CN110024554A - Control device - Google Patents

Control device Download PDF

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Publication number
CN110024554A
CN110024554A CN201811532038.8A CN201811532038A CN110024554A CN 110024554 A CN110024554 A CN 110024554A CN 201811532038 A CN201811532038 A CN 201811532038A CN 110024554 A CN110024554 A CN 110024554A
Authority
CN
China
Prior art keywords
servo
pump
mobile devices
swash plate
angle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201811532038.8A
Other languages
Chinese (zh)
Other versions
CN110024554B (en
Inventor
井本翼
木曾田雄星
山中之史
西田圭佑
西田智士
川添翼
加藤裕治
仲岛铁弥
高崎和也
池田博
中林隆志
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kubota Corp
Original Assignee
Kubota Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kubota Corp filed Critical Kubota Corp
Publication of CN110024554A publication Critical patent/CN110024554A/en
Application granted granted Critical
Publication of CN110024554B publication Critical patent/CN110024554B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A01D41/127—Control or measuring arrangements specially adapted for combines
    • A01D41/1274—Control or measuring arrangements specially adapted for combines for drives
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
    • A01D69/03—Driving mechanisms or parts thereof for harvesters or mowers fluid
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
    • A01D69/06—Gearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/02—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of clutch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/22—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or type of main drive shafting, e.g. cardan shaft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B60W10/101—Infinitely variable gearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18054—Propelling the vehicle related to particular drive situations at stand still, e.g. engine in idling state
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/4035—Control of circuit flow
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/4192—Detecting malfunction or potential malfunction, e.g. fail safe
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/42—Control of exclusively fluid gearing hydrostatic involving adjustment of a pump or motor with adjustable output or capacity
    • F16H61/437—Pump capacity control by mechanical control means, e.g. by levers or pedals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/38—Control of exclusively fluid gearing
    • F16H61/40—Control of exclusively fluid gearing hydrostatic
    • F16H61/44—Control of exclusively fluid gearing hydrostatic with more than one pump or motor in operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/15—Agricultural vehicles
    • B60W2300/158—Harvesters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/20—Off-Road Vehicles
    • B60Y2200/22—Agricultural vehicles
    • B60Y2200/222—Harvesters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/301—Sensors for position or displacement

Abstract

The present invention provides a kind of control device, is the control device of working truck, the motion stability of working truck when can make servo mechanism exception.Left side HST (33) and right side HST (34) is configured to the hydraulic motor (42) comprising being driven by the power-actuated hydraulic pump (41) of engine (31) and the pressure oil being discharged by hydraulic pump (41).The servo mechanism (66) controlled the tilt angle of the pump swash plate of hydraulic pump (41) is respectively correspondingly provided with left side HST (33) and right side HST (34).If servo mechanism (66) breaks down etc. abnormal, fail-safe movement is executed.In fail-safe movement, according to the exception for detecting servo mechanism (66) corresponding with the side in pair of right and left mobile devices, stop exporting from left side HST (33) corresponding with pair of right and left mobile devices and right side HST (34) both sides, with this as fail-safe movement.

Description

Control device
Technical field
The present invention relates to a kind of control devices of the working trucks such as combine harvester.
Background technique
In the past, well-known equipped with hydrostatic continuously variable transmission (HST:Hydro Static Transmission (hydrostatic speed changer)) combine harvester.Have hydraulic pump and hydraulic motor in hydrostatic continuously variable transmission.It is taking It is loaded in the combine harvester of hydrostatic continuously variable transmission, drives hydraulic pump using the power of engine, utilize hydraulic pump The oil of discharge drives hydraulic motor, and the power of hydraulic motor is transferred to the crawler belt of left and right.
For example with closed circuit loop structure, hydraulic pump is incidentally provided with hydraulic circuit comprising hydraulic pump and hydraulic motor Change the servo piston of swash plate angle.By changing the swash plate angle of hydraulic pump, the discharge direction and stream of the oil from hydraulic pump Amount variation, the direction of rotation of hydraulic motor and rotation speed change.The driving method of servo piston has mechanical and electronic control type (electricity Sub- servo-type), mechanical gear shifting stop lever and servo piston to be set to the operation panel of bridge is mechanically connected, and passes through operation Gear shifting stop lever and the driving method for acting servo piston, electronic control type (electron servo formula) they are to being supplied to by two ratios The electric current for the pressure-control valve that pressure reduction control valve is constituted is controlled, and is supplied to servo piston using from these pressure-control valves Driving method that is hydraulic and making servo piston movement.
Patent document 1: Japanese Unexamined Patent Publication 2009-30693 bulletin
In the hydrostatic continuously variable transmission using electronic control type, if watching comprising servo piston and pressure-control valve Mechanism malfunction is taken, then not can control the swash plate angle of hydraulic pump, and then not can control from hydraulic motor and be transferred to crawler belt The movement of power, combine harvester is unstable.
Summary of the invention
The work of the motion stability of working truck when can make servo mechanism exception the object of the present invention is to provide one kind The for motor vehicle control device of industry.
In order to achieve the above object, the control device of working truck of the invention is as follows: a kind of control device, for making Industry vehicle, the working truck is equipped with engine；Pair of right and left mobile devices；Power transmission has comprising being sent out The pump swash plate of the stepless transmission and control pump of the power-actuated pump of motivation and the motor driven by the pressure oil of pump discharge Angle servo mechanism, the power of motor is transmitted to pair of right and left mobile devices；The control device includes: abnormality detection Mechanism detects the exception of servo mechanism；Failsafe mechanism executes use according to abnormal detection mechanism by abnormal detection It is acted in the fail-safe for the motion stability for making working truck.
According to this structure, power transmission is installed between engine and pair of right and left mobile devices.Power transmitting Device have comprising by the power-actuated pump of engine and by pump discharge pressure oil drive motor stepless transmission and The servo mechanism of control pump swash plate angle.The discharge direction and flow of the oil from pump are controlled by control pump swash plate angle, Control direction of rotation and the revolving speed of motor.
If servo mechanism has occurred the exceptions such as failure and detects the exception, the movement for making working truck is executed Stable fail-safe movement.Therefore, the motion stability of working truck when can make servo mechanism exception.
Stepless transmission and servo mechanism can be respectively correspondingly arranged with pair of right and left mobile devices.In this case, According to the exception for detecting servo mechanism corresponding with the side in pair of right and left mobile devices using abnormal detection mechanism, failure Insurance institution can control servo mechanism corresponding with pair of right and left mobile devices, to stop travelling from pair of right and left The corresponding stepless transmission both sides output of device, with this as fail-safe movement.Thereby, it is possible to make working truck Body stops, and by stopping body, can make the motion stability of working truck.
Also may be constructed are as follows: mobile devices have by from power transmission transmitting power axle, stepless transmission and Servo mechanism is respectively correspondingly arranged with pair of right and left mobile devices, and power transmission has to make pair of right and left traveling dress Set the revolving speed for the axle the being respectively provided with unanimously clutch of engaging.In this case, it is detected according to using abnormal detection mechanism The exception of servo mechanism corresponding with the side in pair of right and left mobile devices, failsafe mechanism can make clutch card out Close, control corresponding with another party in pair of right and left mobile devices servo mechanism to continuation from pair of right and left mobile devices In another party's corresponding stepless transmission output, with this as fail-safe movement.Thereby, it is possible to drive and be operating normally The motor of the corresponding stepless transmission of servo mechanism can be in the movement for making working truck by the power from the motor Body is travelled while stabilization.
