CN109203990A

CN109203990A - harvester

Info

Publication number: CN109203990A
Application number: CN201810687113.1A
Authority: CN
Inventors: 井本翼; 加藤裕治
Original assignee: Kubota Corp
Current assignee: Kubota Corp
Priority date: 2017-06-29
Filing date: 2018-06-28
Publication date: 2019-01-15
Also published as: KR20190002315A

Abstract

A kind of harvester, for the control technology for suitably inhibiting the car body for generating the will for violating driver to travel.Harvester has: driving dynamics transmission mechanism, transfers power to mobile devices via traveling stepless speed change device；Speed Control portion is travelled, based on the variable speed operation position of artificial variable speed operation tool, sends traveling stepless speed change device for traveling speed Control instruction；Determination unit is determined as that something unexpected happened and travels in the case where being set to the variable speed operation position of the working clutch connection of operation power transfer mechanism and artificial variable speed operation tool as neutral position and speed calculation part calculates the speed more than zero；Deceleration demand portion is being determined as surprisingly when driving, is sending traveling speed Control portion for deceleration demand.It travels speed Control portion and is based on deceleration demand, send traveling stepless speed change device for the deceleration control instruction for making mobile devices slow down as traveling speed Control instruction.

Description

Harvester

Technical field

The present invention relates to harvester, has the operation power transmitting that the power from engine is transmitted to apparatus for work Mechanism and the driving dynamics transmission mechanism that the power from engine is transmitted to mobile devices.

Background technique

(1) in the case where the harvester as combine harvester, in traveling power transfer mechanism, fluid pressure type is used Stepless speed change device as stepless speed change device (also referred to as HST and HMT etc.).However, stepless speed change device is difficult to determine The case where neutral position exists and is located at neutral position even if the operating device of artificial variable speed operation tool, and car body also starts starting. It carries out extracting in the combine harvester of operation in field, when entering field from ridge, in order to which the portion of extracting is directed at field Crops, and since the access path is mostly descending, driver is consciously one in the range of including neutral position While operating to HST operating stick (artificial shift lever), making car body on one side with caution and slowly moving.But due into Entering path is descending, therefore car body when entrance becomes low early and high after posture, and generating because of gravity moves car body downwards Power, exist and want to keep harvester static even if driver, car body also surprisingly sliding get up (advance) the case where.In addition, being expert at It sails in the most harvesters for having used HST in power transfer mechanism, using when HST operating stick is operated into neutral position When, the rotational automatic slip control for becoming idler revolutions of engine.In the harvester using slip control, as progress When driving, HST operating stick arrives neutral position by continually operation to dead slow speed, whenever at this point, engine rotation will automatically become sky It walks around speed, therefore according to circumstances, engine stop can be generated, HST is by biggish impact.

It is sky using at HST operating stick (artificial shift lever) in the combine harvester according to patent document 1 Engine rotation becomes the control of idling conditions when file location, but in order to avoid the above problem, even if gear lever is neutral position, In the case where vehicle speed sensor detects the movement of car body, can also engine speed be made to rise to egulation rotating speed.

In addition, in the combine harvester according to patent document 2, using following control: to the hydraulic of traveling The gear lever (artificial shift lever) that the inclined plate angle of formula stepless speed change device is adjusted is operated into the state of neutral position Under, in the case where detecting the traveling of car body, the notice device work such as make engine stop, or make loudspeaker.

Further, in the combine harvester according to patent document 3, have the driving speed for making to extract portion and speed connects Dynamic speed connecting move control and group standing grain control for driving the portion of extracting with certain speed regardless of the vehicle speed.It is controlled when in this group of standing grain When by the detection means that leans forward detect car body lean forward posture when, control unit, which is judged as when car body enters to field, extracts work Industry, and so that the driving speed for extracting portion is dialled standing grain speed and decline automatically.Inhibit as a result, by extracting when making car body carry out field The problems caused by driving speed in portion is too fast relative to speed.

The harvester gathered in rice and wheat etc. needs to carry out extracting at once operation after entering field from ridge, and in order to It correctly carries out positioning etc. and dead slow speed being needed to travel.However, in the case where track is inclined-plane, even if stepless speed change device Artificial variable speed operation tool operating position be neutral position, there is also generate violate driver will car body traveling with A possibility that.In the case where such car body traveling has occurred, need at once to slow down to the traveling of car body (also include to The deceleration of zero velocity stops).However, progress is to make engine speed in the combine harvester according to patent document 1 Rise such control, therefore is inappropriate to such problems is solved.In addition, as the combining according to patent document 2 Machine in this way, detecting the traveling of car body in the state that gear lever is operated into neutral position in the case where make engine stop When, it is including apparatus for work, wholly off as the movement equipment of power source using engine, therefore the recovery of harvester operation is spent Time.Further, the car body row in the control technology of patent document 3, absolutely not in view of violating the will of driver It sails, therefore can not solve the problems, such as to violate brought by the car body traveling of the will of driver.

(2) in the combine harvester according to patent document 4, in traveling power transfer mechanism and the transmitting of operation power In mechanism, stepless speed change device as Hyaulic infinite variable speed mechanism (also referred to as HST etc.) is used.It is transmitted in driving dynamics Stepless speed change device is used in mechanism and operation power transfer mechanism both sides, therefore row can be passed through from the power that engine inputs Sail power transfer mechanism and operation power transfer mechanism infinitely speed change.Therefore, being able to carry out makes operating speed (extract speed Degree) synchronously control synchronous with travel speed.When synchronizing control, car body when driving, apparatus for work also drives, in vehicle When body stops, apparatus for work also stops.It should be noted that in stepless speed change device, in the case where load is big, exist by Hydraulic leak or skidding etc. cause bad (idle running) of the power transmitting there is a situation where inside.

The speed that the driving speed for making to extract portion and speed interlock also is carried out according to the combine harvester of patent document 3 to interlock Synchronously control.When the combine harvester dial standing grain control when by the detection means that leans forward detect car body lean forward posture when, Control unit is judged as extracting in operation when car body enters to field, and make the driving speed for extracting portion dial standing grain speed it is automatic under Drop.According to the control, inhibit when car body enters to field, extracts the driving speed in portion and cut relative to speed is too fast caused Take the decline of workability.

In the combine harvester of patent document 4, when the amount for the crops that rice or wheat etc. to be extracted increases suddenly, or When to extracting comprising the crops compared with juicy etc., biggish load is generated in operation stepless speed change device, in operation It dallies in stepless speed change device, apparatus for work stops.Harvester carry out extract in harvesting, when car body traveling but When apparatus for work stops, car body travels and without crops stamping down in succession with extracting operation.To pair of such problems Plan is not accounted in the combine harvester of patent document 3.

In the combine harvester of patent document 4, do not account for yet for by car body apparatus for work be suspect it is outer The countermeasure of problem brought by starting under halted state.

(3) in the case where the harvester as combine harvester, in traveling power transfer mechanism, fluid pressure type is used Stepless speed change device as stepless speed change device (also referred to as HST).Such stepless speed change device is difficult to determine neutral position It sets, the operating device existed even if artificial variable speed operation tool is located at neutral position, and car body also starts the case where starting.For example, When combine harvester enters field from ridge, in order to will the portion of extracting alignment field crops, driver exists consciously Including operating on one side to HST operating stick (artificial shift lever) in the range of neutral position, make car body with dead slow speed on one side It is mobile.But due to being mostly descending from ridge to the access path in field, car body becomes low early and high after posture, gravity It acts in harvester and works, exist and want to keep harvester static even if driver, car body also surprisingly starts to start up (preceding Into) the case where.

It is double in traveling power transfer mechanism and operation power transfer mechanism in the combine harvester according to patent document 4 Stepless speed change device is used in side, therefore the power inputted from engine can be dynamic by driving dynamics transmission mechanism and operation Force transfer mechanism infinitely speed change.Therefore, it is able to carry out the synchronous control for keeping operating speed (extracting speed) synchronous with travel speed System.When synchronizing control, car body when driving, apparatus for work also drives, car body stop when, apparatus for work also stops. It should be noted that, in the case where load is big, existing in stepless speed change device and causing to occur by hydraulic leak or skidding etc. The case where bad (idle running) of internal power transmitting.

In the combine harvester according to patent document 2, using following control: in the hydraulic stepless to traveling The gear lever (artificial shift lever) that the inclined plate angle of speed change gear is adjusted is operated into the state of neutral position, is being examined In the case where the traveling for measuring car body, make engine stop, or the notification means such as loudspeaker is made to work.

In addition, carrying out the driving speed for making to extract portion and speed gearing in the combine harvester according to patent document 3 Speed connecting move control, when dial standing grain control when by the detection means that leans forward detect car body lean forward posture when, control unit judgement Operation is extracted when to enter to the car body in field, and so that the driving speed for extracting portion is dialled standing grain speed and declines automatically.According to this Control inhibits when car body enters to the field, driving speed that extracts portion caused to extract operation relative to speed is too fast The decline of property.

