を構成する。 (Vehicle speed control)
As shown in the system configuration diagram of FIG. 1, the control device 1 includes vehicle speed instruction means 1 a that constitutes a main part of the continuously variable travel control device, and is connected to the HST control unit 3 via the communication system 2. The HST control unit 3 drives and controls the trunnion shaft of the continuously variable transmission mechanism constituting the traveling transmission device so that the traveling vehicle speed can be controlled, so that the combined variable speed traveling can be performed according to the control command of the vehicle speed instruction means 1a. A continuously variable speed travel control device to be controlled is configured.

また、制御装置１には、ポテンショセンサーによる主変速レバーセンサー４および回転数検出センサーによるエンジン回転センサ５の信号を入力するほか、車速自動制御のスイッチ、刈取機器や排出機器の動作に必要なスイッチ、センサー類の信号を入力する。 Further, the control device 1 receives signals from the main shift lever sensor 4 by the potentiometer sensor and the engine rotation sensor 5 by the rotation speed detection sensor, as well as a switch for automatic vehicle speed control, a switch necessary for the operation of the cutting device and the discharge device. Input sensor signals.

車速指示手段１ａにおける車速制御について詳細に説明すると、主変速レバーの増速操作により増速走行する際に、所定のレバー位置までの車速の増速量がエンジン回転数に応じて変化するように、レバー操作と車速との対応を規定する変速特性を可変に構成する。 The vehicle speed control in the vehicle speed instructing means 1a will be described in detail. When the vehicle travels at a higher speed by the speed increasing operation of the main speed change lever, the speed increase amount of the vehicle speed up to a predetermined lever position changes according to the engine speed. The speed change characteristic defining the correspondence between the lever operation and the vehicle speed is variably configured.

すなわち、図２の変速特性線図に示すように、主変速レバーの中立位置Ｐ０から前進（後進）の最高速位置Ｐ２（Ｐ４）までの増速操作について、所定の中間操作位置Ｐ１（Ｐ３）で中折れして停止速から最高速まで連続的に変速する折線パターンを設け、この折線パターンは、エンジンの回転が低くなるにつれて折点の車速を低くすることにより、折点までの傾斜が緩くなるように可変の変速特性を設定する。 That is, as shown in the speed change characteristic diagram of FIG. 2, the predetermined intermediate operation position P1 (P3) for the speed increasing operation from the neutral position P0 of the main speed change lever to the forward (reverse) highest speed position P2 (P4). A fold line pattern is provided which continuously breaks at the stop speed to the maximum speed, and this fold line pattern has a gentle slope to the fold point by lowering the vehicle speed at the fold point as the engine speed decreases. The variable speed change characteristic is set so that

具体的には、変速特性は、エンジンの回転数が定格回転数を越える場合の増速操作について、主変速レバーの操作量と比例して停止速から最高速まで直線状に増速する直線パターンＡとし、また、エンジンの回転数が定格回転数未満で走行に適する所定の下限回転数を越える回転数範囲を複数のランクに区分し、上記直線パターンＡより低車速の範囲で折線パターンの折点Ｐ１の車速をランク毎の代表回転数と対応して定め、回転数のランクに応じて複数の折線パターンＢ〜Ｄを設定する。 Specifically, the speed change characteristic is a linear pattern that linearly increases from the stop speed to the maximum speed in proportion to the amount of operation of the main shift lever for the speed increasing operation when the engine speed exceeds the rated speed. In addition, the engine speed is less than the rated speed and the engine speed range exceeding a predetermined lower limit speed suitable for driving is divided into a plurality of ranks. The vehicle speed at the point P1 is determined in correspondence with the representative rotational speed for each rank, and a plurality of broken line patterns B to D are set according to the rank of the rotational speed.

回転数のランクは、例えば、刈取開始時等の相当負荷範囲としてエンジン回転数が定格値未満で９０％を越える軽負荷範囲、刈取再開時等の相当負荷範囲としてエンジン回転数が定格値の９０％未満で８０％を越える中負荷範囲、機体旋回時等の相当負荷範囲としてエンジン回転数が定格値の８０％未満で機体走行に適する所定の下限値を越える重負荷範囲に区分する。これら各ランクの代表回転数に対応して折点の車速を定めることにより、主変速レバーの所定の中間操作位置Ｐ１で中折れする折線パターンを定める。 The rank of the rotational speed is, for example, a light load range in which the engine rotational speed is less than the rated value and exceeds 90% as an equivalent load range at the start of cutting, and an engine rotational speed is 90 at the rated value as an equivalent load range at the time of restarting cutting. The load range is classified into a heavy load range exceeding 80% of the rated value and exceeding a predetermined lower limit suitable for airframe travel as a medium load range exceeding 80% and less than 80%, and an equivalent load range when the vehicle is turning. By determining the vehicle speed at the break point corresponding to the representative rotational speed of each rank, a folding line pattern that is bent at a predetermined intermediate operation position P1 of the main transmission lever is determined.