Also may be constructed as follows: servo mechanism has the servo piston interlocked with pump swash plate, is used for servo piston supply The hydraulic advance control valve that is located at servo piston within the scope of defined advance and to servo piston supply for keeping servo living Plug is located at the hydraulic retrogressing control valve in defined retrogressing range, and when servo piston is located within the scope of advance, pump swash plate is in From the angle of the pressure oil of pump discharge direction of advance, when servo piston is located at and retreats in range, pump swash plate is in after pump discharge The angle of the pressure oil in direction is moved back, the direction that pump is advanced by the pressure oil output operation vehicle of supply direction of advance is moved Power, the power in the direction of the pressure oil output operation vehicle rollback by supplying direction of retreat.In this configuration, different in utilization It in the case that normal testing agency detects the exception of advance control valve, is acted as fail-safe, failsafe mechanism can be permitted Perhaps the control for retreating control valve, in the case where detecting to retreat the exception of control valve using abnormal detection mechanism, as failure Safe action, failsafe mechanism can permit the control of advance control valve.Thereby, it is possible to the advance controls by regular event The control of valve and make body advance traveling, in addition, body can be made to retreat by the control of the retrogressing control valve of regular event Traveling.Therefore, body can be made to travel while the motion stability for making working truck.
Working truck can also carry operating member, and the operating member is configured at relative to neutral position In side progressive position and be in the other side relative to neutral position going-back position between operate.In this case, may be used With as follows, that is, control device be configured to also include: position detecting mechanism, detect operating member position；Swash plate angle detection Mechanism, the angle of detection pump swash plate；Control mechanism controls servo mechanism, so that the angle of pump swash plate is examined with using position It is consistent to survey target angle corresponding to the position for the operating member that mechanism detects；It is detected in target angle and using swash plate angle The deviation between angle that mechanism detects is anomaly detection machine in the case that the state of certain value or more maintains certain time Structure detects servo mechanism exception.
Detect that the fail-safe movement in the case where the exception of servo mechanism can be the movement for making engine stop.It is logical Crossing makes engine stop, body can be made to stop, and by stopping body, can make the motion stability of working truck.
Fail-safe movement, which can be, makes the such movement of engine idling conditions, is also possible to keep engine empty It is consistent with neutral position accordingly with the position of the operating member detected using position detecting mechanism after turning state, make to start Machine stops such movement.By making engine idling conditions, it is able to suppress the travel speed of body, therefore can make to make While the motion stability of industry vehicle, it is ensured that the traveling of body.
In addition, being configured to be also equipped in power transmission, that the angle of the motor swashplate of motor is switched to motor is relatively low The control valve for the second angle that the first angle and motor rotated rotates relatively high speedly fastly in the case where, as fail-safe Movement, can be controlled and be made the swash plate first angle of motor to control valve.Thereby, it is possible to further suppress the row of body Speed is sailed, the movement of working truck can be made more stable.
Also it can be such that also comprising storing mechanism, in the abnormal feelings for detecting servo mechanism using abnormal detection mechanism Under condition, storing mechanism stores the detection of the exception, and failsafe mechanism stores in storing mechanism and detects the different of servo mechanism Often during this case, forbid engine start.If starting engine, working truck in the state of not yet eliminating exception Unstable movement may be shown, and by forbidding engine start, it is able to suppress the unstable movement of working truck.
Invention effect
In accordance with the invention it is possible to the motion stability of working truck when making servo mechanism exception.
Detailed description of the invention
Fig. 1 is the right view for indicating the front of combine harvester.
Fig. 2 is the figure for indicating the structure of a part of drive transmission systems of combine harvester.
Fig. 3 is the cross-sectional view for indicating the rest part of drive transmission systems, is indicated from the hydraulic of left side HST and right side HST Drive transmission systems until motor to mobile devices.
Fig. 4 is the block diagram for indicating the major part of the electrical structure of combine harvester of an embodiment of the present invention.
Fig. 5 is the flow chart for indicating the process of fail-safe control.
Fig. 6 is the flow chart for indicating the process of fail-safe control of other embodiments.
Fig. 7 is the flow chart for indicating the process of fail-safe control of another other embodiments.
Description of symbols
1: combine harvester (working truck)
12: mobile devices
21: main shift lever (operating member)
31: engine
32: drive transmission systems (power transmission)
41: hydraulic pump (pump)
42: hydraulic motor (motor)
58: servo piston
61: advance pressure-control valve (advance control valve)
63: retreating pressure-control valve (retreating control valve)
66: servo mechanism
76: low speed switching valve (control valve)
77: switching at high speed valve (control valve)
131: center clutch (clutch)
142:ECU (control device, abnormal detection mechanism, failsafe mechanism, control mechanism, storing mechanism)
153: main shift lever sensor (position detecting mechanism)
159: pump swash plate positions sensor (swash plate angle testing agency)
Specific embodiment
Hereinafter, referring to attached drawing, detailed description of embodiments of the present invention.
< combine harvester >
Fig. 1 is the right view for indicating the front of combine harvester 1 of an embodiment of the present invention.
Combine harvester 1 be carried out while being travelled in field stalks extract and from stalks threshing Operation Van ?.The body 11 of combine harvester 1 is supported on pair of right and left mobile devices 12.Mobile devices 12 are in order to enable combine harvester 1 It is enough travelled in field and uses the crawler belt with the ability for passing through out-of-flatness ground.
It is provided with bridge 13 on body 11, extracts device 14, sheller unit 15 and grain box 16.
Bridge 13 is configured in the top of the front end of mobile devices 12.It is provided on bridge 13 and takes a seat for operator Driver's seat 17, for example, being provided with the operation panel 18 operated by operator in the front of driver's seat 17 and left.In operating surface Have main shift lever 21 and turning-bar 22 etc. on plate 18.
Main shift lever 21 is configured to deflection forward and backward.It is operated, can be cut by the deflection of main shift lever 21 It changes planes the advance and retrogressing of body 11, in addition, the speed of its forward or backward can be changed.
Turning-bar 22 is configured in the lateral direction and front-rear direction deflection.Pass through the left and right directions of turning-bar 22 Deflection operation, allows hand over the straight trip, left-hand bend and right-hand bend of body 11.In addition, passing through the inclined in the front-back direction of turning-bar 22 Tiltedly operation can make to extract the lifting of device 14.
The configuration of device 14 is extracted in the front of mobile devices 12.It extracts device 14 and has point straw 23 in its front end, dividing The rear of straw 23 has cutter 24.Straw 23 and cutter 24 is divided to be supported on and extract device frame 25F.Extracting device frame 25F's Rear end be provided with extend in the lateral direction extract transverse strands 25L.The one end for extracting body frame 25M, which is connected to, extracts transverse strands 25L.Body frame 25M is extracted from transverse strands 25L is extracted to rear side extension, the other end (Shangdi is arranged after front lower, thereafter end) Rotatably it is connected to the frame of body 11.It is operated by the deflection in the front-back direction of turning-bar 22, cylinder can be made Movement (not shown) and make to extract body frame 25M swing, swung by it, thus rising point straw 23 and cutter 24 from ground To eminence lifting position and make point straw 23 and cutter 24 drop to close to be gone up and down between the down position on ground.If Body 11 is set to advance in the state of dividing straw 23 and cutter 24 to be located at down position, then separately plant is stood on using straw 23 is divided on one side The stem root of stalks in field, extracts stalks using cutter 24 on one side.