Combine harvester when entering field by inclined surface from the entrance in field, exists i.e. when harvesting starts Make to travel stepless speed change device neutral position, the case where mobile devices are also forward travel state.In this case, stepless due to travelling Speed change gear is neutral position, therefore operation stepless speed change device is also neutral position, and apparatus for work does not drive, therefore is existed A possibility that crops of field end are stamped down.When just starting to extract the crops of field end, need to make apparatus for work It is properly aligned with checkrow, it is necessary to run at a low speed, but running at a low speed obliquely needs proficiency.If do not had in apparatus for work In the state of having driving, have occurred in the case that the car body that driver is not intended to starts starting, crops can be stamped down.In patent In the combine harvester of document 4 and patent document 3, do not account for by car body in the case where apparatus for work is the halted state outside expectation Start to start brought problem.In addition, as the combine harvester of patent document 2 is in this way, be operated into neutral position in gear lever It is including apparatus for work, be with engine when making engine stop in the case where the traveling for detecting car body in the state of setting The movement equipment in power source is wholly off, therefore combining chance stops.

Existing technical literature

Patent document 1: Japanese Unexamined Patent Publication 2001-050073 bulletin

Patent document 2: Japanese Unexamined Patent Publication 2002-339773 bulletin

Patent document 3: Japanese Unexamined Patent Publication 2010-233487 bulletin

Patent document 4: Japanese Unexamined Patent Publication 2008-072992 bulletin

Summary of the invention

(1) in view of such actual situation, it is desirable to which a kind of control technology, the control technology is in order to carry out having used work The operation of industry device travels and enters under situation as field, suitably controls the car body row opposite with the will of driver It sails.

Harvester according to the present invention has: engine is equipped on car body；Mobile devices carry out the car body It supports over the ground；The apparatus for work of harvesting is equipped on the car body；Driving dynamics transmission mechanism, via the stepless change of traveling Power from the engine is transmitted to the mobile devices by speed variator；Operation power transfer mechanism, will be from described The power of engine is transmitted to the apparatus for work；Speed calculation part calculates speed；Artificial variable speed operation tool, is driven The person's of sailing operation；Speed Control portion is travelled, based on the variable speed operation position of the artificial variable speed operation tool, speed change control will be travelled System instruction is sent to the traveling stepless speed change device；Determination unit, be set to the operation power transfer mechanism operation from The variable speed operation position of clutch connection and the artificial variable speed operation tool is neutral position and the speed calculation part calculates In the case where the speed of excess of export zero passage, it is determined as that something unexpected happened and travels；Deceleration demand portion is being determined as the unexpected traveling When, the traveling speed Control portion is sent by deceleration demand；The traveling speed Control portion is based on the deceleration demand, as The deceleration control instruction for making the mobile devices slow down is sent the traveling variable speed by the traveling speed Control instruction Device.

According to this structure, car body when driving, when the traveling by determination unit be determined as it is unexpected when driving, pass through control of slowing down Instruction carries out the deceleration of the traveling.In the working clutch connection and artificial variable speed operation work for being set to operation power transfer mechanism The variable speed operation position of tool is that neutral position and speed calculation part calculate in the case that speed is more than zero, determines that the traveling is Unexpected traveling.For example, for Vehicular body front have as apparatus for work extract portion, rice and wheat etc. gathered in In the case where harvester, in operation traveling, need most starting the portion of extracting being properly aligned with the column of crops, from opening for column Beginning starts to extract.Therefore, connection operation clutch is to make the portion of extracting drive, and withs while speed is dropped to the limit The mode for making the portion of extracting come the starting end of column travels harvester.At this point, road surface when entering field from ridge is preceding low High inclined-plane afterwards, therefore even if artificial variable speed operation tool is located at neutral position, it also can be because of the inside of traveling stepless speed change device Skidding etc. and start mobile devices, to carry out car body traveling.Such traveling is considered as violating the will of driver Traveling, i.e. unexpected traveling, carry out the inhibition of the traveling (starting) at once.As a result, in the work in order to used apparatus for work Industry travels and enters the car body traveling (unexpected to travel) under such situation, avoiding the will for violating driver in field.

Even if will be determined as it is unexpected travel as trigger condition make car body deceleration in the case where, unexpected deceleration or stop Only, particularly in the case where travelling on inclined-plane, bad influence can be also brought on traveling.Therefore, preferably at of the invention one Embodiment in, the deceleration control instruction be with based on the speed and calculated deceleration value makes the car body slow down Instruction.In this configuration, impact when calculating deceleration value according to the speed of status, therefore can be slowed down with car body tails off Mode so that car body is slowed down.In addition, the regulation of speed when determining relative to unexpected traveling also can be used as the deceleration value The speed of ratio.For example, when surprisingly traveling determine when speed for 1.0km/h stipulated that ratio be 10% when, deceleration value is 0.1km/h.If successively carrying out such slow down, final deceleration value is become zero, and car body stops.

Certainly, when detecting surprisingly when driving, promptly stop car body also critically important.Therefore, at of the invention one In preferred embodiment, the deceleration control instruction is the instruction for making the speed be maintained zero.That is, in order to make vehicle Speed rapidlys become zero, generates deceleration control instruction.As a result, when detecting accident when driving, car body promptly stops.

In harvester, the stable variable speed under low speed is needed, therefore be suitble to the hydraulic stepless such as HST and HMT Speed change gear.Further, in the present invention, the execution for rapidly, correctly and successfully carrying out deceleration instruction is critically important therefore excellent The inclined plate angle change of choosing, Hyaulic infinite variable speed mechanism is carried out by hydraulic proportion valve.Therefore, at of the invention one In preferred embodiment, the traveling stepless speed change device is Hyaulic infinite variable speed mechanism, has modifiable inclined plate angle The hydraulic proportion valve of the change at inclined plate and the progress inclined plate angle, the hydraulic proportion valve are controlled as based on the traveling speed change Control instruction changes the inclined plate angle.

About speed, that is, speed calculating of car body, it is easy to generate skidding between ground by tire etc. in mobile devices In the case where morphosis, it is difficult to calculate correct speed from the revolving speed of axle.Therefore, the present invention be suitble to be suitable for have with Ground almost without skidding, speed be easy to detect the harvesters of calculated caterpillar mobile devices from the rotation of axle. Therefore, in a preferred embodiment of the invention, the mobile devices have axle and by the vehicle it is shaft-driven Crawler belt, the detection signal of the rotation sensor of the speed calculation part based on the rotation for carrying out axle described in self-test, to calculate The speed.

(2) in view of above-mentioned actual conditions, it is desirable to be filled in the operation variable speed as caused by the load of apparatus for work increase etc. In the case that the skidding etc. for the inside set causes apparatus for work not drive correctly, the control technology that can deal adequately with.

Harvester of the invention, has: engine is equipped on car body；Mobile devices carry out over the ground the car body Bearing；The apparatus for work of harvesting is equipped on the car body；Apparatus for work drives detection sensor, fills to the operation The driving condition set is detected；Driving dynamics transmission mechanism, by the power from the engine via the stepless change of traveling Speed variator is transmitted to the mobile devices；Operation power transfer mechanism, by the power from the engine via operation without Grade speed change gear and working clutch are transmitted to the apparatus for work；Speed calculation part calculates speed；Artificial variable speed operation Tool is operated by driver；Speed Control portion is travelled, based on the variable speed operation position of the artificial variable speed operation work, The traveling stepless speed change device is sent by traveling speed Control instruction；Operation speed Control portion, based on the car body The instruction of operation speed Control is sent the operation stepless speed change device by driving status；Determination unit is sentenced in the case where there It is set to and apparatus for work exception occurs, that is, is sent in the traveling speed Control instruction for making the car body advance described Although detecting the traveling of the car body in the state of traveling stepless speed change device and being for driving the apparatus for work The operation speed Control instruction be sent to the operation stepless speed change device state and meanwhile be that the working clutch is Connection status but the apparatus for work drive detection sensor still to detect that driving is bad；Deceleration demand portion, being determined as When stating apparatus for work exception, the traveling speed Control portion is sent by deceleration demand；The traveling speed Control portion is based on institute Deceleration demand is stated, the deceleration control instruction for making the mobile devices slow down or the stopping for stopping mobile devices control are referred to It enables and is sent to the traveling stepless speed change device as traveling speed Control instruction.

According to this structure, traveling stepless speed change device is sent in the traveling speed Control instruction for making car body advance Although detecting the traveling of car body under state and being for making the operation speed Control instruction of apparatus for work driving be sent to work The state of industry stepless speed change device be both be working clutch be connection status, but if apparatus for work be drive it is bad (driving Stopping or small driving), still make the judgement of apparatus for work exception.When being determined as apparatus for work exception, carry out making car body phase The control stopped for traveling stepless speed change device or the deceleration control for making car body slow down.It is avoided as a result, without extracting operation And crops the problem of being stamped down.In existing combine harvester, it is known that detection extracts the conveying blocking of stalks, thus Make the technology of engine stop, but when making engine stop, all stops by all devices of driving source of engine, therefore its Recovery processing becomes complicated.In the present invention, traveling variable speed only is sent by deceleration control instruction or stopping control instruction Device stop car body or slow down, therefore does not need to make engine stop, so that restoring processing becomes simple.