上記構成の無段変速走行制御装置１により、エンジンの回転数が定格回転数を越えている場合の増速操作では、主変速レバーの操作量と車速とが比例する直線パターンＡに沿って軽快に増速され、一方、定格回転数未満で下限回転数を越える場合の増速操作にあっては、レバー操作による増速の程度を表す増速度が、中間操作位置Ｐ１までエンジン回転数に応じた緩い傾斜により直線パターンＡより低く抑えられることから、負荷状況に対応して安定した加速制御が可能となる。 With the continuously variable speed travel control device 1 configured as described above, in the speed increasing operation when the engine speed exceeds the rated speed, the speed change operation can be easily performed along the linear pattern A in which the operation amount of the main shift lever is proportional to the vehicle speed. On the other hand, in the speed increasing operation when the speed is less than the rated speed and exceeds the lower limit speed, the speed increasing indicating the degree of speed increasing by the lever operation depends on the engine speed up to the intermediate operating position P1. Since it is suppressed lower than the straight line pattern A due to the gentle inclination, stable acceleration control can be performed corresponding to the load situation.

このように、主変速レバーの操作位置に応じて停止速から最高速まで連続的に単純増速する変速特性で無段変速機を変速制御するコンバインの無段変速走行制御装置において、主変速レバーの所定の中間操作位置Ｐ１の車速がエンジンの回転数と対応するように可変特性Ｂ〜Ｄを導入することにより、主変速レバーを増速操作した際の増速度がエンジンの回転数に依存することとなり、すなわち、エンジンが低回転の場合は主変速レバーの所定の中間操作位置まで増速度が低く抑えられ、逆に、エンジンが高回転の場合は増速度が高くなり、脱穀負荷、刈取負荷、走行負荷等の大きな負荷変動を受けるコンバインの運転に際して、負荷変動によることなく、通常のレバーによってもエンジン回転に応じた適正な加速走行が可能となるので、スムーズな走行性やエンジン負荷による排ガスの低減が可能となる。 In this way, in the continuously variable transmission control device for a combine that continuously controls the continuously variable transmission with a transmission characteristic that continuously increases from the stop speed to the maximum speed according to the operation position of the main transmission lever, the main transmission lever By introducing the variable characteristics B to D so that the vehicle speed at the predetermined intermediate operation position P1 corresponds to the engine speed, the speed increase when the main shift lever is speed-up depends on the engine speed. In other words, when the engine is at a low speed, the acceleration is kept low until the predetermined intermediate operation position of the main shift lever. Conversely, when the engine is at a high speed, the acceleration is increased, and the threshing load, cutting load When driving a combine that is subject to large load fluctuations such as traveling load, it is possible to perform appropriate acceleration traveling according to the engine rotation with a normal lever without depending on load fluctuations. It is possible to reduce the exhaust gas by chromatography's runnability and engine load.

また、後進走行については、前進走行と同様に、所定の中間操作位置Ｐ３の車速がエンジン回転対応する変速特性Ａ〜Ｄを導入するとともに、前進と後進の最高車速について差を設け、すなわち、主変速レバーの最高速位置Ｐ４の最高車速を前進より低速に設定することにより、後進時の加速が抑えられて安定操作を確保することができる。 As for forward travel, as in forward travel, the vehicle speed at a predetermined intermediate operation position P3 introduces speed change characteristics A to D corresponding to engine rotation, and provides a difference between the forward and reverse maximum vehicle speeds. By setting the maximum vehicle speed at the highest speed position P4 of the speed change lever to be lower than the forward speed, the acceleration at the time of reverse travel is suppressed and a stable operation can be ensured.

次に、減速操作の際の主変速レバーの制御特性については、図３の変速特性線図に示すように、レバー操作による減速の程度を表す減速度について、レバーの最高速位置Ｐ２から所定位置までの範囲でエンジン回転数と対応させ、具体的には、前述のエンジン回転数の各区分について代表回転数に応じて減速度を設定する。すなわち、定格回転以上では最高速位置Ｐ２から停止速位置Ｐ０まで一定傾斜で減速する直線パターンＡとし、回転数が低くなるにつれて、当初の傾斜を緩くして所定位置までの減速度を緩和する。
このように、主変速レバーについての減速度をエンジン回転数に応じて可変とする変速特性により、一律の減速操作によってもエンジン回転数に応じた減速となることから、スムーズな減速または停車が可能となる。 Next, as for the control characteristics of the main transmission lever during the deceleration operation, as shown in the transmission characteristic diagram of FIG. 3, the deceleration indicating the degree of deceleration by the lever operation is determined from the maximum speed position P2 of the lever to a predetermined position. In correspondence with the engine speed, the deceleration is set according to the representative speed for each section of the engine speed described above. That is, the linear pattern A is decelerated at a constant inclination from the highest speed position P2 to the stop speed position P0 above the rated rotation, and the initial inclination is relaxed to reduce the deceleration to a predetermined position as the rotational speed is decreased.
In this way, the speed change characteristic that makes the deceleration of the main gearshift lever variable according to the engine speed allows the vehicle to decelerate according to the engine speed even with a uniform deceleration operation, so smooth deceleration or stopping is possible. It becomes.

