JP2000060274A - Vehicle speed control system for farm working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the subject system intended to perform farming work safely and properly so as not to put a heavy operational burden on a relevant operator according to his skill level. SOLUTION: This control system works as follows: the variable engine load factor average ELA over a past given time period for a farm working machine operated by a relevant operator is calculated (S3), and if the operator is skillful, the ELA value is judged to be large, on the contrary, if he is unskilled, the value is judged to be small, and when the engine load factor ELo value during practice of present farming work exceeds a set engine load factor ELS as the ELA plus a specified value α (S6: yes), vehicle speed is decreased automatically (S7).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure of a vehicle speed control device for an agricultural working machine such as a combine harvester.

[0002]

2. Description of the Related Art Harvesting machines such as threshers and combine harvesters equipped with a pre-cutting treatment device at the front of a traveling machine equipped with a threshing section, and agricultural work machines such as agricultural work tractors that pull a tiller as a working section. Transmits the power from one engine such as a gasoline engine or a diesel engine mounted on the traveling body to the traveling drive unit, the reaping pretreatment device and the working unit such as threshing to perform a predetermined work at each place. Make up.

In this case, since the vehicle travels at a low speed with a large traveling load during traveling in the wetland, the cutting speed is slow and the load on the threshing portion and the like is not so large. On the contrary, when mowing rain-wet culms in dry rice fields, even if the traveling load is not so large, the load on the threshing section will increase because the threshing of the rain-wet culms will increase. It does not necessarily work with changes in the load on the working unit.

Therefore, as disclosed in JP-A-2-2573 and JP-A-7-303414, which are prior arts, the power from the engine is transmitted to the traveling portion via hydraulic drive means capable of gear shift control. On the other hand, in many cases, the power transmission between the traveling unit and the working unit is driven separately so that the power from the engine is transmitted to the working unit in parallel with the hydraulic drive unit.

In these cases, the operator operates the main shift lever at a predetermined position to carry out the reaping and threshing work while keeping the vehicle at a predetermined vehicle speed while running, and at the same time, the work of the handling barrel of the threshing section. Since there is a need to keep the efficiency optimal, etc., even if the load on the engine fluctuates so that the rotation speed of the handling cylinder is kept constant regardless of the increase or decrease in the grain culm supply amount. It is proposed to execute so-called isochronous control in which the rotational speed is kept constant such as the rated rotational speed. However, it goes without saying that the control is within a range where the engine load does not exceed a certain level.

On the other hand, Japanese Patent Laid-Open No. 9-275758 discloses that the vehicle speed is controlled in a decelerating direction when the engine load exceeds a certain level in order to prevent the engine from stopping due to an overload. .

[0007]

By the way, when the conditions of the field are changed during the mowing threshing work, for example, when the operator comes to a place with an overlaid grain culm, the operator must perform an operation of lowering the mowing pretreatment device. When either the left or right running crawler sneaks into the ground in the wetland and the running body leans to the left or right, the lower end of the cutting pretreatment device on the side tilted downward collides with the field scene, so raise the cutting pretreatment device. It is necessary to turn the steering wheel and try to drive straight ahead.

An operator skilled in the operation of the combine can increase the traveling speed to the full threshing capacity limit of the combine while performing the operation as described above. That is,
A skilled operator can set the position of the main speed change lever to a high traveling speed and raise the amount of mowing threshing per unit time to the maximum threshing capacity limit of the combine.

However, when an immature operator is performing the mowing and threshing work at a high traveling speed, if the operator takes time to execute the above-mentioned extra operation, the uncut portion is left uncut. was there. That is, when the operator's proficiency level is low, there is a problem in that the harvesting and threshing work cannot be completely performed unless the vehicle speed is reduced, even if the combine engine has a sufficient load.

This problem cannot be solved by simply controlling the vehicle speed in the decelerating direction when the engine load exceeds a certain level as in the conventional case, and even if the magnitude of the load on the engine fluctuates, the rotational speed of the engine. It was not possible to solve the problem by executing the so-called isochronous control in which is maintained at a constant rotation speed such as the rated rotation speed. Such a problem has occurred not only in combine harvesters, but also in agricultural working machines such as tractors that carry out agricultural work by towing working machines such as cultivators.

The present invention has been made in view of the above-described conventional problems, and it is possible to automatically reduce the vehicle speed of an agricultural work machine in accordance with an operator's proficiency even if the engine load has a margin. It is an object of the present invention to provide a vehicle speed control device.

[0012]

In order to achieve the above-mentioned object, the invention as set forth in claim 1 provides the power of an engine mounted on a traveling machine body to separate systems for a working unit such as a threshing unit and a traveling unit. In the combine having the vehicle speed control means capable of executing the vehicle speed control via the mission of the traveling part capable of gear shift control in accordance with the operation amount of the main speed change lever, the combine of the engine in association with the fuel supply means. Engine load monitoring means for monitoring the load, storage means for storing the engine load during the past fixed period during agricultural work, calculation means for calculating the average value of the engine load stored by the storage means, and from the average value When the engine load exceeds a slightly high set engine load, regardless of the operating position of the main shift lever,
A control means for controlling the vehicle speed of the agricultural work machine to be appropriately decelerated is provided.