In general harvester, the portion of extracting as apparatus for work is set to Vehicular body front, drives the portion of extracting by one side Dynamic traveling of advancing on one side extracts harvesting carry out crops.Make in the stopping of car body or when retreating without extracting harvesting Industry.In addition, speed is bigger when extracting harvesting, more need to carry out the harvesting that extracts of more crops, therefore preferably fill operation It sets with high-speed driving.Therefore, in a preferred embodiment of the invention, operation speed Control portion is described artificial It, will be based on the speed to the operation variable speed in the case that the variable speed operation position of variable speed operation tool is progressive position The advance operation speed Control instruction that the gear ratio of device changes is sent to the operation stepless speed change device, described In the case that the variable speed operation position of artificial variable speed operation tool is neutral position or going-back position, the stepless change of the operation will be made The neutral gear operation speed Control instruction that quick-mounting is set to neutral gear is sent to the operation stepless speed change device.

Above-mentioned apparatus for work is abnormal to enter a possibility that crops in the portion of extracting occur as reason highest, therefore works as When the state that crops enter the portion of extracting is added as the decision condition of apparatus for work exception, judgement precision can be improved. Therefore, in a preferred embodiment of the invention, have detection and enter the portion that extracts as the apparatus for work The stem root sensor of crops, the stem root sensor are included in sentencing for the apparatus for work exception to the detection of the crops In fixed condition.

When being determined as apparatus for work exception, car body automatically stops or slows down, therefore driver can puzzle.Therefore, excellent Choosing, will occur apparatus for work exception and car body stops or notice of slowing down is to driver.Therefore, preferably at of the invention one Embodiment in, have when being determined as the apparatus for work exception carry out alert notification notification unit.

(3) in view of above-mentioned actual conditions, it is desirable to which stamp down agriculture in turn before the state for inhibiting car body not drive with apparatus for work The control technology of crop such problems.

Harvester according to the present invention has: engine is equipped on car body；Mobile devices carry out the car body It supports over the ground；The apparatus for work of harvesting is equipped on the car body；Driving dynamics transmission mechanism will start from described The power of machine is transmitted to the mobile devices via traveling stepless speed change device；Operation power transfer mechanism, will be from described The power of engine is transmitted to the apparatus for work via operation stepless speed change device and working clutch；Speed calculation part, It calculates speed；Artificial variable speed operation tool, is operated by driver；Speed Control portion is travelled, the artificial speed change is based on Traveling speed Control instruction is sent the traveling stepless speed change device by the variable speed operation position of operational instrument；Operation speed change Control unit will be based on the vehicle in the case where the variable speed operation position of the artificial variable speed operation tool is progressive position Speed is sent to the work to the advance operation speed Control instruction that the gear ratio of the operation stepless speed change device changes Industry stepless speed change device, the case where the variable speed operation position of the artificial variable speed operation tool is neutral position or going-back position Under, the stepless change of the operation is sent by the neutral gear operation speed Control for making operation stepless speed change device neutral gear instruction Speed variator；Determination unit, although being that non-progressive position detects in the variable speed operation position of the artificial variable speed operation tool In the case that the advance of the car body travels and the working clutch is connection status, it is judged to being abnormal operation traveling； It forces driving to require portion, is being determined as the abnormal operation when driving, driving will be forced to require to be sent to the operation speed change Control unit；Operation speed Control portion is based on pressure driving and requires, the pressure that the apparatus for work will be made to force driving The instruction of driving operation speed Control is sent to the operation stepless speed change device.

According to this structure, although being non-progressive position (neutral position in the variable speed operation position of artificial variable speed operation tool Or going-back position) but detect car body advance traveling and working clutch be connection status in the case where, be considered as car body violation The will of driver advances and starts operation traveling.However, power will not since variable speed operation position is non-progressive position It is transmitted to apparatus for work, so that apparatus for work is halted state.The operation traveling of such will for violating driver is considered as Abnormal operation traveling, therefore, it is determined that the starting of the car body is determined as that abnormal operation travels by portion.When the such abnormal operation of generation When driving, it may occur that crops are by the such problems that stamps down, therefore in order to avoid in this way, when being determined as abnormal operation when driving, Apparatus for work forces driving.By driving apparatus for work using enforceable instruction, crops is avoided to be stamped down such ask Topic.

For example, for Vehicular body front have as apparatus for work extract portion, harvesting that rice and wheat etc. are gathered in In the case where machine, in order to which the portion of extracting is properly aligned with the column of crops, extracted since the starting end of column, need by operation from Clutch connection travels while speed is dropped to the limit to make the portion of extracting drive.At this point, entering field from ridge When road surface be low early and high after inclined-plane, therefore even if artificial variable speed operation tool is located at neutral position, can also exist because travelling The skidding of the inside of stepless speed change device, for example, if be traveling stepless speed change device be Hyaulic infinite variable speed mechanism as Structure causes mobile devices to start sometimes because of hydraulic leakage flow.In such a case, according to aforementioned present invention Structure, even if apparatus for work does not drive, by determining abnormal operation traveling, apparatus for work also be will start, therefore avoid farming Object stamps down such problems.In particular, driver connects working clutch, makes one when entering field from the entrance in field It is initial neutral position for variable speed operation tool, artificial variable speed operation tool is operated at leisure, it is at low speed to pass through The entrance in field, although therefore be that non-progressive position car body advances when driving in artificial variable speed operation tool, starting is made at once Industry device is reasonable.

Above-mentioned exception operation traveling is frequent on the entrance from field to low early and high after inclined surface when entering field Occur.Therefore, in the judgement of abnormal operation traveling, if generated in car body when car body is passed through low early and high after inclined surface Low early and high after posture as decision condition be added if, it will be able to improve judgement precision.Therefore, excellent in of the invention one In the embodiment of choosing, has the attitude transducer for the pitch angle for detecting the car body, the attitude transducer is to the car body The detection of low early and high after posture be included in the decision condition of the abnormal operation traveling.

When car body is being moved caused by gravity on low early and high after inclined surface and slowly moved, it is determined as abnormal operation Traveling.Therefore, the starting for the apparatus for work that the judgement abnormal operation travelled is executed as trigger condition preferably and car body The starting for slowly moving corresponding degree.Therefore, in a preferred embodiment of the invention, the stepless change of operation Quick-mounting is set to Hyaulic infinite variable speed mechanism, instructs the apparatus for work caused by the pressure driving operation speed Control Starting be the Hyaulic infinite variable speed mechanism minimum output under the apparatus for work starting.Have benefited from having low speed The Hyaulic infinite variable speed mechanism of stability, can obtain apparatus for work stablizes starting.

About speed, that is, speed calculating of car body, it is easy to generate skidding between ground by tire etc. in mobile devices Component constitute in the case where, it is difficult to calculate correct speed from the revolving speed of axle.Therefore, the present invention is suitably adapted to have Standby and ground almost without skidding, speed be easy to detect the harvestings of calculated caterpillar mobile devices from the rotation of axle Machine.Therefore, in a preferred embodiment of the invention, the mobile devices have axle and are driven by the axle Crawler belt, the detection signal of the rotation sensor of the speed calculation part based on the rotation for carrying out axle described in self-test, to calculate The speed out.

Detailed description of the invention

Fig. 1 is the side view of the half feed combine harvester of an example as harvester.

Fig. 2 is the power-transmission system figure of combine harvester.

Fig. 3 is the functional block diagram for indicating the control system of combine harvester.

Fig. 4 is the explanatory diagram for illustrating the process of control of the deceleration from the judgement surprisingly travelled to car body.

Fig. 5 is the functional block diagram for indicating the control system of combine harvester.

Fig. 6 is the explanatory diagram for illustrating the process of control of the deceleration from the judgement of apparatus for work exception to car body.

Fig. 7 is the functional block diagram for indicating the control system of combine harvester.

Fig. 8 is the explanation for illustrating the process of control of the pressure driving from the judgement that abnormal operation travels to apparatus for work Figure.

Description of symbols

1 car body

2 extract portion (apparatus for work)

4 engines

10 mobile devices

10a axle

30 main shift levers (artificial variable speed operation tool)

40 driving dynamics transmission mechanisms

41 traveling HST (traveling Hyaulic infinite variable speed mechanism: traveling stepless speed change device)

42 first belt drivers

4 engines

50 operation power transfer mechanisms

51 operation HST (operation Hyaulic infinite variable speed mechanism: operation stepless speed change device)

53 working clutch

53a working clutch solenoid

6 control units

61 driving control portions

611 traveling speed Control portions

62 job control units

621 operation speed Control portions

63 determination units

64 determine management department

641 deceleration demand portions

642 force driving to require portion

65 notification units

66 speed calculation parts

7C notifies device

71 hydraulic proportion valves

72 operation HST variable speed drivers

81 operation displacement sensors

82 rotation sensors

83 output speed sensors

84 attitude transducers

88 apparatus for work drive detection sensor

89 stem root sensors

Specific embodiment

Based on FIG. 1 to FIG. 4, first embodiment for carrying out the present invention is illustrated.It should be noted that with Under explanation in, the direction of arrow F shown in Fig. 1 is set as the direction of arrow B is set as " after car body " on front side of car body " Side ".