Sheller unit 15 and grain box 16 mobile devices 12 top and rear position for extracting device 14 or so side by side Ground configuration.The stalks extracted are extracted device 14 and are transported to sheller unit 15.Sheller unit 15 utilizes threshing feeding chain by stalks Stem root side transport towards the rear, and the spike side of stalks is supplied to threshing chamber and threshing is carried out to it.Also, from sheller unit 15 transport grain to grain box 16, and grain is stored in grain box 16.Grain discharge auger 26, storage are provided in grain box 16 The grain for being hidden in grain box 16 can be discharged auger 26 by grain and be discharged to outside body.
< stepless speed change device >
Fig. 2 is the figure for indicating the structure of a part of drive transmission systems 32 of combine harvester 1.In Fig. 2, from starting Power-transmission system until machine 31 to drive transmission systems 32 is expressed as outline figure, the left side with drive transmission systems 32 HST33 and the related structure of right side HST34 are expressed as hydraulic circuit diagram.
The driving of mobile devices 12 is transmitted to equipped with engine 31 and by the power of engine 31 on combine harvester 1 Transmission system 32.
Drive transmission systems 32 have left side HST (Hydro Static Transmission: hydrostatic speed changer) 33 And right side HST34.
Left side HST33 have hydraulic pump 41 and hydraulic motor 42 are connected using the first oil circuit 43 and the second oil circuit 44 so that The closed circuit configuration that working oil recycles between hydraulic pump 41 and hydraulic motor 42.First oil circuit 43 is connected to the first of hydraulic pump 41 The first port 46 of port 45 and hydraulic motor 42.Second oil circuit 44 is connected to the second port 47 and hydraulic motor of hydraulic pump 41 42 second port 48.
In addition, left side HST33 is incidentally provided with supply pump 51.Supply pump 51 is the hydraulic pump of fixed capacity type, passes through pump Working oil is discharged to supply oil circuit 53 in the rotation of rotary shaft 52.Supply oil circuit 53 is connected to the first oil via first check-valve 54 Road 43, and the second oil circuit 44 is connected to via second check-valve 55.In addition, supply oil circuit 53 is connected to oil via unloading valve 56 Case 57.
By the function of unloading valve 56, supplies the hydraulic of oil circuit 53 and maintain defined supply pressure.If the first oil circuit 43 The hydraulic hydraulic i.e. supply than supply oil circuit 53 is forced down, then first check-valve 54 is opened, from supply oil circuit 53 via the first non-return Valve 54 supplies working oil to the first oil circuit 43.In addition, second check-valve 55 is beaten if the hydraulic of the second oil circuit 44 is forced down than supply It opens, supplies working oil to the second oil circuit 44 from supply oil circuit 53 via second check-valve 55.First oil circuit 43 and the second oil as a result, The hydraulic of road 44 is maintained at supply pressure or more.
Left side HST33 is configured to hydraulic pump 41, hydraulic motor 42, the first oil circuit 43, the second oil circuit 44, first check-valve 54, second check-valve 55 and unloading valve 56 etc. are accommodated in the one-piece type HST in single shell.
Hydraulic pump 41 is the inclined disc type piston pump of variable capacity type, has cylinder body and radially configures intracorporal in cylinder Multiple pistons and the pump swash plate etc. slided for piston.Hydraulic pump 41 and supply pump 51 have pump rotary shaft 52 jointly, and cylinder body is set It is set to and is rotated integrally with pump rotary shaft 52.
In order to change the tilt angle for pumping swash plate of hydraulic pump 41, the servo piston 58 of electronic control type is set.Servo is living Plug 58 have first pressure room 62 and second pressure room 64, first pressure room 62 supplied from advance pressure-control valve 61 it is hydraulic, Second pressure room 64 is supplied hydraulic from retrogressing pressure-control valve 63.In addition, servo piston 58, which has, utilizes first pressure room 62 Differential pressure between second pressure room 64 and the bar 65 to move along a straight line change inclining for pump swash plate by the linear motion of the bar 65 Rake angle.Using servo piston 58, advance pressure-control valve 61 and pressure-control valve 63 is retreated, is constituted oblique to the pump of hydraulic pump 41 The servo mechanism 66 that the tilt angle of disk is controlled.
The pump swash plate of hydraulic pump 41 is bigger relative to the tilt angle of the axis (rotation axis of cylinder body) of pump rotary shaft 52, The discharge rate of working oil then from hydraulic pump 41 is fewer, when the tilt angle for pumping swash plate is 90 °, stops from 41 row of hydraulic pump Working oil out.In addition, if the tilt angle of pump swash plate is more than 90 ° (if inclination reversions), the working oil from hydraulic pump 41 Discharge direction inverts compared with when tilt angle is less than 90 °.
Hydraulic motor 42 is the inclined disc type piston motor of variable capacity type, has motor axis of rotation 71 and motor axis of rotation 71 cylinder bodies 72 (referring to Fig. 3) rotated integrally, multiple pistons 73 (referring to Fig. 3) and the work radially configured in cylinder body 72 Motor swashplate 74 (referring to Fig. 3) of 73 pressing of plug etc..Hydraulic motor 42 motor swashplate 74 relative to motor axis of rotation 71 In the case that the tilt angle of axis (rotation axis of cylinder body) is certain, the amount of the working oil of hydraulic motor 42 is supplied to i.e. from liquid The amount for the working oil that press pump 41 is discharged is more, then the revolving speed of motor axis of rotation 71 more increases.
In addition, be supplied to the amount of working oil of hydraulic motor 42 it is certain in the case where, the tilt angle of motor swashplate 74 Bigger, then the revolving speed of motor axis of rotation 71 more reduces.In order to change hydraulic motor 42 motor swashplate 74 tilt angle, setting Secondary speed change piston 75.Low speed switching valve 76 is connected on secondary speed change piston 75 and switches at high speed valve 77.It is cut by opening low speed Change valve 76, closing high-speed switching valve 77 and supplied from low speed switching valve 76 to secondary speed change piston 75 it is hydraulic, to keep secondary speed change living The bar 78 of plug 75 is located at low-speed position, and the tilt angle of motor swashplate 74 is opposite to be increased.On the other hand, by closing low speed switching Valve 76, opening switch at high speed valve 77 and hydraulic from switching at high speed valve 77 to secondary speed change piston 75 and supplying, to make secondary speed change piston 75 bar 78 is located at high speed position, and the tilt angle of motor swashplate 74 is opposite to become smaller.Therefore, pass through low speed switching valve 76 and high speed The switching of switching valve 77 opened/closed, the revolving speed that the position of motor swashplate 74 can be switched to motor axis of rotation 71 are opposite This two-stage of the revolving speed of the high speed side position and motor axis of rotation 71 that become larger is opposite to become smaller low speed side position.
Right side HST34 is structure identical with left side HST33, so for the HST34 of right side, to left side HST33 The comparable part of each section mark appended drawing reference identical with each section of left side HST33, and the description thereof will be omitted.
The power of each pump rotary shaft 52 input engine 31 of HST33 to the left and right side HST34.Specifically, sending out Belt wheel 82 is provided in a manner of being unable to relative rotation on the output shaft 81 of motivation 31.Drive transmission systems 32 have and engine The input shaft 83 that 31 output shaft 81 extends parallel to.Belt wheel is provided in a manner of being unable to relative rotation on input shaft 83 84.Cricoid band 85 has been wrapping between belt wheel 82,84.In addition, being arranged in a manner of being unable to relative rotation on input shaft 83 There is input gear 86.Input gear 86 is engaged with intermediate gear 87, and intermediate gear 87 is arranged in a manner of being unable to relative rotation It is engaged in the pump gear 88 of the pump rotary shaft 52 of right side HST34.Pump gear 88 and a left side is set in a manner of being unable to relative rotation The pump gear 89 of the pump rotary shaft 52 of side HST33 engages.