The invention described in claim 2 is the same as claim 1
In the vehicle speed control device for an agricultural work machine described in (1), even if the operation position of the main speed change lever is changed, the current engine load does not exceed the set engine load, and the operation position of the main speed change lever is changed. The vehicle speed control is executed so as not to exceed the corresponding vehicle speed. In each of the above claims, the engine load may be that value, or a percentage (load factor) in which the maximum load value is 100% when the current engine load is measured or calculated as an average value. Is also good.

[0014]

According to the structure of the invention described in claim 1, the proficiency level of the operator is measured by the average value of the engine load of the agricultural work machine operated by the operator in the past fixed time. That is, if the operator is an expert, the average value of the engine load is large, and if the operator is not mature, the average value is also small. Then, when the value of the engine load during the current agricultural work exceeds a value slightly larger than the calculated and stored average value (the value of the set engine load), the vehicle speed is automatically decelerated so that the operator's proficiency level increases. Accordingly, farm work can be performed safely and reliably without imposing a heavy operational burden on the operator.

According to the second aspect of the present invention, even when the operator mistakenly operates the main shift lever in the direction to increase the vehicle speed, this operation causes the vehicle speed to decelerate when the entire engine load suddenly increases. Direction is controlled, and as a result, the operation in the speed increasing direction of the main transmission lever and the deceleration operation by the vehicle speed control cancel each other out, and the vehicle speed is not accelerated or is not accelerated rapidly even if it is increased. Therefore, there is an effect that farm work can be performed safely and surely.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION Next, an embodiment of the present invention will be described. 1 is a side sectional view of a general-purpose combine, FIG. 2 is a plan view, FIG. 3 is a schematic plan sectional view of a threshing unit, and FIG.
Is a side sectional view of the threshing portion, and FIG. 6 is a skeleton diagram of the power transmission system. A general-purpose combine 1 according to the present invention is mounted on a pair of left and right traveling crawler type traveling units 2 and 2, and a threshing unit 6 as a threshing device, a swing sorting device 7, and a grain tank, which will be described later. 12, a traveling machine body 3 equipped with an engine 8 and the like, and a left and right long cutting pretreatment device 4 provided via a feeder house 5 that is mounted in front of the traveling machine body 3 so as to be able to move up and down.

The traveling unit 2 includes a pair of left and right traveling frames 2
Drive wheels 22 and driven wheels 23 arranged at the front and rear ends of 1, 21
And the crawlers 2a, 2a wound around the outer periphery of the plurality of rolling wheels 24 arranged in the middle of the lower surfaces of the traveling frames 21, 21.
Consists of. In the pre-mowing device 4, a cutting blade device 26 is arranged at the front end edge of a horizontally long bucket-shaped platform 25,
A scraping reel 28 is arranged above the front side of the platform 25 via a pair of left and right lifting links 27, and is configured to scrape the grain culms cut by the cutting blade device 26 into the platform 25. The transverse feed auger 29 horizontally provided in the platform 25 is rotationally driven to collect the cut grain culms at the left and right center positions of the platform 25.

A substantially rectangular tubular feeder house 5 extending rearward from the accumulating portion of the culms in the platform 25.
The rear end is made to communicate with the grain culm input port 30 at the front end of the threshing unit 6, and the rear end of the feeder housing 5 is pivotally attached to the traveling machine body 3 so as to be able to move up and down, so that the front end of the traveling machine body 3 and the feeder house 5 are connected. By connecting with a hydraulic cylinder (not shown), the mowing pretreatment device 4 can be moved up and down. Then, the accumulated grain culms are transported to the beater chamber 32 on the starting end side of the threshing unit 6 by the grain culm transport chain conveyor 31 in the feeder house 5.

A driver's cab in which a steering seat 10, a steering wheel handle 11, a main speed change lever 16, an auxiliary speed change lever, various operation switches, and an operation panel having a display section are arranged in the center of the front end of the traveling machine body 3. 9 is provided. The operator's cab 9 is arranged above the feeder house 5 and has a good visibility so that the inside of the platform 25 and the take-in reel 28 can be seen.

The threshing section 6 in the traveling machine body 3 is shown in FIG.
As shown in FIG. 6, the beater chamber 32, the first handling chamber 33, and the second handling chamber 34 are formed adjacent to each other in the front-rear direction of the traveling machine body 3, and each chamber has a beater 13 for transporting grain culm, The first handling cylinder 14 having a large-diameter rotor and the second handling cylinder 15 having a small-diameter rotor are horizontally arranged so that their respective rotation axes are orthogonal to the traveling direction.
The grain culm transport end side of the handling chamber 33 and the grain culm transport start end side of the second handling chamber 34 are arranged to communicate with each other through the communication port 35.