In fig. 1 it is shown that the half feed combine harvester of an example according to the present invention as harvester.At this In combine harvester, has the row of car body 1, the pair of right and left types of track that can be supported over the ground to automatic running to car body 1 Sail device 10.In the front of car body 1, be liftably equipped with the apparatus for work as harvesting extracts portion 2.Portion 2 is extracted to field The stalks on ground are extracted and are conveyed to car body rear.In the right back upper place in the portion that extracts 2, it is equipped with cockpit 11.In cockpit 11 It is interior, configured with the main shift lever 30 as artificial variable speed operation tool and dial standing grain pedal 31.Main shift lever 30 along front and back can put The state setting of dynamic operation.Dial standing grain pedal 31 with can stampede operation state setting.

In the lower section of cockpit 11, equipped with engine 4.At the portion that extracts 2 and the rear of cockpit 11, on a car body left side Adjacent state is equipped with to the sheller unit 12 for extracting stalks progress threshing convey from the portion that extracts 2 and to coming from right direction The grain collecting box 13 that the grain of sheller unit 12 is stored.In grain collecting box 13, equipped with unloading for the grain in discharge grain collecting box 13 Paddy device 14.

In the portion that extracts 2, has and the stalks in field are carried out helping multiple grain lifters 21 of standing grain, will be helped by grain lifter 21 The disconnecting device 22 of the hairclipper formula of the stalks cutting risen, the stalks conveying apparatus 23 etc. for stalks will be extracted being transported to rear.It extracts Portion 2 is configured to go up and down by the swing of the axle center X1 around car body or so direction.This swings by stretching for hydraulic cylinder 24 It contracts to carry out.

The power-transmission system from engine 4 is illustrated using Fig. 2.In the power-transmission system, including row Sail power transfer mechanism 40 and operation power transfer mechanism 50.Driving dynamics transmission mechanism 40 will be passed from the power of engine 4 It is delivered to mobile devices 10.Power from engine 4 is transmitted to the portion of extracting 2 or sheller unit 12 by operation power transfer mechanism 50 Equal apparatus for work.In embodiment shown in Fig. 2, operation power transfer mechanism 50 includes transmitting power to the portion that extracts 2 First operation power transfer mechanism, the second power that power is transmitted to the apparatus for work (sheller unit 12 etc.) other than the portion that extracts 2 Transmission mechanism.Driving dynamics transmission mechanism 40 has liquid as traveling stepless speed change device (hereinafter referred to as traveling HST41) Pressure type stepless speed change device, the first operation power transfer mechanism is as operation stepless speed change device (hereinafter referred to as operation HST51) also has Hyaulic infinite variable speed mechanism.

Driving dynamics transmission mechanism 40 has the first belt driver 42 and speed-changing gear box 44.First belt driver 42 In the first input tape of the first output pulley 42a for being installed on the output shaft of engine 4 and the input shaft for being installed on traveling HST41 It takes turns and carries out power transmitting between 42b.Speed-changing gear box 44 carries out the output shaft of traveling HST41 and the left and right axle of mobile devices 10 Power transmitting between 10a, can independently transfer power to left and right axle 10a.The rotation that crawler belt passes through axle 10a Rotation.

First operation power transfer mechanism has the second belt driver 52.Second belt driver 52 starts being installed on Second output pulley 52a of the output shaft of machine 4 and be installed on operation HST51 input shaft second input belt wheel 52b between into Action edge transmitting, and there is working clutch 53.The working clutch 53 passes through the working clutch as operation executing agency With the movement of solenoid 53a, it is selectively rendered to clutch connection status and clutch dissengaged positions.From the defeated of operation HST51 The power of shaft output is transmitted to the portion of extracting 2 via portion input shaft 2a is extracted.Second operation power transfer mechanism has third band Transmission device 54.Third belt driver 54 is in the third output pulley 54a that is installed on the output shaft of engine 4 and is installed on Power transmitting is carried out between the third input belt wheel 54b of shaft, and there is relaying clutch 55.

The speed change for travelling HST41 and operation HST51 is carried out by changing the angle of inclined plate.In this embodiment, In order to change traveling HST41 swash plate angle and use hydraulic proportion valve 71, in order to change operation HST51 swash plate angle and make With operation HST variable speed driver 72.

In fig. 3 it is shown that the functional block diagram of the control system of the combine harvester.Control system is by multiple sensors Group, switching group are constituted using vehicle-mounted LAN multiple electronic control units for being referred to as ECU interconnected etc..In Fig. 3, ECU It is aggregated as a control unit 6 and shows.

Control unit 6 is used as input/output interface, has output processing part 6B and input processing portion 6A.Output processing part 6B It is connect with vehicle driving equipment group 7A, apparatus for work equipment group 7B, notice device 7C etc..In vehicle driving equipment group 7A, packet It includes control equipment relevant to vehicle driving, such as device for controlling engine, brake control apparatus, be incorporated into driving dynamics transmitting machine The control equipment of structure 40, such as hydraulic proportion valve 71.Hydraulic proportion valve 71 based on the control instruction sent from control unit 6 come Proportional solenoid is driven, inclined plate piston displacement is made using the pressure of the hydraulic circuit by proportionality controlled.It is living by inclined plate The displacement of plug, to change the inclined plate angle for the inclined plate for travelling HST41.

In apparatus for work equipment group 7B, portion 2, sheller unit 12 are extracted, paddy device 14 is unloaded, is incorporated into operation power transmitting machine The control equipment of structure 50, working clutch the solenoid 53a and operation HST speed change for for example disconnecting the connection of working clutch 53 Motor 72.Inclined plate angle of the operation HST variable speed driver 72 for the inclined plate of change operation HST51.In notice device 7C, including vehicle Instrument face plate, alarm buzzer, loudspeaker, warning light, working light etc..

Input processing portion 6A is connect with driving system detection sensor group 8A and operating system detection sensor group 8B etc..? In driving system detection sensor group 8A, comprising detecting the operation operated to engine 4 or driving dynamics transmission mechanism 40 The sensor of the state of the sensor and detection engine 4 and driving dynamics transmission mechanism 40 of the position of tool.As with this hair Bright relevant sensor, what can be enumerated is operation displacement sensor 81, rotation sensor 82, output speed sensor 83, appearance State sensor 84.Operating displacement sensor 81 is the variable speed operation position for detecting the main shift lever 30 set to travel speed Potentiometer.Rotation sensor 82 detects the revolving speed of the left and right axle 10a of mobile devices 10.The detection row of output speed sensor 83 Sail the revolving speed of the output shaft of HST41.Attitude transducer 84 detects posture, pitch angle or the inclination of car body 1 with respect to the horizontal plane Angle etc..

In operating system detection sensor group 8B, including detection extracts portion 2, sheller unit 12, unloads paddy device 14, operation The sensor of the state of power transfer mechanism 50 etc..As sensor related to the present invention, what can be enumerated is operation displacement Sensor 86, working clutch switch 87, apparatus for work drive detection sensor 88, stem root sensor 89.Operate displacement sensing The stampede operation position of standing grain pedal 31 is dialled in the detection of device 86, the operating position is based on, from operation HST51 output power.By dialling standing grain The stampede operation of pedal 31, can make to extract portion 2 according to the will of driver and peremptorily drive.Working clutch switch 87 detects The connection status or dissengaged positions of working clutch 53, and it is sent to control unit 6.Apparatus for work drives detection sensor 88 to examine Survey the driving condition of operation power transfer mechanism 50, the i.e. driving condition (such as extracting whether portion 2 is driving) of apparatus for work. Stem root sensor 89 detects stalks and enters the portion of extracting 2.

Control unit 6 is exported based on the data or signal inputted by input processing portion 6A by output processing part 6B The data and signal of result as calculation processing.As the function part for carrying out the calculation processing, has driving control portion 61, makees Industry control unit 62, determines management department 64, notification unit 65, speed calculation part 66 at determination unit 63.Speed calculation part 66 is based on spinning Turn the detection signal of sensor 82, to calculate the speed (speed) of car body 1.

Control instruction is sent vehicle driving equipment group 7A by driving control portion 61, controls the traveling of the combine harvester. In driving control portion 61, speed Control instruction will be travelled including the variable speed operation position based on main shift lever 30 and is sent to traveling The traveling speed Control portion 611 of HST41.Control instruction is sent apparatus for work equipment group 7B by job control unit 62, and control should The apparatus for work (extracting portion 2 etc.) of combine harvester.In job control unit 62, including operation speed Control portion 621.Operation becomes The instruction of operation speed Control is sent operation HST51 by fast driving status of the control unit 621 based on car body 1.

Based on the row controlled by the variable speed operation position for operating the main shift lever 30 that displacement sensor 81 detects The output speed for sailing HST41 is detected using output speed sensor 83.Based on the testing result of the output speed sensor 83, make Industry speed Control portion 621 can carry out drive control to operation HST variable speed driver 72.Control structure in this way, utilizes work The speed that extracts of industry HST51 can be synchronous with travel speed.