なお、上記変速特性は、折線パターンに限られず、滑らかに変化する曲線パターンとすることにより、増速度、減速度の変化の滑らかな操作性を得ることができ、また、多数の回転数区分を設けることにより、負荷の大きさに対して連続的な特性とすることができる。 The speed change characteristic is not limited to a polygonal line pattern, but by using a smoothly changing curve pattern, smooth operability of acceleration and deceleration changes can be obtained. By providing, it can be set as a continuous characteristic with respect to the magnitude | size of load.

次に、刈取作業における車速制御について説明する。
刈取作業における車速制御は、刈脱モノレバーが「オン」で減速モードを記憶することにより、所定の条件で自動減速が適用または解除される。すなわち、刈取作業における車速制御のフローチャートを図４に示すように、刈取部と脱穀部を稼動して刈脱モノレバーが「入り」の状態で所定車速以上の刈取作業走行中において、刈取昇降レバー操作の判定処理（Ｓ１）および穀稈検出センサの判定処理（Ｓ２）がいずれも非検出判定の場合に、減速制御処理（Ｓ３）によって所定車速以下まで減速するように制御処理を構成する。この制御処理により、刈取作業における刈終わりとともに自動減速されることから、従来制御（例えば、特開平５−９５７２２号公報）の場合に避けられない畦等への突っ込みを防止することができる。 Next, vehicle speed control in the cutting operation will be described.
As for the vehicle speed control in the cutting operation, automatic deceleration is applied or canceled under a predetermined condition by storing the deceleration mode with the cutting mono lever being “on”. That is, as shown in the flow chart of the vehicle speed control in the cutting operation, the cutting lift lever is operated while the cutting unit and the threshing unit are in operation and the cutting / moving monolever is in the “on” state and the cutting operation is performed at a predetermined vehicle speed or higher. When the determination process (S1) and the determination process (S2) of the cereal detection sensor are both non-detection determination, the control process is configured to decelerate to a predetermined vehicle speed or less by the deceleration control process (S3). By this control processing, automatic deceleration is performed together with the end of cutting in the cutting operation, so that it is possible to prevent a plunge or the like that cannot be avoided in the case of conventional control (for example, JP-A-5-95722).

上記制御処理による減速制御において、刈取昇降レバー操作の判定処理（Ｓ１）により、一定時間以上に及ぶ刈取昇降レバーの操作を検出した時に、減速制御の解除処理（Ｓ４）によりオペレータが設定した作業車速に戻すように制御処理を構成することにより、オペレータが意図している再度の刈取に備えることができる。また、穀稈検出センサの判定処理（Ｓ２）によって穀稈検出センサが再び「オン」を検出した時に、減速制御の解除処理（Ｓ４）によって作業車速に戻すように制御処理を構成することにより、作業車速に自動復帰されることから、オペレータによる意思表示としての主変速レバーの操作を要することなく、刈取作業の再開に備えることができる。 In the deceleration control based on the above control process, the operation speed set by the operator in the deceleration control canceling process (S4) when detecting the operation of the clipping lift lever for a certain time or more is detected by the cutting process lever lifting determination process (S1). By configuring the control process so as to return to the above, it is possible to prepare for the re-cutting intended by the operator. In addition, by configuring the control process to return to the working vehicle speed by the deceleration control release process (S4) when the grain detection sensor detects "ON" again by the determination process (S2) of the grain detection sensor, Since the speed is automatically returned to the working vehicle speed, it is possible to prepare for the resumption of the mowing work without requiring the operation of the main shift lever as an intention display by the operator.