That is, the ceiling partition plate 40 for partitioning the upper sides of the first handling cylinder 14 and the second handling barrel 15, the left and right side plates 41, 42, and the arc-shaped first receiver arranged below the first handling barrel 14. The net 43 and a partition wall 44 extending from one side plate 41 toward the other side plate 42 constitute a first handling chamber 33. Similarly, the partition wall 44, the ceiling partition plate 40, and the left and right side plates 41, 4 are formed.
2 and an arc-shaped second arranged below the second handling cylinder 15
The receiving net 45 and the rear wall 46 constitute the second handling chamber 34.

Then, the first handling chamber 33 and the second handling chamber 34
And are communicated with each other through a communication port 35 between the tip of the partition wall 44 and the one side plate 41. As one of the enclosing members constituting the communication port 35 as a passage through which grain culm, straw, etc. pass, a communication port continuously provided at the rear end of the first receiving net 43 and the tip of the second receiving net 45. A bottom plate 47 is stretched.

The spiral pitch of the screw blades 36 projecting from the outer circumference of the first handling cylinder 14 is smaller than the spiral pitch of the screw blades 37 projecting from the outer circumference of the second handling cylinder 15. While being formed, the retention time of the grain culms in the first handling chamber 33 is lengthened to perform a long-time handling action, while in the second handling chamber 34, the grains are rapidly fed laterally to form the communication port 35.
It prevents clogging of grain culms in the field. Further, on the outer circumferences of the screw blades 36 and 37, handle teeth 38 each having a mountain-shaped tip are provided at appropriate intervals by bolts so as to effectively cut the grain culm and improve the threshing performance. ing.

In addition, between the tip of the rear wall 46 and the other side plate 42, the second handling chamber 34 feeds the grain culm, straw, etc. to be processed onto the chaff sheave 20 of the rocking and sorting section 7 described later. The feed port 48 is opened. In addition, a scraping blade 49 is provided in a projecting manner on a portion of the outer circumference of the first handling cylinder 14 that approaches the communication port 35, and similarly, on the outer circumference of the second handling cylinder 15, the feeding port 48 is provided. A scraping blade 50 is provided so as to project at a portion approaching to.

From the output shaft of the engine 8 arranged on the rear side of the traveling machine body 3 to the pulleys 51, 52, 53, 54, 55,
By the transmission through 56, the belts 57, 58, 59 and the chain 60, the second handling cylinder 15, the first handling cylinder 14, the beater 13 and the grain culm transport chain conveyor 31 rotate counterclockwise in FIG. The grain culm sent from the feeder house 5 is drawn from the beater chamber 32 onto the first receiving net 43 of the first handling chamber 33, and is conveyed on the first receiving net 43 toward the communication port 35. , Threshed. Then, the untreated grain culm discharged by the scraping blades 49 of the first handling cylinder 14 is drawn into the second receiving net 45 in the second handling chamber 34 through the communication port 35, and the second Receiving net 4
Threshing is carried out while being conveyed on the upper part 5 in a direction approaching the feed port 48.

The grains mixed with dust that have leaked through the first receiving net 43 and the second receiving net 45, and the grains mixed with straw and the grains with branching stems discharged from the feed port 48 will be described later. It is dropped into the dynamic sorting unit 7 and sorted. As described above, the threshing unit 6
The first handling cylinder 14 and the second handling cylinder 15 are arranged in parallel at right angles to the traveling direction of the traveling machine body 3, and communicate with each other from the first handling chamber 33 to the second handling chamber 34 via the communication port 35. Therefore, since the grain culms are threshed one after another while making a U-turn in a plan view over both handling rooms, the traveling machine body 3 is short, but the treatment route is long and efficient threshing treatment is possible. Further, by forming the second handling cylinder 15 to have a smaller diameter than the first handling cylinder 14, it is possible to completely perform threshing treatment on untreated articles such as sticky grains.

The swing sorting device 7 arranged from below the first handling chamber 33 and the second handling chamber 34 to the rear is shown in FIG.
As shown in FIG. 3, a feed pan 71, a sieve line 72, and a chaff sheave 7 that are arranged below the threshing unit 6 and integrally swing in the front-rear direction of the traveling machine body 3 by an eccentric swing mechanism 70.
3 and the lowermost gutter 7 below the chaff sheave 73
6, a sorting net 74 and the like arranged above the rocking sorting device 7, and on the lower front side of the rocking sorting device 7, Karafu Juan 75 as a wind sorting device for supplying wind in the direction of the sorting net 74, and a screw conveyor 76a Receiving trough 76, screw conveyor 7
The second receiving gutter 77 with 7a is arranged.