The power of engine 31 is transmitted to belt wheel 84 via belt wheel 82 and band 85 from output shaft 81 as a result, makes input shaft 83 It is integrally rotated with belt wheel 84.Also, the power (rotation) of input shaft 83 is transmitted to from input gear 86 via intermediate gear 87 The pump gear 88 of right side HST34 rotates the pump rotary shaft 52 of right side HST34 and the pump gear 88 integrally to prescribed direction. In addition, the power of input shaft 83 is transmitted to the pump gear 88 of right side HST34 from input gear 86 via intermediate gear 87, then from pump Gear 88 is transmitted to pump gear 89, makes the pump rotary shaft 52 of left side HST33 with the pump gear 89 integrally to the anti-of prescribed direction Direction rotates.Therefore, when the tilt angle of the pump swash plate of each hydraulic pump 41 of left side HST33 and right side HST34 is identical, left side The motor axis of rotation 71 of the hydraulic motor 42 of the motor axis of rotation 71 and right side HST34 of the hydraulic motor 42 of HST33 phase to each other Anti- direction rotates.
Fig. 3 is the cross-sectional view for indicating a part of drive transmission systems 32, is indicated from left side HST33's and right side HST34 Structure until hydraulic motor 42 to mobile devices 12.
Each hydraulic motor 42 of left side HST33 and right side HST34 is with motor axis of rotation 71 (with the side with common axis Formula) arrangement is on the same axis and its axis is arranged bilaterally symmetrically each other with the parallel mode of axle 91L, 91R controlled.
Note that in the following description, the motor axis of rotation 71 of left side HST33 is known as " motor axis of rotation 71L ", by right side The motor axis of rotation 71 of HST34 is known as " motor axis of rotation 71R ".
End on the outside of the left and right directions of motor axis of rotation 71L, 71R is respectively via bearing 102L, 102R can rotate Mode be supported in the unit housings 101 to form the shell of drive transmission systems 32.In the left and right of motor axis of rotation 71L, 71R End on the inside of direction is supported with motor output gear 103L, 103R in a manner of being unable to relative rotation respectively.
Between motor axis of rotation 71L, 71R and axle 91L, 91R, to be separated from each other interval and be put down with axle 91L, 91R Capable mode is provided with the first jackshaft 104, the second jackshaft 105 and third jackshaft 106.First jackshaft 104 is with cannot The mode of rotation is supported on unit housings 101.The left part and right part of second jackshaft 105 respectively via bearing 107L, 107R is supported on unit housings 101 in a manner of it can rotate.The left part and right part of third jackshaft 106 are respectively via axis It holds 108L, 108R and is supported on unit housings 101 in a manner of it can rotate.
Motor output gear 103L, 103R respectively with the first of the first jackshaft 104 is held in a manner of it can rotate Intermediate gear 111L, 111R engagement.
In the left part of the second jackshaft 105, the second intermediate gear 112L is supported in a manner of being unable to relative rotation And third intermediate gear 113L.On the other hand, in the right part of the second jackshaft 105 via needle bearing with being capable of opposite rotation The mode turned is supported with third intermediate gear 113R.In addition, in the outside of third intermediate gear 113R, to surround third center tooth The mode of wheel 113R is provided with the second circular intermediate gear 112R.The inner peripheral portion of second intermediate gear 112R is fixed on Three intermediate gear 113R.The second intermediate gear 112R is rotated as a result, with forming integrated mode with third intermediate gear 113R.The Two intermediate gear 112L, 112R are engaged with first intermediate gear 111L, 111R respectively.Third intermediate gear 113L, 113R difference It is engaged with the 4th intermediate gear 114L, 114R.
The 5th intermediate gear 115L, 115R is supported in a manner of being unable to relative rotation on third jackshaft 106.4th Intermediate gear 114L, 114R are annular in shape, the 4th intermediate gear 114L, 114R respectively with surround the 5th intermediate gear 115L, The mode in the outside of 115R is arranged.The inner peripheral portion of 4th intermediate gear 114L, 114R is individually fixed in the 5th intermediate gear 115L,115R.The 4th intermediate gear 114L, 114R is respectively to form integrated side with the 5th intermediate gear 115L, 115R as a result, Formula rotation.5th intermediate gear 115L, 115R is engaged with the 6th intermediate gear 116L, 116R.
The through hole 117 extended on central axis is formed on the 6th intermediate gear 116L.The right part of axle 91L It is inserted into through hole 117 from left side, right part is in conjunction with 117 spline of through hole.In the left part of the 6th intermediate gear 116R, shape At the cylindrical portion 118 for the outer diameter for having the internal diameter with the through hole 117 than the 6th intermediate gear 116L small.Cylindrical portion 118 is from the right side Through hole 117 is inserted into side, via needle bearing can be held in the 6th intermediate gear 116L in a manner of relative rotation.In addition, The circular recess portion 119 being recessed to the left is formed in the right part of the 6th intermediate gear 116R.The left part of axle 91R is inserted into Recess portion 119, left part is in conjunction with 119 spline of recess portion.Also, in the left part of the 6th intermediate gear 116L and the 6th center tooth The right part of wheel 116R is nested with bearing 121L, 121R respectively, and the outer ring of bearing 121L, 121R are fixedly held in unit housings 101, so that the 6th intermediate gear 116L, 116R is held in unit housings 101 in a manner of it can rotate.In addition, axle 91L Left part and the right part of axle 91R are held in unit housings in a manner of it can rotate via bearing 122L, 122R respectively 101, so that axle 91L, 91R are held in unit housings 101 in a manner of it can rotate.
The left part of axle 91L and the right part of axle 91R be not respectively with driving wheel 123L, 123R of mobile devices 12 with The mode of energy relative rotation combines.
In addition, drive transmission systems 32 have center clutch 131.Center clutch 131 is in order to by the second jackshaft 105 Link with third intermediate gear 113R, separate and engage, separate.That is, passing through the engaging of center clutch 131, among second Axis 105 and third intermediate gear 113R link, and rotate integrally the second jackshaft 105 with third intermediate gear 113R.In The separation of centrifugal clutch 131 separates the second jackshaft 105 with third intermediate gear 113, enables third intermediate gear 113 It is rotated relative to the second jackshaft 105.Center clutch 131 passes through hydraulic engaging, separation.
Moreover, drive transmission systems 32 have parking brake 132.Parking brake 132 is in order to the second jackshaft 105 It braked, release braking and engage, separate.That is, passing through the engaging of parking brake 132, it is by the braking of the second jackshaft 105 It cannot be rotated relative to unit housings 101.By the separation of parking brake 132, the braking of the second jackshaft 105 is released, is made Second jackshaft 105 can be rotated relative to unit housings 101.Parking brake 132 is manual by carrying out to parking vehicle brake lever It operates and engages, separates.
< electrical structure >
Fig. 4 is the block diagram for indicating the major part of electrical structure of combine harvester 1.
Equipped with for the whole single main ECU (Electronic being uniformly controlled in combine harvester 1 Control Unit: electronic control unit) 141 and for individual the multiple ECU142 specifically controlled.It has been represented in Fig. 4 out more One in a ECU142.ECU142 shown in Fig. 4 can be segmented according to function and further, thus by multiple ECU142 structures At.ECU141,142 are all the structures comprising miniature control unit (MCU:Micro Controller Unit).
Main ECU141 is connect with each ECU142 specifically controlled for individual in a manner of it can communicate.Main ECU141 connects Receive the information of the detection acquisitions such as signal of each ECU142 from various sensors, and by instruction needed for these each ECU142 controls and Information is sent to each ECU142.In addition, being configured at the instrument board 151 of the operation panel 18 (referring to Fig.1) of bridge 13 as control Object processed and connect with main ECU141, main ECU141 is to the various metrical instrument classes such as the operating range meter for being set to instrument board 151 It is controlled with display 152.Display 152 is for example made of liquid crystal display.