In a more specific example for the control of the operation HST51 by operation speed Control portion 621, operation speed change Control unit 621 is based on speed for change operation HST51 in the case where the variable speed operation position of main shift lever 30 is progressive position Gear ratio advance operation speed Control instruction be sent to operation HST51, be in the variable speed operation position of main shift lever 30 In the case where neutral position or going-back position, send the neutral gear operation speed Control for making operation HST51 neutral gear instruction to Operation HST51.The structure in operation speed Control portion 621 in this way, when the stopping of car body or when retreating substantially without Extract harvesting.In addition, speed is higher in when extracting harvesting of traveling of advancing, it can more make apparatus for work with high-speed driving, Using extracting harvesting also and become possible in the short time run at high speed.

Determination unit 63 is in the connection of working clutch 53 and artificial variable speed operation tool for being set to operation power transfer mechanism 50 30 variable speed operation position is that neutral position and speed calculation part 66 calculate in the case that speed is more than zero, is judged to occurring Unexpected traveling.Determine management department 64 based on the judgement exported from determination unit 63 as a result, in order to avoid as caused by judgement result Control instruction is sent vehicle driving equipment group 7A and apparatus for work equipment group 7B by problem.In determining management department 64, including Deceleration demand portion 641.It is that driver is not intended to but car body 1 moves such traveling that this, which is surprisingly travelled,.Therefore, when passing through determination unit 63 are determined as surprisingly when driving, and deceleration demand is sent traveling speed Control portion 611 by deceleration demand portion 641.Travel speed change control Portion 611 processed is controlled the deceleration for making mobile devices 10 slow down based on the deceleration demand sent, as traveling speed Control instruction Instruction is sent to traveling HST41.Hydraulic proportion valve 71 moves inclined plate along deceleration direction as a result, and car body 1 is made to slow down or stop.

At this point, a problem that impact when in order to avoid slowing down, deceleration control instruction is also possible to because of the present circumstance The calculated deceleration value of speed makes car body 1 slow down such instruction.That is, according to unexpected speed when driving is determined as Value avoids the function (look-up table) of deceleration value as biggish deceleration shock using export.

In the case where detecting the generation surprisingly travelled or other abnormal situations, notification unit 65 is come using notice device 7C Carry out alert notification.

Next Fig. 4 is used, to illustrate from the judgement surprisingly travelled to the process of the control of the deceleration of car body 1.Herein, make For the background of the control, it is assumed that, when field enters, want to cut while slowly declining on inclined-plane in driver When the alignment of portion 2 being taken to extract the crops of starting position, although driver is not intended to, car body 1 is opened on inclined-plane due tos gravity etc. Begin to decline.

Therefore, as the variable speed operation position by operating the main shift lever 30 that displacement sensor 81 detects, to judgement Portion 63 inputs neutral position (#01).Further, since before for that will carry out extracting operation, operation power transmits machine The working clutch 53 of structure 50 is connected operation.Therefore, pass through working clutch switch 87, the detection letter of working clutch connection Number it is input into determination unit 63 (#02).

Herein, car body 1 passes through the output that because of the rotary force from 10 side of mobile devices caused by gravity, makes to travel HST41 Axis sliding rotation, so that the axle 10a of mobile devices 10 is rotated and started running.This drives through driving dynamics transmission mechanism 40 Rotation sensor 82 detect.When the detection signal from rotation sensor 82 is input to speed calculation part 66, speed meter Calculation portion 66 calculates the speed (speed generation) more than zero.The speed occurs to be input to 63 (# of determination unit from speed calculation part 66 03).As a result, in determination unit 63, the neutral position of variable speed operation position, the connection of working clutch 53, the generation of speed this Three conditions are set up, therefore, it is determined that portion 63, which is determined as that something unexpected happened, travels (#10).

Next, the response of deceleration demand portion 641 is by the judgement of determination unit 63 surprisingly travelled as a result, deceleration demand is sent out It is sent to traveling speed Control portion 611 (#11).The traveling speed Control portion 611 for receiving deceleration demand makees deceleration control instruction Traveling HST41 (#12) is sent to for traveling speed Control instruction.HST41 is travelled by the deceleration control instruction, makes inclined plate to subtracting Fast direction is displaced in the reverse direction if necessary, to realize the deceleration of car body 1 or the stopping (#13) of car body 1.In Fig. 4 In, for ease of understanding, the process from #10 to #13 is shown using thick line.

It should be noted that the structure disclosed in above embodiment (including other embodiments, same as below), only Otherwise contradiction is generated, can merge with disclosed structure group in other embodiments and be applicable in, in addition, public in the present specification The embodiment opened is example, and embodiments of the present invention are not limited to this, can be in the range for not departing from the purpose of the present invention Interior appropriate change.

[other embodiments]

(1) in the above-described embodiment, as the decision condition surprisingly travelled in determination unit 63, variable speed operation is used The neutral position of position, the connection of working clutch 53, the generation of speed these three conditions.Unexpected traveling is as described above, Frequently occur from the entrance to low early and high after inclined surface when entering field in field.Therefore, in the judgement surprisingly travelled In, if using car body 1 by the low early and high after posture that is generated in car body 1 when low early and high after inclined surface as decision condition If addition, it will be able to improve judgement precision.Therefore, in other preferred embodiments, pass through attitude transducer 84 The detection of low early and high after posture of car body 1 be added in the decision condition surprisingly travelled.

(2) in the above-described embodiment, has operation as stepless speed change device in operation power transfer mechanism 50 HST51.Also it can replace such structure, and be not to have stepless speed change device but have in operation power transfer mechanism 50 The structure of gear type transmission device of grade etc. is had, or does not have the structure of this component of speed change gear.

(3) in the above-described embodiment, speed calculation part 66 is based on the left and right axle 10a's for carrying out self-test mobile devices 10 The detection signal of the rotation sensor 82 of revolving speed, to calculate speed.Also it can replace such structure, be based on from satellite positioning mould The position data or mobile data that block or inertial navigation module etc. obtain, to calculate speed.

(4) it is mainly divided using each function part of the control unit 6 shown in Fig. 3 with illustration purpose.In fact, each function Portion can also with other function portion integration, alternatively, it is also possible to be further divided into multiple function parts.

(5) in the above-described embodiment, harvester is half feed combine harvester but it is also possible to be full feeding combining Machine.

[industrial availability]

As long as the present invention, which has, is transmitted to mobile devices via traveling stepless speed change device for the power from engine Driving dynamics transmission mechanism harvester, in addition to the combining that can be suitable for gathering in rice and wheat etc. Machine, additionally it is possible to suitable for the combine harvester gathered in other crops such as corn or the harvesting gathered in garlic etc. Machine.

Based on Fig. 1 and 2,5,6, third embodiment for carrying out the present invention is illustrated.It should be noted that In the following description, the direction of arrow F shown in Fig. 1 is set as that the direction of arrow B being set as " after car body " on front side of car body " Side ".

In fig. 5 it is shown that the functional block diagram of the control system of the combine harvester.Control system is by multiple sensors Group, switching group are constituted using vehicle-mounted LAN multiple electronic control units for being referred to as ECU interconnected etc..In Fig. 5, ECU It is aggregated as a control unit 6 and shows.

Input processing portion 6A is connect with driving system detection sensor group 8A and operating system detection sensor group 8B etc..? In driving system detection sensor group 8A, comprising detecting the operation operated to engine 4 or driving dynamics transmission mechanism 40 The sensor of the state of the sensor and detection engine 4 and driving dynamics transmission mechanism 40 of the position of tool.As with this hair Bright relevant sensor, what can be enumerated is operation displacement sensor 81, rotation sensor 82, output speed sensor 83.Behaviour Make the variable speed operation position that displacement sensor 81 detects the main shift lever 30 set to travel speed.Rotation sensor 82 is examined Survey the revolving speed of the left and right axle 10a of mobile devices 10.The revolving speed of the output shaft of the detection traveling of output speed sensor 83 HST41.

In operating system detection sensor group 8B, including detection extracts portion 2, sheller unit 12, unloads paddy device 14, operation The sensor of the state of power transfer mechanism 50 etc..As sensor related to the present invention, what can be enumerated is operation displacement Sensor 86, working clutch switch 87, apparatus for work drive detection sensor 88, stem root sensor 89.Operate displacement sensing The stampede operation position of standing grain pedal 31 is dialled in the detection of device 86.It is adjusted based on the stampede operation position detected in operation speed Control portion 621 The inclined plate of whole operation HST51, and export power corresponding with stampede operation position.By dialling the stampede operation of standing grain pedal 31, energy It is enough make to extract portion 2 according to the will of driver peremptorily drive.The connection of the detection working clutch 53 of working clutch switch 87 State or dissengaged positions, and it is sent to control unit 6.Apparatus for work drives detection sensor 88 to detect operation power transfer mechanism The driving condition (such as extracting whether portion 2 is driving) of 50 driving condition, i.e. apparatus for work.Stem root sensor 89 detects paddy Stalk enters the portion of extracting 2.