The grains mixed with dust that have leaked out from the chaff sheave 73 are subjected to the wind selection from the Karafu Juan 75 at the location of the sorting net 74 in front of the first flow grain board 78, and at the first receiving trough 76. A vertical screw conveyor 79 is provided inside the first receiving trough 76, which is continuously connected to the end of the first receiving trough 76.
It is discharged and accumulated in the grain tank 80 from the fried grain cylinder 79 containing a. The grains mixed with straw and the grains with branch stems (second reduction processed product) leaked from the chaff sheave 73 behind the first-flow grain plate 78 are the second receiving gutter 77 in front of the second-flow grain plate 81. And is sent to the feed pan 71 through a reducing cylinder 82 having a vertical screw conveyor 82a built therein as a second reducing grain raising means continuously provided at the end of the second receiving gutter 77. It is configured. The straw is discharged to the outside of the machine from a straw discharge port 91 opened at the rear end of the traveling machine body 3.

The grain tank 80 is arranged so as to extend above and one side of the threshing section 6, and the grain tank 8
A bottom discharge auger 83 for taking out the grains inside 0 is arranged on the right side of the traveling machine body 3 so as to extend in the front-rear direction, and the power from the engine 8 is discharged as shown in FIGS. 3 and 5. It is configured to be transmitted to the rear end of the bottom discharge auger 83 in the grain tank 80 and the lower end of the vertical auger 86 via 85, and to transmit power from the upper end of the vertical auger 86 to the horizontal auger 87. The lateral auger 87, which is continuously installed and is capable of swinging and raising and lowering, is set in a resting state on the upper right side of the operator's cab 9 (see FIGS. 1 and 2).

The power from the engine 8 is a belt,
While being transmitted to the power transmission device 200 of the traveling unit 2 via the pulley, a belt tension type reaping clutch 89 is arranged on the belt 59 for power transmission to the beater 13, and further, the beater 13 is used for transporting grain stems. Chain conveyor 3
1, the power is transmitted to the mowing pretreatment device 4 via the downstream side, and the beater 13 and the mowing pretreatment device 4 are driven without stopping the driving of the traveling unit 2 and the handling drums 14 and 15. Can be turned on and off. A belt tension type threshing clutch 90 is also arranged at the position of the power transmission belt 57 from the engine 8 to the handling cylinder 15 (see FIGS. 5 and 6).

Next, the structure of the power transmission device 200 consisting of the two-pump, two-motor type HST type continuously variable transmission mechanism will be described. The embodiment shown in FIG.
A pair of left and right planetary gear mechanisms 310, 31 which will be described later are included in 0.
0 etc., a differential hydraulic mechanism for driving, a hydraulic drive means for traveling composed of a first hydraulic pump 330 and a first hydraulic motor 340, and a hydraulic drive means for turning composed of a second hydraulic pump 360 and a second hydraulic motor 370. And a gear mechanism for power transmission etc. The rotational force from the engine 8 mounted on the traveling vehicle body 1 is transmitted to both hydraulic pumps 330 and 360 outside the mission case 300 via the belt 600 and the pulley.
To the respective input shafts 330a, and hydraulic power is transmitted to the respective hydraulic motors 340 and 370 via the hydraulic paths in the transmission case 610. A charge pump 710 for supplying pressure oil to the hydraulic servo means is attached to one end of the common input shaft 330a.

The pair of left and right planetary gear mechanisms 310, 310 are symmetrical, and a plurality of planetary gear mechanisms 310, 310 are arranged on the same radius (three in the embodiment.
Left and right pair of bracelets 380, 380 each having a planetary gear 390 rotatably supported therein.
It is arranged so as to oppose to each other on a coaxial line at an appropriate interval within 0. The left and right ends of the sun shaft 410 to which the sun gears 400, 400 meshing with the planetary gears 390 are fixed are
Inside the both bracelets 380, 380, a bearing located at the center of rotation thereof is rotatably supported. The ring gear 420 having inner teeth on the inner peripheral surface and outer teeth on the outer peripheral surface is arranged concentrically with the sun shaft 410 so that the inner teeth mesh with the three planetary gears 390, respectively. 420 is rotatably supported via a bearing on the sun shaft 410 or on a central shaft 430 protruding outward from the outer surface of the bracelet 380.

By changing and adjusting the inclination angle of the rotary swash plate of the variable displacement first hydraulic pump 330 in the traveling hydraulic drive means, the discharge direction and discharge amount of the pressure oil to the first hydraulic motor 340 are controlled. To change the first hydraulic motor 34
The rotation direction and the rotation speed of the output shaft of 0 are adjustable. Then, the rotational power from the input shaft of the first hydraulic motor 340 is transmitted via the gears 440, 450, 460, 470 to the auxiliary transmission mechanism 500 composed of a conventionally known gear mechanism, and its output gear 480. Is transmitted to the center gear 490 fixed to the sun shaft 410 via.