It is connected with main shift lever sensor 153 on ECU142 (hereinafter simply referred to as " ECU142 ") shown in Fig. 4, turns to Bar sensor 154, left side vehicle speed sensor 155 and right side vehicle speed sensor 156, the output of main shift lever sensor 153 and main transformer The corresponding detection signal of the operating position of fast bar 21, the output of turning-bar sensor 154 are corresponding with the operating position of turning-bar 22 Signal is detected, left side vehicle speed sensor 155 exports the pulse signal synchronous with the rotation of the axle 91L in left side as detection letter Number, right side vehicle speed sensor 156 exports the pulse signal synchronous with the rotation of the axle 91R on right side as detection signal, is somebody's turn to do ECU142 is entered these main shift lever sensors 153, turning-bar sensor 154, left side vehicle speed sensor 155 and right side speed The detection signal of sensor 156.
In addition, being connected with advance valve current sensor 157 on ECU142, retreating valve current sensor 158 and pump swash plate Position sensor 159, advance valve current sensor 157 export and are supplied to what left side HST33 and right side HST34 was separately included The corresponding detection signal of the current value of advance pressure-control valve 61 retreats the output of valve current sensor 158 and is supplied to left side The corresponding detection signal of current value for the retrogressing pressure-control valve 63 that HST33 and right side HST34 is separately included, pumps swash plate positions Sensor 159 exports right with the position (angle) of the pump swash plate of left side HST33 and right side the HST34 hydraulic pump 41 separately included The detection signal answered, the ECU142 are entered these advance valve current sensors 157, retreat valve current sensor 158 and pump oblique The detection signal of disk position sensor 159.
In addition, in combine harvester 1, the mode (Servo Control mode) of the Servo Control as body 11 is set with Slow cornering mode, christiania mode and pivot turn mode.Also, it is provided with and is used on the operation panel of bridge 13 18 Switch the cornering mode switch 161 of Servo Control mode.Cornering mode switch 161 is dial switch, in its movable area In set slow turning position corresponding with Servo Control mode, christiania position and pivot turn position.Cornering mode is opened Closing 161 has the knob for being pinched and being rotated operation by the finger of operator, is located at slow turning position, christiania position according to knob Set and which position in pivot turn position and export different signals.
ECU142 is based on from main shift lever sensor 153, turning-bar sensor 154, left side vehicle speed sensor 155, right side Vehicle speed sensor 156, advance valve current sensor 157, retrogressing valve current sensor 158 and cornering mode switch 161 etc. are various The information of the detection signal acquisition of sensor and the information inputted from main ECU141 and other ECU142, to engine 31, a left side Advance pressure-control valve 61 that side HST33 and right side HST34 are separately included retreats pressure-control valve 63, low speed switching valve 76 And switch at high speed the movement of valve 77 and the movement of center clutch 131 is controlled, thus to the traveling and turning of body 11 It is controlled.
< traveling control >
The traveling of body 11 is controlled using ECU142.In traveling control, from the detection of main shift lever sensor 153 The position of signal acquisition main shift lever 21.
The position of main shift lever 21 be stop position when, for left side HST33 and right side HST34 respectively for, pass through The electric current for being supplied to advance pressure-control valve 61 and retrogressing pressure-control valve 63 is controlled, to adjust advance pressure-control valve 61 and retreat pressure-control valve 63 each aperture, so that the tilt angle of the pump swash plate of hydraulic pump 41 is set as 90 °.As a result, by In working oil is not discharged from hydraulic pump 41, therefore hydraulic motor 42 does not rotate, and does not transmit hydraulic motor 42 to axle 91L, 91R Power.Therefore, mobile devices 12 do not work, and body 11 stops.
If main shift lever 21 is from stop position, lateral deviation is oblique forward, for left side HST33 and right side HST34 respectively for, By controlling the electric current for being supplied to advance pressure-control valve 61 and retrogressing pressure-control valve 63, make to control from advance pressure Valve 61 is supplied to the hydraulic than being supplied to second pressure room from retrogressing pressure-control valve 63 of the first pressure room 62 of servo piston 58 64 it is hydraulic big.Differential pressure is generated between first pressure room 62 and second pressure room 64 as a result, by the differential pressure, makes hydraulic pump The tilt angle of 41 pump swash plate is less than 90 °.As a result, working oil is discharged from hydraulic pump 41, hydraulic motor 42 bears the work Make oil and rotates.Also, the rotation (power) of hydraulic motor 42 is transmitted to axle 91L, 91R and makes the driving wheel of mobile devices 12 The direction of integrally marching forward with axle 91L, 91R respectively 123L, 123R rotates, so that body 11 be made to advance.
If main shift lever 21 is from stop position, lateral deviation is oblique backward, for left side HST33 and right side HST34 respectively for, By controlling the electric current for being supplied to advance pressure-control valve 61 and retrogressing pressure-control valve 63, make from retrogressing pressure control Valve 63 is supplied to the hydraulic first pressure room than being supplied to servo piston 58 from advance pressure-control valve 61 of second pressure room 64 62 it is hydraulic big.Differential pressure is generated between first pressure room 62 and second pressure room 64 as a result, by the differential pressure, makes hydraulic pump The tilt angle of 41 pump swash plate is greater than 90 °.As a result, work is discharged from hydraulic pump 41 to the direction opposite with when advancing Oil, hydraulic motor 42 bear the working oil and rotate to the direction opposite with when advancing.Also, the rotation of hydraulic motor 42 is (dynamic Power) be transmitted to axle 91L, 91R and make driving wheel 123L, 123R of mobile devices 12 respectively with axle 91L, 91R integrally to Direction of retreat rotation, so that body 11 be made to retreat.
When body 11 advances and when retreating, center clutch 131 engages.By the engaging of center clutch 131, second Jackshaft 105 and third intermediate gear 113R links and rotates integrally the second jackshaft 105 with third intermediate gear 113R, because This 4th intermediate gear 114L, 114R are rotated with identical speed.Therefore, the 5th intermediate gear 115L, 115R is with identical speed Degree rotation, the 6th intermediate gear 116L, 116R are rotated with identical speed, and axle 91L, 91R are rotated with identical speed.It is tied Fruit is that driving wheel 123L, 123R of the left and right of mobile devices 12 are rotated with identical speed, so body 11 is with excellent straight trip Stability and move forward or back.
In addition, advance when or retreat when, if by be supplied to advance pressure-control valve 61 and retreat pressure-control valve 63 electric current is controlled and changes the tilt angle of the pump swash plate of hydraulic pump 41, then the row of the working oil from hydraulic pump 41 Output variation, the rotation speed change of hydraulic motor 42.Therefore, by adjusting liquid from the deflection of stop position according to main shift lever 21 The tilt angle of the pump swash plate of press pump 41, can make the stepless variation of speed of advance and the retrogressing of body 11.
Moreover, in drive transmission systems 32, as previously mentioned, by switching low speed switching valve 76 and switching at high speed valve 77 Open/close, the revolving speed of hydraulic motor 42 can be switched to relatively large top gear and relatively small bottom gear this two Gear.Therefore, by the switching of the top gear and bottom gear, the velocity variations of advance and the retrogressing of body 11 can also be made.Note that Secondary gear lever (not shown) can be set on the operation panel 18 of bridge 13, by operating the pair gear lever, instruction high speed The switching of gear and bottom gear.