In a more specific example for the control of the operation HST51 by operation speed Control portion 621, operation speed change Control unit 621 is based on speed for change operation HST51 in the case where the variable speed operation position of main shift lever 30 is progressive position Gear ratio advance operation speed Control instruction be sent to operation HST51, be in the variable speed operation position of main shift lever 30 In the case where neutral position or going-back position, send the neutral gear operation speed Control for making operation HST51 neutral gear instruction to Operation HST51.The structure in operation speed Control portion 621 in this way, when the stopping of car body 1 or when retreating substantially without Extract harvesting.In addition, speed is higher in when extracting harvesting of traveling of advancing, it can more make apparatus for work with high-speed driving, Using extracting harvesting also and become possible in the short time run at high speed.

Determination unit 63 is judged to having occurred apparatus for work exception in the case where following three decision conditions are set up.

(1) traveling is sent to from traveling speed Control portion 611 in the traveling speed Control instruction for making car body 1 advance In the state of HST41, the traveling of car body 1 is detected by speed calculation part 66.

(2) although being for making to extract the instruction of the equal apparatus for work driving in portion 2, i.e. for making operation power transfer mechanism 50 The operation speed Control instruction of driving is sent to the state of operation HST51 from operation speed Control portion 621 while being operation clutch Device 53 is connection status, but apparatus for work driving detection sensor 88 still detects the driving of the apparatus for work in portion of extracting 2 etc. not It is good.It should be noted that the driving for the operation power transfer mechanism 50 for driving detection sensor 88 to detect by apparatus for work Bad generally driving halted state is but it is also possible to be the regulation for having only reached target driving state (such as target drives rotating speed) The state of ratio.

(3) the stem root sensor 89 for the plantation stalks (crops) that detection enters the portion of extracting 2 detects plantation stalks.

Third decision condition means that plantation stalks have been introduced into the portion of extracting 2.The third decision condition be by Driving in the portion that extracts 2 is bad by entering the portion of extracting 2 and highest a possibility that the plantation stalks extracted cause, therefore at this In embodiment, it is added as decision condition.But the third decision condition also can be omitted.

Determine management department 64 based on the judgement exported from determination unit 63 as a result, in order to avoid asking as caused by judgement result Topic, sends vehicle driving equipment group 7A and apparatus for work equipment group 7B for control instruction.In determining management department 64, including will Deceleration demand is sent to the deceleration demand portion 641 in traveling speed Control portion 611.

In the present invention, (portion 2 is extracted because stalks blocking etc. becomes driving when being determined as that apparatus for work is abnormal by determination unit 63 Move bad etc.) when, deceleration demand is sent traveling speed Control portion 611 by deceleration demand portion 641.Travel speed Control portion 611 Based on the deceleration demand sent, the deceleration control instruction for making mobile devices 10 slow down is sent as traveling speed Control instruction To traveling HST41.Hydraulic proportion valve 71 moves inclined plate along deceleration direction as a result, and car body 1 is made to slow down or stop.

At this point, a problem that impact when in order to avoid slowing down, deceleration control instruction is also possible to because of the present circumstance The calculated deceleration value of speed makes car body 1 slow down such instruction.For example, according to the value for being determined as unexpected speed when driving, The function (look-up table) of deceleration value as biggish deceleration shock is avoided using export.

In the case where detecting abnormal apparatus for work or other abnormal situations, notification unit 65 exports warning notice signal To notice device 7C, alert notification is carried out.

Next use Fig. 6, come illustrate apparatus for work exception car body 1 deceleration control process.Herein, as The background of the control, it is imaginary to be, so that car body 1 is advanced when driving to extract harvesting, the drive in the portion of extracting 2 has occurred Move bad (stopping etc.).

Therefore, as the variable speed operation position by operating the main shift lever 30 that displacement sensor 81 detects, to judgement Portion 63 inputs progressive position (#01).Further, due to carrying out extracting harvesting, operation power transfer mechanism 50 working clutch 53 is connected operation.As a result, the detection signal of working clutch connection is from working clutch switch 87 It is input into determination unit 63 (#02).Similarly, since car body 1 is to be detected in advance traveling by rotation sensor 82 The rotation of axle 10a.Determination unit 63 (#03) is input by speed calculation part 66 as a result, generating speed (driving status). In addition, entering in the portion that extracts 2 has plantation stalks, farming analyte detection (plantation stalks) is input by stem root sensor 89 and is sentenced Determine portion 63 (#04).

Herein, suddenly because stalks blocking etc. causes to extract the case where producing relatively large load in the power transmitting in portion 2 Under, idle running etc. occurs in the operation HST51 as operation stepless speed change device, so that operation power transfer mechanism 50 becomes driving It moves bad.The driving of the operation power transfer mechanism 50 is bad to drive detection sensor 88 to detect by apparatus for work, and defeated Enter to determination unit 63 (#05).As a result, in determination unit 63, above three decision condition is set up, therefore, it is determined that portion 63 is judged to sending out It is abnormal (#10) apparatus for work has been given birth to.

Next, the response of deceleration demand portion 641 is by the judgement of the apparatus for work exception of determination unit 63 as a result, deceleration is wanted It asks and is sent to traveling speed Control portion 611 (#11).The traveling speed Control portion 611 for receiving deceleration demand, which will slow down to control, to be referred to It enables or information control command is sent to as traveling speed Control instruction and travels HST41 (#12).It travels HST41 and passes through the deceleration Control instruction stops control instruction, makes inclined plate to deceleration direction, moves in the reverse direction if necessary, to realize car body 1 deceleration or the stopping (#13) of car body 1.In Fig. 6, for ease of understanding, the process from #10 to #13 is shown using thick line.

[other embodiments]

(1) in the above-described embodiment, when apparatus for work exception occurs, deceleration control instruction or information control command quilt Automatically urgent output, but can also condition setting be carried out to the urgent output.For example, it can be only regulation in speed When being worth above, promptly exported.

(2) it can be used various as stem root sensor 89 as long as being able to detect that stalks enter the portion of extracting 2 The stem root sensor of structure.It can be the sensor that detection plantation stalks want to enter into the portion of extracting 2, be also possible to detection and cut Disconnected device 22 cuts off and using the existing sensor of the stalks before the conveying of stalks conveying apparatus 23, or is also possible to detect Utilize the sensor of the amount (a small amount of or a large amount of) of the stalks of the conveying of stalks conveying apparatus 23.

(3) in the above-described embodiment, has operation as stepless speed change device in operation power transfer mechanism 50 HST51.Also it can replace the structure, have other stepless speed change devices in operation power transfer mechanism 50.

(4) in the above-described embodiment, speed calculation part 66 is based on the left and right axle 10a's for carrying out self-test mobile devices 10 The detection signal of the rotation sensor 82 of revolving speed, to calculate speed.Also can replace the structure, based on from satellite positioning module or The position data or mobile data that inertial navigation module etc. obtains, to calculate speed.

(6) it is mainly divided using each function part of the control unit 6 shown in Fig. 5 with illustration purpose.In fact, each function Portion can also with other function portion integration, alternatively, it is also possible to be further divided into multiple function parts.

(7) in the above-described embodiment, harvester is half feed combine harvester but it is also possible to be full feeding combining Machine.

[industrial availability]

As long as the present invention, which has, is transmitted to apparatus for work via operation stepless speed change device for the power from engine Operation power transfer mechanism and the power from engine is transmitted to the rows of mobile devices via traveling stepless speed change device The harvester for sailing power transfer mechanism, in addition to the combine harvester that can be suitable for gathering in rice and wheat etc., also It being capable of the combine harvester that be suitable for gathering in other crops such as corn or the harvester that garlic etc. is gathered in.

Based on Fig. 1 and 2,7,8, third embodiment for carrying out the present invention is illustrated.It should be noted that In the following description, the direction of arrow F shown in Fig. 1 is set as that the direction of arrow B being set as " after car body " on front side of car body " Side ".

In fig. 1 it is shown that the half feed combine harvester of an example according to the present invention as harvester.At this In combine harvester, has the row of car body 1, the pair of right and left types of track that can be supported over the ground to automatic running to car body 1 Sail device 10.In the front of car body 1, be liftably equipped with the apparatus for work as harvesting extracts portion 2.Portion 2 is extracted to field The stalks on ground are extracted and are conveyed to car body rear.In the portion that extracts 2 slightly by rear and upper side position, it is equipped with cockpit 11. In cockpit 11, configured with the main shift lever 30 as artificial variable speed operation tool and standing grain pedal 31 is dialled.Main shift lever 30 with It can be along the state setting that swing operates.Dial standing grain pedal 31 with can stampede operation state setting.

In the lower section of cockpit 11, equipped with engine 4.At the rear of cockpit 11, with the phase on car body left and right directions Adjacent state, which is equipped with, carries out the sheller unit 12 of threshing and to from sheller unit 12 to the stalks that extract conveyed from the portion that extracts 2 The grain collecting box 13 that is stored of grain.In grain collecting box 13, paddy device 14 is unloaded equipped with the grain in discharge grain collecting box 13.

Driving dynamics transmission mechanism 40 has the first belt driver 42 and speed-changing gear box 44.First belt driver 42 In the first input tape of the first output pulley 42a for being installed on the output shaft of engine 4 and the input shaft for being installed on traveling HST41 It takes turns and carries out power transmitting between 42b, and there is drive clutch 43.Speed-changing gear box 44 carry out traveling HST41 output shaft and Power transmitting between the left and right axle 10a of mobile devices 10, can independently transfer power to left and right axle 10a.Crawler belt It is rotated by the rotation of axle 10a.