The torque is transmitted to the PTO shaft 520 for transmitting the rotational force to the hydraulic pump or the like via the gear mechanism 510 associated with the shaft 440a of the gear 440. In this case, clutch means 520a is provided in the middle of the PTO shaft 520. Therefore, the rotational power from the traveling hydraulic drive means is transmitted to the center gear 490 via the transmission gear mechanism and the auxiliary transmission mechanism 500, and then to the pair of left and right planetary gear mechanisms 310, 310. The transmission gear 530 fixed to the central shaft 430 of the left bracelet 380 is meshed with the transmission gear 540 fixed to the output shaft 210a for the left drive wheel 22 and output. Similarly, the transmission gear 530 fixed to the central shaft 430 of the right bracelet 380 is
It outputs by engaging with the transmission gear 540 fixed to the output shaft 210b for the right drive wheel 22.

On the other hand, by changing and adjusting the inclination angle of the rotary swash plate of the variable displacement second hydraulic pump 360 in the turning hydraulic drive means, the discharge direction and discharge of the pressure oil to the second hydraulic motor 370 are controlled. By changing the amount, the second hydraulic motor 3
The rotation direction and the rotation speed of the output shaft 70 are adjustable. The rotational power from the second hydraulic motor 370 is transmitted through the gear mechanism 550 to the pair of transmission gears 560,
570 is transmitted. Next, as shown in FIG. 7, the outer teeth of the left ring gear 420 are directly meshed with the transmission gear 560, the right transmission gear 570 is meshed with the reversing gear 590 attached to the reversing shaft 580, and this reversing gear 590 and the right side are engaged. Meshes with the outer teeth of the ring gear 420.

Therefore, when the left ring gear 420 is reversely rotated at a predetermined rotation speed by the normal rotation of the second hydraulic motor 370, the right ring gear 420 is normally rotated at the same rotation speed as described above. With this configuration, for example, if the turning hydraulic drive means is stopped, the rotation of the left and right ring gears 420, 420 is in a stopped and fixed state. When the traveling hydraulic drive unit is driven in this state, the rotational force from the first hydraulic motor 340 is input to the center gear 490 of the sun shaft 410, and the rotational force is applied to the sun gears 400 on the left and right sides at the same rotational speed. Is transmitted via the planetary gears 390 and the arm gears 380 of the left and right planetary gear mechanisms to the output shafts 210a, 210b on the left and right sides at the same rotational speed in the same direction, so that the vehicle can travel straight. .
Therefore, when only the traveling hydraulic drive unit is driven in the forward direction, the traveling machine body advances straight forward, and when it is driven in the reverse direction, the traveling vehicle unit goes straight backward.

On the contrary, when the traveling hydraulic drive means is stopped, the sun shaft 410 and the sun gears 4 on both left and right sides are stopped.
00 is fixed. In this case, it is preferable to activate the braking means (not shown). In this state, when the turning hydraulic drive means (second hydraulic motor 370) is driven, for example, in the forward rotation, the planetary gear mechanism including the left planetary gear 390 and the arm gear 380 rotates in the reverse direction, while the right planetary gear mechanism rotates. Gear 39
The planetary gear mechanism consisting of 0 and the arm gear 380 rotates in the forward direction. Therefore, the left traveling crawler 2a moves backward while the right traveling crawler 2b moves forward, so that the traveling vehicle body 3 spin-turns to the left on the spot.

Similarly, the turning hydraulic drive means (second
When the hydraulic motor 370) is driven to rotate in the reverse direction, the left planetary gear mechanism 310 rotates in the forward direction, the right planetary gear mechanism 310 rotates in the reverse direction, and the left traveling crawler 2a moves forward while the right traveling crawler 2b moves backward. So, traveling machine 3 is on the spot,
You will have a spin-turn to the right. When the turning hydraulic driving means is driven while driving the traveling hydraulic driving means, it is possible to turn right or left with a turning radius larger than the spin turn turning radius when moving forward or backward. , Its turning radius is left and right traveling crawlers 2a,
It will be determined according to the speed of 2b.

In each of the above cases, the auxiliary transmission lever (not shown) is moved to set the road running mode, the agricultural work mode, the ultra-low speed mode or the like. In this state, if the main transmission lever 16 is in the upright posture, it will be in the neutral position (N position), and if the main transmission lever 16 is tilted forward, the traveling vehicle will move forward, and if the forward tilt angle is large, the forward speed will increase. Increase. On the contrary, when the main transmission lever 16 is tilted backward, the traveling vehicle moves backward, and when the tilt angle is large thereafter, the backward speed is increased. Further, by turning the steering wheel handle 11 to the right or left, the traveling vehicle can turn in a predetermined direction.