< Servo Control >
Body 11 straight trip (forward/backward) when driving, if turning-bar 22 by from center in-line position to the left or The turning position deflection on right side operates, then utilizes ECU142, starts the Servo Control for making body 11 turn.
In Servo Control, from the output signal of cornering mode switch 161, judge that the position of cornering mode switch 161 is Which of slow turning position, christiania position or pivot turn position.
In the case where the position of cornering mode switch 161 is slow turning position, Servo Control mode is set as slow and is turned Curved mode.In the usual Servo Control under slow cornering mode, for example, the target value by target turning than i.e. turning ratio is set as 0.3.Also, by the respective advance pressure-control valve 61 of HST33 and right side HST34 on the left of being supplied to and retrogressing pressure control The electric current (tilt angle of the pump swash plate of hydraulic pump 41) of valve 63 be controlled such that actual turning than (practical turning ratio) with Target turning is than consistent, to make the rotation speed of the mobile devices 12 (side in driving wheel 123L, 123R) of turning medial Decline.
Turning ratio is the speed ratio of the mobile devices 12 of turning medial and the mobile devices 12 in turning outside, specifically, In the case where being left side on the outside of turning, turning is than being the turning medial i.e. vehicle of the rotation speed of the axle 91R on right side and left side The ratio between the rotation speed of axis 91L, in the case where being right side on the outside of turning, turning than be turning medial i.e. on the left of axle 91L Rotation speed and right side axle 91R the ratio between rotation speed.The rotation speed of the axle 91L in left side can be from left side speed The detection signal of sensor 155 calculates, and the rotation speed of the axle 91R on right side can be from the detection of right side vehicle speed sensor 156 Signal calculates.In the case where being left side on the outside of turning, by finding out from the detection signal calculating of right side vehicle speed sensor 156 The ratio between the rotation speed for the axle 91L that the rotation speed of axle 91R is calculated with the detection signal from left side vehicle speed sensor 155, Practical turning ratio can be calculated.In the case where being right side on the outside of turning, by finding out the inspection from left side vehicle speed sensor 155 Survey the rotation speed and the rotation of the axle 91R of the detection signal calculating from right side vehicle speed sensor 156 of the axle 91L that signal calculates The ratio between rotary speed can calculate practical turning ratio.
In the case where the position of cornering mode switch 161 is christiania position, Servo Control mode is set as making Dynamic cornering mode.In usual Servo Control under christiania mode, for example, target turning ratio is set as 0.Also, it is logical It crosses to the electric current for being supplied to the respective advance pressure-control valve 61 of left side HST33 and right side HST34 and retrogressing pressure-control valve 63 It is controlled such that practical turning is more consistent than with target turning ratio, to make under the rotation speed of mobile devices 12 of turning medial Drop.When target turning is than being 0, the target velocity of the mobile devices 12 of turning medial is 0.Therefore, in cornering mode switch 161 Position be christiania position in the case where usual Servo Control in, to be supplied to left side HST33 and right side HST34 respectively Advance pressure-control valve 61 and retreat pressure-control valve 63 electric current controlled so that the mobile devices 12 of turning medial stop Only.
In the case where the position of cornering mode switch 161 is pivot turn position, Servo Control mode is set as former Ground cornering mode.In usual Servo Control under in situ cornering mode, make the direction of rotation of the mobile devices 12 of turning medial Reversion and the mesh that turning ratio is found out to the negative symbol (-) of the value of the rotation speed of the mobile devices of the turning medial 12 mark The target value (target turning ratio) of scale value (target turning ratio), the turning ratio is set to -0.3.Also, on the left of being supplied to The respective advance pressure-control valve 61 of HST33 and right side HST34 and the electric current for retreating pressure-control valve 63 are controlled, so that real Border turning is more consistent than with target turning ratio.
< fail-safe acts >
Fig. 5 is the flow chart for indicating the process of fail-safe control.
In order to make combine harvester 1 to peace in the case where the exceptions such as the failure for occurring normally carry out travelling control Full side movement (fail-safe movement) executes fail-safe using ECU142 and controls.
In fail-safe control, believe from advance valve current sensor 157 and the detection for retreating valve current sensor 158 Number, judge whether occurring to affect traveling control in servo mechanism 66 corresponding with left side HST33 and right side HST34 Exception (step S11).
Note that servo piston 58 corresponding with left side HST33 is known as " servo mechanism 66 in left side " below, it will be with right side The corresponding servo piston 58 of HST34 is known as " servo mechanism 66 on right side ".
As the exception of servo mechanism 66, for example, enumerating advance valve current sensor 157 and retreating valve current sensor In the case where the failure of 158 signal wire open circuit, the advance valve electric current of the servo mechanism 66 in the open circuit fault comprising left side The open circuit fault of sensor 157, the open circuit fault of the retrogressing valve current sensor 158 of the servo mechanism 66 in left side, right side are watched Take the retrogressing valve current sensor of the open circuit fault of the advance valve current sensor 157 of mechanism 66 and the servo mechanism 66 on right side 158 open circuit fault.
At least one party in the servo mechanism 66 of left or right side there is no in the case where exception (step S11's "No"), it will not the control of further progress fail-safe.
In the case that exception has occurred at least one party in the servo mechanism 66 of left or right side (step S11's "Yes"), according to the generation of the exception, stop the driving (step S12) of left side HST33 and right side HST34.By stopping left side The driving of HST33 and right side HST34 stop body 11.
Later, judge whether to have input the instruction (step S13) for entering emergency mode from normal mode.Normal mode is to hold The mode of the common traveling control of row, emergency mode is the mode that body 11 can be made temporarily to travel when being abnormal.Pass through Operation setting in the instrument board 151 of bridge 13 operation portion (for example, overlapping in the touch panel of display 152) or set It is placed in the switch of operation panel 18, the instruction of emergency mode is entered to ECU142 input.Enter the instruction of emergency mode in input Before, the stopping driving of left side HST33 and right side HST34 is maintained, body 11 cannot travel.
If having input the instruction ("Yes" of step S13) into emergency mode, judge it is occurred it is abnormal whether be only Keep body 11 abnormal (step S14) from the advance for traveling of normally advancing.For example, advance valve current sensor 157 only occurs Open circuit fault in the case where, be judged as only occur to advance it is abnormal.
In the case where advance exception only occurs ("Yes" of step S14), then judge whether to have input advancement commands (step S15).Specifically, judging whether main shift lever 21 has occurred partially to front side from the detection signal of main shift lever sensor 153 Tiltedly.
In the case where deflection has occurred to front side in main shift lever 21 ("Yes" of step S15), center clutch 131 engages (step S16).
Also, control the servo mechanism for the left or right side that can be operating normally in the servo mechanism 66 of left or right side 66, by the hydraulic motor 42 of left side HST33 or right side HST34 corresponding with the servo mechanism 66 march forward direction driving (step S17).For example, in the case where open circuit fault occurs for the advance valve current sensor 157 of the only servo mechanism 66 in left side, it will be right The hydraulic motor 42 of side HST34 march forward direction driving.Because center clutch 131 engages, using from left side HST33 or The power that the hydraulic motor 42 of right side HST34 exports, driving wheel 123L, 123R of the left and right of mobile devices 12 are with identical speed Direction of marching forward rotates.As a result, body 11 advances.
In the case where no input advancement commands ("No" of step S15), judge whether to have input retrogressing instruction (step S18).Specifically, judging whether main shift lever 21 has occurred partially to rear side from the detection signal of main shift lever sensor 153 Tiltedly.