Operation power transfer mechanism 50 has the second belt driver 52 and distributing means for power supply 54.Second belt driver 52 input the second of the second output pulley 52a for being installed on the output shaft of engine 4 and the input shaft for being installed on operation HST51 Power transmitting is carried out between belt wheel 52b, and there is working clutch 53.The working clutch 53 passes through as operation executing agency Working clutch solenoid 53a movement, be selectively rendered to clutch connection status and clutch dissengaged positions.Power The power exported from the output shaft of operation HST51 is assigned to the portion of extracting 2, sheller unit 12, unloads paddy device 14 by distributor 54 Equal apparatus for work.Due to the structure of such distributing means for power supply 54 be it is known, in this detailed description will be omitted.

In fig. 7 it is shown that the functional block diagram of the control system of the combine harvester.Control system is by multiple sensors Group, switching group are constituted using vehicle-mounted LAN multiple electronic control units for being referred to as ECU interconnected.It is such in Fig. 7 ECU is aggregated as a control unit 6 and shows.

Control unit 6 is used as input/output interface, has output processing part 6B and input processing portion 6A.It is set in vehicle driving In standby group 7A, including control equipment relevant to vehicle driving, such as device for controlling engine, brake control apparatus, it is incorporated into row Sail the control equipment of power transfer mechanism 40, such as hydraulic proportion valve 71.Hydraulic proportion valve 71 is based on sending from control unit 6 Control instruction drive proportional solenoid, make inclined plate piston position using the pressure of the hydraulic circuit by proportionality controlled It moves.By the displacement of inclined plate piston, to change the inclined plate angle for the inclined plate for travelling HST41.

Input processing portion 6A is connect with driving system detection sensor group 8A and operating system detection sensor group 8B etc..? In driving system detection sensor group 8A, comprising detecting the operation operated to engine 4 or driving dynamics transmission mechanism 40 The sensor of the state of the sensor and detection engine 4 and driving dynamics transmission mechanism 40 of the position of tool.As with this hair Bright relevant sensor, what can be enumerated is operation displacement sensor 81, rotation sensor 82, output speed sensor 83, appearance State sensor 84.Operation displacement sensor 81 detects the variable speed operation position of the main shift lever 30 set to travel speed. Rotation sensor 82 detects the revolving speed of the left and right axle 10a of mobile devices 10.The detection traveling of output speed sensor 83 HST41's The revolving speed of output shaft.Attitude transducer 84 detects posture, pitch angle or the side tilt angle etc. of car body 1 with respect to the horizontal plane.

In a more specific example for the control of the operation HST51 by operation speed Control portion 621, operation speed change Control unit 621 is based on speed for change operation HST51 in the case where the variable speed operation position of main shift lever 30 is progressive position Gear ratio advance operation speed Control instruction be sent to operation HST51.Further, in the variable speed operation of main shift lever 30 In the case that position is neutral position or going-back position, instruct the neutral gear of operation HST51 neutral gear with operation speed Control It is sent to operation HST51.The structure in operation speed Control portion 621 in this way, it is substantial when the stopping of car body 1 or when retreating Without extracting harvesting.In addition, speed is higher, can more make apparatus for work with height in when extracting harvesting of traveling of advancing Speed driving, using extracting harvesting also and become possible in the short time run at high speed.

Determination unit 63 is judged to having occurred abnormal operation traveling in the case where following four decision condition is set up.

(1) the detection signal from operation displacement sensor 81 indicates that the variable speed operation position of main shift lever 30 is non-advance Position (neutral position or going-back position).That is, from traveling speed Control portion 611 output traveling control instruction, the traveling Control instruction is controlled in a manner of travelling HST41 not by the power supply to mobile devices in the direction for making car body 1 advance.

(2) traveling of car body 1 is detected by speed calculation part 66.That is, the intention for violating driver has occurred Car body 1 advance traveling.

(3) working clutch 53 is connection status.That is, driver, which has, to be driven apparatus for work and carries out operation row The intention sailed.

(4) the detection signal for carrying out the attitude transducer 84 of 1 posture of self-test car body represents more than the feasible value being previously set Car body 1 low early and high after inclination.

From (1), the establishment of these three decision conditions of (2) and (3), it is contemplated that (A) below and (B).

(A) variable speed operation position is non-progressive position, therefore operation HST51 maintains neutral position.However, due to operation Clutch 53 is connection status, therefore current time is the preparation stage of operation traveling.

(B) although for the preparation stage that operation travels, the advance traveling of car body 1 is detected by speed calculation part 66.

On this basis, from the establishment of the decision condition of (4), it is contemplated that by the unexpected starting (traveling), car body 1 In on the access path (descending) from ridge to field.

Be able to detect that generation following problems from these: although apparatus for work does not drive, combine harvester is entered Field, the portion 2 that extracts as apparatus for work approach and enter to plantation stalks group.Therefore, according to (1), (2), (3) and (4) The establishment of this four decision conditions determines the generation of abnormal operation traveling by determination unit 63.

It should be noted that only the establishment of the decision condition of (1), (2) and (3) also can determine abnormal operation row have occurred It sails, therefore the decision condition of (4) can omit.In this case, although the variable speed operation position of main shift lever 30 is non-advanced potential In the case where setting but detecting that the advance of car body 1 travels and working clutch 53 is connection status, the judgement of determination unit 63 is had occurred Abnormal operation traveling.

In addition, being, because of the traveling for the car body 1 that driver is not intended to, to cause non-drive in the problems in exception operation traveling The portion 2 that extracts of dynamic state apparatus for work, i.e. negative load condition without extracting stamps down plantation stalks.Therefore, even if occurring Abnormal operation traveling, does not enter into plantation stalks as long as extracting, so that it may ignore in portion 2.In view of this, can also will test into The stem root sensor 89 entered to the plantation stalks in the portion that extracts 2 detects that plantation stalks are additional as decision condition.

Determine management department 64 based on the judgement exported from determination unit 63 as a result, in order to avoid asking as caused by judgement result Topic, sends vehicle driving equipment group 7A and apparatus for work equipment group 7B for control instruction.In determining management department 64, including will Force driving that the pressure for being sent to operation speed Control portion 621 driving is required to require portion 642.

In the present invention, when being determined as abnormal operation when driving by determination unit 63, driving is forced to require portion 642 that will force Driving requires to be sent to operation speed Control portion 621.Operation speed Control portion 621 is required based on the pressure driving sent, is made The pressure driving operation speed Control supplied power to apparatus for work instruction is instructed (to force drive control for operation speed Control Instruction) it is sent to traveling HST51.

When forcing the instruction of driving operation speed Control to be sent to operation HST51, operation HST variable speed driver 72 revolves Turn, operation HST51 is adjusted the swash plate angle of operation HST51 in a manner of being acted according to minimum output.It needs It is bright, about the speed change of operation HST51, in order to change the angle of inclined plate, it also can replace operation HST variable speed driver 72 and make With other executing agencies such as hydraulic proportion valve.

Next Fig. 8 is used, the control that the pressure to illustrate from the judgement that abnormal operation travels to apparatus for work drives Process.Herein, as the background of the control, it is assumed that (a) below (b).

(a) in the desired agriculture that will be extracted the alignment of portion 2 while slowly declining on inclined-plane and extract starting position of driver When the field of crop enters, main shift lever 30 is neutral position.Since main shift lever 30 is neutral position, neutral gear operation Speed Control instruction is sent to operation HST51, although working clutch 53 is connection status, extracts the driving of portion 2 and stops.

(b) in the state that (a) is such, car body 1 is begun to decline on inclined-plane because of gravity etc..

According to (a) and (b) it is assumed that as the speed change of main shift lever 30 detected by operating displacement sensor 81 Operating position inputs non-progressive position (neutral position or going-back position) (#01) to determination unit 63.Driver wants on one side oblique Decline on face and extract on one side, therefore low early and high after posture is detected by attitude transducer 84, thus comes from attitude transducer 84 low early and high after posture is input into determination unit 63 (#02).Before for that will carry out extracting operation, operation power The working clutch 53 of transmission mechanism 50 is connected operation.The detection signal of working clutch connection is from working clutch as a result, Switch 87 is input into determination unit 63 (#03).Further, the variable speed operation position of main shift lever 30 is non-progressive position, because This makes the neutral gear operation speed Control instruction of operation HST51 neutral gear be sent to operation HST51, so driving halted state Determination unit 63 (#04) is input into from apparatus for work driving detection sensor 88.

Herein, car body 1 makes the output shaft for travelling HST41 by the torque from 10 side of mobile devices as caused by gravity Sliding rotation, so that the axle 10a of mobile devices 10 is rotated and started running.This drives through driving dynamics transmission mechanism 40 Rotation sensor 82 detects.When the detection signal from rotation sensor 82 is input to speed calculation part 66, speed is calculated Portion 66 calculates the speed more than zero.The generation speed (traveling of advancing) is input to determination unit 63 (#05) from speed calculation part 66. As a result, in determination unit 63, above-mentioned (1), (2), (3) and (4) this four decision conditions are set up, therefore, it is determined that portion 63 is judged to sending out Abnormal operation traveling (#10) is given birth to.