次に、停車状態で所定の作業をする場合の車速制御は、そのフローチャートを図５に示すように、駐車ペダル操作の判定処理（Ｓ１１）または掻込ペダル操作の判定処理（Ｓ１２）のいずれかが検出判定の時に、車速が停車値を越える範囲における停車指令処理（Ｓ１３，Ｓ１４）によって無段変速機の走行動力を停止する制御処理を構成することにより、停車状態で所定の作業をするための停車作業具である駐車ペダルや掻込ペダルの操作の際に、走行操作具である主変速レバーによる減速停車操作を要することなく、確実に停車して安全性を確保した上で所望の駐車作業、掻込作業を行うことができる。 Next, the vehicle speed control in the case of performing a predetermined work in a stopped state is either a parking pedal operation determination process (S11) or a kicking pedal operation determination process (S12), as shown in the flowchart of FIG. In order to perform a predetermined work in a stopped state by configuring a control process for stopping the driving power of the continuously variable transmission by a stop command process (S13, S14) in a range where the vehicle speed exceeds the stop value at the time of detection determination. When operating the parking pedal or the rake pedal, which is the stopping work tool of the vehicle, the vehicle can be parked in a desired manner after ensuring the safety by stopping the vehicle without decelerating and stopping by the main shift lever, which is the travel operation tool. Work and scraping work can be performed.

また、上記停車作業の場合において、駐車ペダルまたは掻込ペダルが解除された時は、主変速レバーの停車位置判定処理（Ｓ１５）が非該当判定であれば、停車指令処理（Ｓ１４）を継続するように制御処理を構成することにより、主変速レバー位置と対応する走行動力による急発進を回避することができる。
なお、上記主変速レバーの停車位置判定処理（Ｓ１５）が該当判定の場合に限って停車フラグをリセットすることにより、主変速レバーを停車位置に操作した後における走行変速操作を可能に構成することができる。 Further, in the case of the above stop operation, when the parking pedal or the take-in pedal is released, if the stop position determination process (S15) of the main transmission lever is not applicable, the stop command process (S14) is continued. By configuring the control process as described above, it is possible to avoid a sudden start due to the traveling power corresponding to the position of the main shift lever.
It should be noted that the travel shift operation after the main shift lever is operated to the stop position is configured by resetting the stop flag only when the stop position determination process (S15) of the main shift lever is the corresponding determination. Can do.

車速制御のシステム構成図System configuration diagram of vehicle speed control 増速操作の変速特性線図Gear speed characteristic diagram of speed increasing operation 減速操作の変速特性線図Gear speed characteristic diagram of deceleration operation 刈取作業における車速制御のフローチャートFlow chart of vehicle speed control in mowing work 停車下の作業における車速制御のフローチャートFlow chart of vehicle speed control in work under stop

符号の説明Explanation of symbols

１無段変速走行制御装置
１ａ車速指示手段
３ＨＳＴ制御部
２通信系
４主変速レバーセンサー
５エンジン回転センサ
Ａ直線パターン（変速特性）
Ｂ〜Ｄ折線パターン（変速特性）
Ｐ０停止速位置（中立位置）
Ｐ１中間操作位置（前進）
Ｐ２最高速位置（前進）
Ｐ３中間操作位置（後進）
Ｐ４最高速位置（後進） DESCRIPTION OF SYMBOLS 1 Continuously variable travel control apparatus 1a Vehicle speed instruction | indication means 3 HST control part 2 Communication system 4 Main transmission lever sensor 5 Engine rotation sensor A Linear pattern (shift characteristic)
BD Line pattern (shift characteristics)
P0 Stop speed position (neutral position)
P1 Intermediate operation position (forward)
P2 Maximum speed position (forward)
P3 Intermediate operation position (reverse)
P4 Maximum speed position (reverse)

Claims

主変速レバーの操作位置に応じて停止速から最高速まで連続的に単純増速する変速特性によって無段変速機構を制御する車速指示手段（１ａ）を備えるコンバインの無段変速走行制御装置において、
上記主変速レバーの所定の中間操作位置（Ｐ１）までの変速特性をエンジンの回転数に応じて変化させる構成としたことを特徴とするコンバインの無段変速走行制御装置。 In a continuously variable transmission travel control device for a combine comprising a vehicle speed instruction means (1a) for controlling a continuously variable transmission mechanism by a transmission characteristic that continuously and simply increases from a stop speed to a maximum speed according to an operation position of a main transmission lever.
A combine continuously variable speed travel control device characterized in that the speed change characteristic of the main speed change lever to a predetermined intermediate operation position (P1) is changed according to the engine speed.

前記変速特性は、エンジンの回転数が定格回転数未満で所定の下限回転数を越える範囲について複数の回転数区分を設け、その区分毎に代表回転数と対応して中間操作位置（Ｐ１）で中折れする折線パターン（Ｂ〜Ｄ）を適用することを特徴とする請求項１記載のコンバインの無段変速走行制御装置。 In the speed change characteristic, a plurality of rotation speed categories are provided in a range where the engine rotation speed is less than the rated rotation speed and exceeds a predetermined lower limit rotation speed, and the intermediate operation position (P1) corresponds to the representative rotation speed for each section. 2. The combine continuously variable speed travel control device according to claim 1, wherein a folding line pattern (B to D) is applied.