FIG. 8 shows a hydraulic circuit 100 in the first embodiment of the vehicle speed control capable of switching between vehicle speed control and deceleration control in the traveling hydraulic drive means, and a separate charge pump 101 for the engine 8. Drive
The pressure oil from here is sent to the hydraulic servo means 102 mentioned later. In the hydraulic passage that is a closed circuit from the first hydraulic pump 330 for traveling to the first hydraulic motor 340, a brake valve for absorbing the inertia acting on the first hydraulic motor 340 in the downstream bypass passage is provided. A pair of hydraulic pressure control valves 103 are connected. As shown, each hydraulic pressure adjusting valve 103 is composed of a pair of a check valve and a relief valve.
In addition, a check valve and a throttle valve are provided in the bypass passage on the upstream side of the pair of hydraulic pressure adjusting valves 103, and a pair of pressure oil adjusting devices for gradually replacing the pressure oil of the main hydraulic circuit 100 (closed circuit). A valve 104 is connected to connect the pressure oil passage 76 from the charge pump 101 between a pair of pressure oil adjusting valves 104, and is also connected to a relief valve 105 for releasing the pressure oil to the drain.

The hydraulic servo means 102 provided in the extension of the pressure oil passage 106 moves the piston 108 in a straight line (in the embodiment, the vertical direction) to move the cradle type first hydraulic pump 330. Swash plate (not shown)
Is configured so that the vehicle speed is changed by changing the inclination angle of the vehicle, and a 4-port 3-position electromagnetic control valve 107 for automatic vehicle speed control and a manual switching valve 109 are connected in parallel. There is. The manual switching valve 109 is connected to the main shift lever 16 via an interlocking mechanism (not shown), and the manual switching valve 109 can be switched based on the operating position of the main shift lever 16, and the manual shift lever 16 can be manually operated. The piston 10 in the hydraulic servo means 102 based on
8 is driven, and in response to this movement, the inclination angle of the swash plate of the first hydraulic pump 330 is changed via the interlocking mechanism 110, and thus the vehicle speed is maintained at a position corresponding to the set position of the main transmission lever 16. It is configured to be able to. On the other hand, the output port from the electromagnetic control valve 107 is connected in parallel to the passage from the output port of the manual switching valve 109 to the piston 108.
The electromagnetic control valve 107 sends a predetermined command signal (a signal corresponding to the degree of load of the engine) from a computer-type controller, which will be described later, to the deceleration solenoid 107a or the acceleration solenoid 107b, and the manual switching valve 109.
Is only in the forward position, the hydraulic servo means 102
The piston 108 can be moved to change the inclination angle of the swash plate of the first hydraulic pump 330 as described above, and the vehicle speed can be controlled to increase or decrease. It should be noted that when the main transmission lever 16 and thus the manual switching valve 109 are in the neutral position and the retracted position, the acceleration / deceleration command signal to the electromagnetic control valve 107 is not issued (prohibited).

Next, the operator proficiency level vehicle speed control mode in this configuration will be described. Here, in the operator proficiency level vehicle speed control mode, the load factor of the engine 8 when the operator has performed work in the past (the ratio of the engine load during work is calculated with 100% when the engine load is the highest). ) Is measured a large number of times during the past fixed time, the average value is calculated, and when the set engine load factor obtained by adding a value higher by a predetermined ratio to the average load factor is exceeded, the main transmission lever 16 is used in advance. The vehicle speed control is performed such that the vehicle speed is decelerated by a fixed amount or a fixed ratio from the set vehicle speed. With this configuration, even if there is a margin in the engine load factor, the operator does not forcibly perform the mowing and threshing work in a high speed state in accordance with the skill level.

While the vehicle speed control is being executed, even if the operator mistakenly moves the main transmission lever 16 to the high speed side, even if the current engine load factor increases due to the speed increase of the vehicle, this will still occur. The set engine load factor is not exceeded and the vehicle speed due to the changed position of the main transmission lever 16 is not exceeded. As a result, even if an inexperienced operator mistakenly moves the main transmission lever 16 to the high speed side, there is no abrupt increase in engine load or abrupt increase in vehicle speed, so that there is an effect that safe work can be performed. .

Reference numeral 111 shown in FIG. 9 is a control device as a control means for executing the operator proficiency level vehicle speed control mode by controlling the vehicle speed of the traveling machine body and the fuel supply amount adjustment control to the engine. When the engine load factor ELo exceeds the set engine load factor ELS,
The first hydraulic pump 33 via the hydraulic servo means 102.
The tilt angle of the swash plate of 0 can be changed and adjusted, the amount of pressure oil discharged can be adjusted, and finally, the rotation speed of the first hydraulic motor 340 and eventually the vehicle speed can be decelerated. The control device 111 stores in advance a central processing unit (CPU) under electronic control such as a microcomputer, a control program necessary for arithmetic processing in the central processing unit, initial values, an arithmetic map necessary for arithmetic operations described later, and the like. A read-only memory (ROM), a readable / writable memory (RAM) for temporarily storing various input data used for arithmetic processing, an input / output interface, etc. Connect the parts.