Next, the judgement for forcing driving that the response of portion 642 is required to travel by the abnormal operation of determination unit 63 is as a result, by strong System driving requires to be sent to operation speed Control portion 621 (#11).Receive the operation speed Control portion 621 for forcing driving to require Drive control instruction will be forced to be sent to traveling HST41 (#12) as the instruction of operation speed Control.It is strong by this to travel HST41 Drive control instruction processed, starts the driving (#13) of the operation power transfer mechanism 50 under minimum output.In fig. 8, for ease of Understand, the process from #10 to #13 is shown using thick line.

It should be noted that driver can in the case where driver notices above-mentioned such abnormal operation traveling It is trampled to standing grain pedal 31 is dialled, so that operation HST51 forcibly be made to work.Dial standing grain pedal 31 carry out for operation The instruction of HST51 is prior to forcing drive control instruction, therefore driver can make operation HST51 work with desired revolving speed Make.

It should be noted that the structure disclosed in above embodiment (including other embodiments, same as below), only Otherwise contradiction is generated, can combine and be applicable in disclosed structure in other embodiments, in addition, disclosing in the present specification Embodiment be example, embodiments of the present invention are not limited to this, can be in the range of not departing from the purpose of the present invention It is appropriate to change.

[other embodiments]

(1) it can be used various as stem root sensor 89 as long as being able to detect that stalks enter the portion of extracting 2 The stem root sensor of structure.It can be the sensor that detection plantation stalks want to enter into the portion of extracting 2, be also possible to detection and cut Disconnected device 22 cuts off and using the existing sensor of the stalks before the conveying of stalks conveying apparatus 23, or is also possible to detect Utilize the sensor of the amount (a small amount of or a large amount of) of the stalks of the conveying of stalks conveying apparatus 23.

(2) in the above-described embodiment, has operation as stepless speed change device in operation power transfer mechanism 50 HST51.Also it can replace the structure, have other stepless speed change devices in operation power transfer mechanism 50.Similarly, make To have in the stepless speed change device of driving dynamics transmission mechanism 40, traveling HST41 also can replace, and have other stepless Speed change gear.

(3) in the above-described embodiment, speed calculation part 66 is based on the left and right axle 10a's for carrying out self-test mobile devices 10 The detection signal of the rotation sensor 82 of revolving speed, to calculate speed.Also can replace the structure, based on from satellite positioning module or The position data or mobile data that inertial navigation module etc. obtains, to calculate speed.

(4) it is mainly divided using each function part of the control unit 6 shown in Fig. 7 with illustration purpose.In fact, each function Portion can also with other function portion integration, alternatively, it is also possible to be further divided into multiple function parts.

[industrial availability]

Claims

1. a kind of harvester, which is characterized in that have:

Engine is equipped on car body；

Mobile devices support the car body over the ground；

The apparatus for work of harvesting is equipped on the car body；

Power from the engine is transmitted to the row via traveling stepless speed change device by driving dynamics transmission mechanism Sail device；

Power from the engine is transmitted to the apparatus for work by operation power transfer mechanism；

Speed calculation part calculates speed；

Artificial variable speed operation tool, is operated by driver；

Speed Control portion is travelled, based on the variable speed operation position of the artificial variable speed operation tool, traveling speed Control is referred to Order is sent to the traveling stepless speed change device；

Determination unit, in the working clutch connection and the artificial variable speed operation work for being set to the operation power transfer mechanism The variable speed operation position of tool is determined as neutral position and in the case that the speed calculation part calculates the speed more than zero Traveling that something unexpected happened；

Deceleration demand portion is being determined as the accident when driving, sends the traveling speed Control portion for deceleration demand；

The traveling speed Control portion is based on the deceleration demand, the traveling will be made to fill as traveling speed Control instruction The deceleration control instruction for setting deceleration is sent to the traveling stepless speed change device.

2. harvester as described in claim 1, which is characterized in that

The deceleration control instruction is to utilize the instruction for making the car body slow down based on the calculated deceleration value of the speed.

3. harvester as claimed in claim 1 or 2, which is characterized in that

The deceleration control instruction is the instruction that the speed is maintained to zero.

4. harvester as claimed any one in claims 1 to 3, which is characterized in that

The traveling stepless speed change device is Hyaulic infinite variable speed mechanism, is had described in inclined plate and the progress at modifiable inclined plate angle The hydraulic proportion valve of the change at inclined plate angle,

The hydraulic proportion valve is controlled as instructing based on the traveling speed Control to change the inclined plate angle.

5. harvester according to any one of claims 1 to 4, which is characterized in that

The mobile devices have axle and pass through the shaft-driven crawler belt of the vehicle,

The detection signal of the rotation sensor of the speed calculation part based on the rotation for carrying out axle described in self-test, to calculate State speed.

6. a kind of harvester, which is characterized in that have:

Engine is equipped on car body；

Mobile devices support the car body over the ground；

The apparatus for work of harvesting is equipped on the car body；

Apparatus for work drives detection sensor, detects to the driving condition of the apparatus for work；

Operation power transfer mechanism, by the power from the engine via operation stepless speed change device and operation clutch Device is transmitted to the apparatus for work；

Speed calculation part calculates speed；

Artificial variable speed operation tool, is operated by driver；

Speed Control portion is travelled, based on the variable speed operation position of the artificial variable speed operation work, traveling speed Control is referred to Order is sent to the traveling stepless speed change device；

Operation speed Control portion sends the operation for the instruction of operation speed Control based on the driving status of the car body Stepless speed change device；

Determination unit is judged to occurring in the case where there apparatus for work exception, that is, for making described in the car body advance Though traveling speed Control instruction be sent to it is described traveling stepless speed change device in the state of detect the car body traveling and It is so for making the operation speed Control instruction of the apparatus for work driving be sent to the operation stepless speed change device State is that the working clutch is connection status but the apparatus for work drives detection sensor still to detect driving not simultaneously It is good；

Deceleration demand portion sends the traveling speed Control for deceleration demand when being determined as the apparatus for work exception Portion；

The traveling speed Control portion is based on the deceleration demand, by the deceleration control instruction for making the mobile devices slow down or makes The stopping control instruction that the mobile devices stop is sent to the traveling variable speed as traveling speed Control instruction Device.

7. harvester as claimed in claim 6, which is characterized in that

Operation speed Control portion the variable speed operation position of the artificial variable speed operation tool be progressive position in the case where, The advance changed based on gear ratio of the speed to the operation stepless speed change device operation speed Control is instructed Be sent to the operation stepless speed change device, the variable speed operation position of the artificial variable speed operation tool be neutral position or after It gives up the throne in the case where setting, sends institute for the neutral gear operation speed Control for making operation stepless speed change device neutral gear instruction State operation stepless speed change device.

8. harvester as claimed in claims 6 or 7, which is characterized in that

Have the stem root sensor for the crops for extracting portion that detection is entered as the apparatus for work, the stem root sensor The detection of the crops is included in the decision condition of the apparatus for work exception.

9. the harvester as described in any one of claim 6 to 8, which is characterized in that

Has the notification unit that alert notification is carried out when being determined as the apparatus for work exception.

10. a kind of harvester, which is characterized in that have:

Engine is equipped on car body；

Mobile devices support the car body over the ground；

The apparatus for work of harvesting is equipped on the car body；

Speed calculation part calculates speed；

Artificial variable speed operation tool, is operated by driver；

Operation speed Control portion, in the case where the variable speed operation position of the artificial variable speed operation tool is progressive position, The advance changed based on gear ratio of the speed to the operation stepless speed change device operation speed Control is instructed Be sent to the operation stepless speed change device, the variable speed operation position of the artificial variable speed operation tool be neutral position or after It gives up the throne in the case where setting, sends institute for the neutral gear operation speed Control for making operation stepless speed change device neutral gear instruction State operation stepless speed change device；

Determination unit, although being that non-progressive position detects described in the variable speed operation position of the artificial variable speed operation tool In the case that the advance of car body travels and the working clutch is connection status, it is judged to being abnormal operation traveling；

It forces driving to require portion, is being determined as the abnormal operation when driving, driving will be forced to require to be sent to the operation Speed Control portion；

Operation speed Control portion is based on pressure driving and requires, and the pressure for making the apparatus for work force driving is driven The operation stepless speed change device is sent to the instruction of operation speed Control.

11. harvester as claimed in claim 10, which is characterized in that

Have the attitude transducer for the pitch angle for detecting the car body,

The attitude transducer is included in the judgement of the abnormal operation traveling to the detection of the low early and high after posture of the car body In condition.

12. harvester as described in claim 10 or 11, which is characterized in that

The operation stepless speed change device is Hyaulic infinite variable speed mechanism, is instructed by pressure driving operation speed Control The starting of the apparatus for work caused is the apparatus for work under the minimum output of the Hyaulic infinite variable speed mechanism Starting.

13. the harvester as described in any one of claim 10 to 12, which is characterized in that