In the case that when occurring to advance abnormal, deflection is had occurred to rear side in main shift lever 21 ("Yes" of step S18), by Normal retreat is able to carry out in body 11 to travel, so by controlling identical control with the traveling under normal mode, it will be left The hydraulic motor 42 of side HST33 and right side HST34 drives (step S19) in the reverse direction.Body 11 retreats as a result,.
It is no input advancement commands and retreat instruction in any instruction in the case where, i.e., main shift lever 21 not from By ("No" of step S18) in the case where carry out deflection operation, the main switch that judgement is set to operation panel 18 is stop position Whether the no position for being operated into " cutting " that stops engine 31, i.e., carried out engine stopping operation (step S20).
In the case where having carried out engine stopping operation ("Yes" of step S20), engine 31 stops, fail-safe control System terminates.In the case where no progress engine stopping operation ("No" of step S20), judge whether before occurring again Into exception (step S14).
There is no advance exception ("No" of step S14), judge whether exception occurred only makes The retrogressing that body 11 is unable to normal reverse traveling is abnormal (step S21).For example, being only reversed valve current sensor 158 In the case where open circuit fault, it is judged as and is only reversed exception.
In the case where being only reversed exception ("Yes" of step S21), judge whether to have input retrogressing instruction (step S22).Specifically, judging whether main shift lever 21 has occurred partially to rear side from the detection signal of main shift lever sensor 153 Tiltedly.
In the case where deflection has occurred to rear side in main shift lever 21 ("Yes" of step S22), center clutch 131 engages (step S23).
Also, control the servo mechanism for the left or right side that can be operating normally in the servo mechanism 66 of left or right side 66, the hydraulic motor 42 of left side HST33 or right side HST34 corresponding with the servo mechanism 66 is driven into (step in the reverse direction S24).For example, in the case where open circuit fault occurs for the retrogressing valve current sensor 158 of the only servo mechanism 66 on right side, it will be left The hydraulic motor 42 of side HST33 march forward direction driving.Because center clutch 131 engages, using from left side HST33 or The power that the hydraulic motor 42 of right side HST34 exports, driving wheel 123L, 123R of the left and right of mobile devices 12 are with identical speed Direction of marching forward rotates.As a result, body 11 advances.
In the case where no input is retreated and instructed ("No" of step S22), judge whether to have input advancement commands (step S25).Specifically, judging whether main shift lever 21 has occurred partially to front side from the detection signal of main shift lever sensor 153 Tiltedly.
In the case that deflection has occurred to front side in main shift lever 21 when moving back exception after occurring ("Yes" of step S25), by It is able to carry out normal traveling of advancing in body 11, so by controlling identical control with the traveling under normal mode, it will be left The hydraulic motor 42 of side HST33 and right side HST34 march forward direction driving (step S26).Body 11 advances as a result,.
It is no input advancement commands and retreat instruction in any instruction in the case where, i.e., main shift lever 21 not from Stop position has judged whether to engine stopping operation (step by ("No" of step S25) in the case where carry out deflection operation Rapid S20).
In the case where having carried out engine stopping operation ("Yes" of step S20), engine 31 stops, fail-safe control System terminates.In the case where no progress engine stopping operation ("No" of step S20), judge whether before occurring again Into exception (step S14).
Note that in the case where occurring to advance abnormal and retrogressing exception the two ("No" of step S21), fail-safe control Terminate.
< function and effect >
According to this structure, drive transmission systems 32 are installed between engine 31 and pair of right and left mobile devices 12.? In drive transmission systems 32, left side HST33 and right side HST34 is respectively correspondingly provided with pair of right and left mobile devices 12.It is left Side HST33 and right side HST34 is comprising by the power-actuated hydraulic pump 41 of engine 31 and the pressure being discharged by hydraulic pump 41 The structure of the hydraulic motor 42 of power oil driving.In addition, distinguishing in drive transmission systems 32 with left side HST33 and right side HST34 It is correspondingly provided with the servo mechanism 66 of the tilt angle of the pump swash plate of control hydraulic pump 41.Pass through control left side HST33 and the right side The tilt angle of the pump swash plate of side HST34 come control from hydraulic pump 41 oil discharge direction and flow, control hydraulic motor 42 direction of rotation and revolving speed.
If servo mechanism 66 has occurred the exceptions such as failure and detects the exception, execute for making combine harvester 1 Motion stability fail-safe movement.Fail-safe movement in, according to detect in pair of right and left mobile devices 12 The exception of the corresponding servo mechanism 66 of one side is acted as fail-safe, firstly, stopping dividing from pair of right and left mobile devices 12 Not corresponding left side HST33 and right side HST34 both sides output.Thereby, it is possible to stop the body 11 of combine harvester 1, pass through Stop body 11, the motion stability of combine harvester 1 can be made.
Mobile devices 12 have axle 91L, 91R that power is transmitted from drive transmission systems 32.Also, driving transmitting system System 32 has the center clutch 131 engaged to keep the revolving speed of axle 91L, 91R consistent.In fail-safe movement, After the output of left side HST33 and right side HST34 stop, then, engages center clutch 131, control the servo of regular event Mechanism 66 is to continue to export from left side HST33 corresponding with the servo mechanism 66 of the regular event or right side HST34.As a result, The hydraulic motor 42 that left side HST33 or right side HST34 corresponding with the servo mechanism 66 being operating normally can be driven, by coming from The power of the hydraulic motor 42 can be such that body 11 travels while making the motion stability of combine harvester 1.
< other embodiments >
Fig. 6 is the flow chart for indicating the process of fail-safe control of other embodiments.
Traveling control in, according to from main shift lever sensor 153 detection signal acquisition main shift lever 21 position, Set control target value, that is, target swash plate angle of the tilt angle of the pump swash plate of hydraulic pump 41.In addition, being passed from pump swash plate positions The detection signal of sensor 159 obtains the actual tilt angle (practical swash plate angle) of the pump swash plate of hydraulic pump 41.Also, with Make mode of the deviation between target swash plate angle and practical swash plate angle close to 0, to the advance pressure for being contained in servo mechanism 66 Force control valve 61 and retrogressing pressure-control valve 63 are controlled.
In fail-safe control shown in Fig. 6, using ECU142, referring to the target swash plate angle set in traveling control It spends (step S31).In addition, referring to the practical swash plate angle (step S32) obtained in traveling control.
Also, judge whether the deviation between target swash plate angle and practical swash plate angle is tieed up for state more than certain value Certain time (step S33) is held.
In the case that deviation between target swash plate angle and practical swash plate angle is less than certain value, alternatively, in target Deviation between swash plate angle and practical swash plate angle be certain value or more but state more than the certain value it is lasting when Between be less than certain time in the case where ("No" of step S33), referring again to target swash plate angle and practical swash plate angle (step S31,S32).Also, judge whether their deviation maintains certain time (step for state more than certain value again S33)。
Deviation between target swash plate angle and practical swash plate angle is that the state of certain value or more maintains a timing Between in the case where ("Yes" of step S33), be judged to having occurred in servo mechanism 66 advance pressure-control valve 61 and retreat pressure The failure etc. of the signal wire open circuit of the failure or advance valve current sensor 157 and retrogressing valve current sensor 158 of control valve 63 It is abnormal.In this case, engine 31 is made to stop (step S34).
< function and effect >
In this way, stopping engine 31 in the case where the exceptions such as failure have occurred in servo mechanism 66 and detect the exception Only.By stopping engine 31, hydraulic pump 41 stops driving, therefore the body 11 of combine harvester 1 can be made to stop.Pass through Stop body 11, the motion stability of combine harvester 1 can be made.
< third embodiment >
Fig. 7 is the flow chart for indicating the process of fail-safe control of third embodiment.