That is, the mode changeover switch 112 for switching between the vehicle speed control mode and the manual mode, the vehicle speed sensor 113 in the traveling section, the output shaft of the engine 8 for detecting the rotational speed of the engine 8 or the output shaft of the mission case. An engine speed sensor 114 such as a pulse encoder provided in the engine, an engine load factor sensor 115 capable of detecting the load state of the engine by detecting the fuel supply amount in the fuel supply device, the pre-mowing processing device 4
For detecting the ON / OFF switch 116 of the mowing clutch 89 for power connection operation by turning ON, the ON / OFF switch 117 for the threshing clutch 90 for power connection operation of the threshing unit 6 by ON, and the operation position of the main transmission lever 16. The lever position sensor 118 and the like are connected to the input port of the control device 111.

Further, the output port of the control device 111 is
First hydraulic pump 33 for traveling the traveling crawlers 2a, 2b
The solenoid 107a for deceleration and the solenoid 107 for speed-up of the electromagnetic control valve 107 for changing and adjusting the angle of the swash plate 0
b, and further, the solenoid 11 for turning right of the electromagnetic control valve for changing and adjusting the angle of the swash plate of the turning second hydraulic pump 360.
9a and solenoid 119b for turning left, fuel supply device 1
20, indicator lamp 12 indicating that the automatic operation is in progress
1 and a display device 122 capable of displaying the load condition of the engine by characters such as liquid crystal and showing a load condition such as an overload of the working portion by a warning display lamp are connected to the output ports of the control device 111 respectively. ing.

Although not shown, an electromagnetic solenoid of a mowing clutch device, an electromagnetic solenoid of an auger clutch device of a discharge auger for discharging grains from a paddy tank, an electromagnetic solenoid of a traveling clutch device, an electromagnetic solenoid of a threshing clutch device, and the like. Each is connected to the output port of the control device 111. When the engine 8 is a gasoline engine, the fuel supply device 120 is a fuel injection pump installed at a throttle valve of an intake system carburetor, an air flow meter, or the like. When the engine 8 is a diesel engine, the fuel supply device 120 is directly installed in a cylinder. A fuel injection pump for injecting, and as the adjusting position driving means for these fuel supply amounts, in the case of the throttle valve, an actuator such as a solenoid for rotating a valve operating shaft for operating the opening / closing degree of the valve, In the case of a fuel injection pump, it is an actuator such as a step motor that is attached to a rack that adjusts the position of a plunger that adjusts its injection amount and moves it.

The load sensor 115 is, for example, a potentiometer for detecting the rotation angle of the throttle valve, or a linear differential transformer type displacement sensor which is mounted in parallel with the rack and can detect the moving position of the rack. Next, a mode of operator proficiency level vehicle speed control in the vehicle speed control mode will be described. The mode selector switch 112 is switched to the deceleration control mode side. When the main transmission lever 16 is rotated forward from the neutral position (stop position), the vehicle can travel forward at the vehicle speed Vs corresponding to the rotation angle.

When the main transmission lever 16 is rotated rearward from the neutral position, the vehicle travels backward according to the angle. The traveling speed of the combine is maintained at the speed Vs corresponding to the set position of the main transmission lever 16. The rotation position of the main speed change lever 16 is detected by the lever position sensor 118, and when it is detected that the main speed change lever 16 is at the forward movement position, a command from the controller (control device) 111 to the electromagnetic control valve 107. Although the signal output is permitted, when it is detected that the main transmission lever 16 is in the neutral position (stop position) and the reverse position, the controller (control device) 111
The output of the command signal from the electromagnetic control valve 107 to the electromagnetic control valve 107 is prohibited so that the combine does not move carelessly or the speed is increased when the combine moves backward to ensure safety.

In this mode, normally (when deceleration described later is not executed), the rotation speed of the engine 8 is kept constant by the electronic governor even if the load on the engine 8 increases or decreases.
While performing so-called isochronous control, the same operator measures a number of times during the past certain time, calculates the average value, and exceeds the set engine load factor by adding a high value to the average load factor by a predetermined ratio. The vehicle speed control is performed in which the main shift lever 16 decelerates the vehicle speed by a fixed amount or a fixed ratio from a preset vehicle speed.

FIG. 10 shows a flow chart of this control. Subsequent to the start, it is judged whether or not the cutting and threshing work is in progress (S1). During the mowing and threshing work (S1: yes), the engine load factor is sampled and stored at regular time intervals (S2). Next, the load factor moving average value ELA is calculated from the load factor during the past fixed period (S3). Then, the set engine load factor ELS (= ELA + α) is calculated (S4). Where α is a preset ratio and is 1
The value is 0% or less, preferably 3% to 7%. If the value of α is too large, it will be severe for an inexperienced person, and if the value of α is too small, the vehicle speed will be slowed down even if the engine load factor slightly exceeds the load factor moving average value ELA, and it will be frequent. Due to the deceleration, there is an inconvenience that the mowing threshing work is rather jerky.