In fail-safe control shown in Fig. 7, using ECU142, referring to the target swash plate angle set in traveling control It spends (step S41).In addition, referring to the practical swash plate angle (step S42) obtained in traveling control.
Also, judge whether the deviation between target swash plate angle and practical swash plate angle is tieed up for state more than certain value Certain time (step S43) is held.
In the case that deviation between target swash plate angle and practical swash plate angle is less than certain value, alternatively, in target Deviation between swash plate angle and practical swash plate angle be certain value or more but state more than the certain value it is lasting when Between be less than certain time in the case where ("No" of step S43), referring again to target swash plate angle and practical swash plate angle (step S41,S42).Also, judge whether their deviation maintains certain time (step for state more than certain value again S43)。
Deviation between target swash plate angle and practical swash plate angle is that the state of certain value or more maintains a timing Between in the case where ("Yes" of step S43), be judged as in servo mechanism 66 and exception have occurred.In this case, open with it is hydraulic The low speed switching valve 76 that motor 42 is arranged in correspondence with, closing high-speed switching valve 77, so that the motor swashplate of hydraulic motor 42 74 In low speed side (step S44).In addition, engine 31 is made to be in idling conditions (step S45).
Later, if main shift lever 21 returns to stop position ("Yes" of step S46), engine 31 is made to stop (step S47)。
In addition, the state of exception (mistake) is had occurred (for example, target swash plate angle and practical swash plate angle in servo mechanism 66 The size etc. of deviation between degree) it is stored in (step S48) in the nonvolatile memory in ECU142.
Then, forbid engine 31 to start (step S49), terminate fail-safe control.
< function and effect >
In this way, in the case where the exceptions such as failure have occurred in servo mechanism 66 and detect the exception, by hydraulic motor 42 motor swashplate 74 is set as low speed side, and engine 31 is made to be in idling conditions.Thereby, it is possible to run at a low speed body 11.Energy Enough travelings for ensuring body 11 while making the motion stability of combine harvester 1, can make combine harvester 1 be moved to safety Position.
Later, if main shift lever 21 returns to stop position (neutral position), stop engine 31.In addition, by wrong Accidentally state is stored in nonvolatile memory, later, forbids engine 31 to start, until eliminating the error condition.As a result, can Enough inhibit the unstable movement of combine harvester 1.
< variation >
Although several embodiments of the invention are described above, the present invention can also be with its other other party Formula is implemented, and can implement various design alterations to aforementioned structure the item documented by claims in the range of.

Claims (10)

1. a kind of control device, which is characterized in that it is used for working truck,
The working truck is equipped with engine；Pair of right and left mobile devices；Power transmission has comprising described Described in the stepless transmission and control of the power-actuated pump of engine and the motor driven by the pressure oil of the pump discharge The servo mechanism of the angle of the pump swash plate of pump, is transmitted to the pair of right and left mobile devices for the power of the motor；
The control device includes:
Abnormal detection mechanism detects the exception of the servo mechanism；
Failsafe mechanism is executed according to the abnormal detection mechanism by abnormal detection for making the working truck The fail-safe of motion stability acts.
2. control device as described in claim 1, which is characterized in that
The stepless transmission and the servo mechanism are respectively correspondingly arranged with the pair of right and left mobile devices,
Described watch corresponding with the side in the pair of right and left mobile devices is detected according to using the abnormal detection mechanism The exception of mechanism is taken, the failsafe mechanism controls the servo corresponding with the pair of right and left mobile devices Structure is made with this to stop exporting from the stepless transmission both sides corresponding with the pair of right and left mobile devices For fail-safe movement.
3. control device as described in claim 1, which is characterized in that
The mobile devices have by the axle from power transmission transmitting power,
The stepless transmission and the servo mechanism are respectively correspondingly arranged with the pair of right and left mobile devices,
The power transmission has the revolving speed one of the axle in order to be respectively provided with the pair of right and left mobile devices The clutch for causing and engaging,
Described watch corresponding with the side in the pair of right and left mobile devices is detected according to using the abnormal detection mechanism The exception of mechanism is taken, the failsafe mechanism engages the clutch, in control and the pair of right and left mobile devices The corresponding servo mechanism of another party is corresponding described to the another party continued from the pair of right and left mobile devices Stepless transmission output, is acted with this as the fail-safe.
4. control device as described in claim 1, which is characterized in that
The servo mechanism has the servo piston interlocked with the pump swash plate, the supply of Xiang Suoshu servo piston for making described watch Take the hydraulic advance control valve and supply to the servo piston for making described watch that piston is located within the scope of defined advance The hydraulic retrogressing control valve that piston is located in defined retrogressing range is taken, is located within the scope of the advance in the servo piston When, the pump swash plate is in be located at the retrogressing in the servo piston from the angle of the pressure oil of the pump discharge direction of advance When in range, the pump swash plate is in the angle that the pressure oil of direction of retreat is discharged from the pump,
The pump exports the power in the direction that the working truck advances by supplying the pressure oil of the direction of advance, passes through It supplies the pressure oil of the direction of retreat and exports the power in the direction that the working truck retreats,
In the case where detecting the exception of the advance control valve using the abnormal detection mechanism, as the fail-safe Movement, the failsafe mechanism allow the control for retreating control valve, are detecting institute using the abnormal detection mechanism It in the case where stating the exception for retreating control valve, is acted as the fail-safe, the failsafe mechanism allows the advance The control of control valve.
5. control device as described in claim 1, which is characterized in that
The working truck also carries operating member, and the operating member is configured to be in one relative to neutral position The progressive position of side and being between the going-back position of the other side relative to the neutral position operates,
The control device also includes:
Position detecting mechanism detects the position of the operating member；
The angle of the pump swash plate detects in swash plate angle testing agency；
Control mechanism controls the servo mechanism, so that the angle of the pump swash plate is examined with using the position detecting mechanism Target angle corresponding to the position for the operating member measured is consistent；
Deviation between the target angle and the angle detected using the swash plate angle testing agency be certain value with On state maintain certain time in the case where, the abnormal detection mechanism detects that the servo mechanism is abnormal.
6. control device as claimed in claim 5, which is characterized in that
It is acted as the fail-safe, the failsafe mechanism makes the engine stop.
7. control device as claimed in claim 5, which is characterized in that
It is acted as the fail-safe, the failsafe mechanism makes the engine idling conditions.
8. control device as claimed in claim 7, which is characterized in that
The failsafe mechanism and is detected using the position detecting mechanism after making the engine idling conditions The position of the operating member is consistent with the neutral position accordingly, makes the engine stop, with this as the mistake Imitate safe action.
9. the control device as described in any one of claim 5,7,8, which is characterized in that
The power transmission is also equipped with the angle of the motor swashplate of the motor with being switched to the motor relative low speeds The first angle of rotation and the relatively high speed control valve of second angle that rotates of ground of the motor,
The failsafe mechanism is controlled and is made the swash plate first angle of the motor to the control valve, with this As fail-safe movement.
10. the control device as described in any one of claim 5~9, which is characterized in that
The control device also includes storing mechanism, in the exception for detecting the servo mechanism using the abnormal detection mechanism In the case where, the storing mechanism stores the detection of the exception,
The failsafe mechanism stores the phase for this case that detect the exception of the servo mechanism in the storing mechanism Between, forbid the engine start.
CN201811532038.8A 2018-01-10 2018-12-14 Control device Active CN110024554B (en)

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JP7335207B2 (en) * 2020-06-30 2023-08-29 株式会社クボタ Control device

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KR20190085471A (en) 2019-07-18

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