Next, the current engine load factor ELo and the set vehicle speed V corresponding to the current set position of the main transmission lever 16
s, the current vehicle speed Vo is read at regular time intervals (S
5). Then, it is determined whether or not the current engine load factor ELo exceeds the set engine load factor ELS (S6).
When it exceeds (ELo> ELS) (S6: yes
s), control for decelerating the current vehicle speed Vo by a fixed ratio or a fixed value is executed (S7). That is, a continuous drive signal for deceleration or a pulse signal for pulse width modulation control is output to the deceleration solenoid 107a of the electromagnetic control valve 107 regardless of the rotational position of the main shift lever 16 during forward movement. Then, the vehicle is decelerated by a constant rate of the set speed Vs.

As a result, the operator's proficiency level is judged from the average value ELA of the engine load factors in the past fixed time, and the present engine load factor E is judged from this proficiency level.
When Lo exceeds the set engine load factor ELS, even if there is a margin in the engine load in the combine, if the mowing and threshing work is continued at the current vehicle speed, the burden on the operator will increase and the mowing and threshing work will be completed. This is because the speed is reduced because the operator cannot complete the operation. Therefore, even if the engine load factor has a margin, the operator does not forcibly perform the mowing threshing work in accordance with the skill level.

On the other hand, when the current engine load factor ELo does not exceed the set engine load factor ELS (S6: no).
In step S8, it is determined whether or not the current vehicle speed Vo exceeds the set vehicle speed Vs. When not exceeding (S8: n
o), acceleration control is executed so as to reach the set vehicle speed Vs (S9), and the process returns. Considering that the operator changes the main transmission lever 16 to the speed increasing side or the deceleration side at any time, in S5, the set vehicle speed Vs corresponding to the set position of the main transmission lever 16 and the current vehicle speed Vo are set at regular time intervals. Read into. Then, even if the operator mistakenly operates the main transmission lever 16 to the speed increasing side and the current engine load factor ELo increases, if this value exceeds the set engine load factor ELS,
Since the vehicle is controlled to the deceleration side, a rapid acceleration state does not occur due to the speed increasing control in S9, and the speed is gradually increased. Therefore, the vehicle speed control that is safe and gentle for the operator can be executed.

Needless to say, the present invention can be applied not only to the combine harvester but also to other types of agricultural work machines and civil engineering work machines. 11 to 13 relate to a configuration of a sensor for automatically determining a cutting start state and a cutting end state in a general-purpose combine, and FIGS.
1 (b) and FIG. 12 show the flow of grain stalks mowed on the rear wall surface 25a of the platform 25 (wall surface facing the rear surface of the transverse feed auger 28) in the pre-mowing treatment device 4 (FIG. 11).
The front end of the sensor lever 125 which is rotated by (see (a) arrow) is moved from the hole 127 formed in the guide tube 126 fixed to the rear wall surface 25a and having a substantially triangular shape in plan view to the rear surface of the lateral feed auger 28. The base end of the sensor lever 125, which is made to project toward and biased by an urging spring force (not shown), is connected to the rotary limit switch 128. When the cutting work is started and the cut rice culm is gathered between the rear surface of the lateral feed auger 28 and the rear wall surface 25a of the platform 25 and moves laterally, the state of the solid line in FIG. When the sensor lever 125 is rotated, the rotary limit switch 28 outputs an ON signal to determine the start of cutting. On the contrary, when the harvested culm is lost, the sensor lever 125
Is returned to the solid line state, and the rotary limit switch 28
An FF signal can be output to determine the end of cutting.

In FIG. 12, a pressing force sensing type sensor lever 129 which moves substantially parallel to the rear wall surface 25a of the platform 25 is arranged in place of the rotating type sensor lever. When the mold sensor lever 129 is approaching the rear wall surface 25a, the limit switch 1
The signal of 30 determines that there is a grain culm, and the sensor lever 12
It can be judged that there is no grain culm when 9 is protruding and moving by the urging spring force so as to separate in the front direction of the rear wall surface 25a.

The limit switch 132 with the rotating lever 131 shown in FIG. 13 is provided on the grass body 133 which projects forward on the side of the platform 25. When there is a grain culm, the limit switch 132 is pushed by the grain culm, The tip of the rotating lever 131 is configured to rotate to the rear side of the grass body 133 against an urging spring force (not shown).

[Brief description of drawings]

FIG. 1 is a side view of a combine.

FIG. 2 is a front view of the combine.

FIG. 3 is a plan sectional view of a threshing unit.

FIG. 4 is a side sectional view of a threshing unit.

FIG. 5 is a side view of a power transmission system in a threshing unit.

FIG. 6 is a skeleton diagram of a power transmission system.

FIG. 7 is a skeleton diagram of a two-pump, two-motor type hydraulic continuously variable transmission mechanism.

FIG. 8 is a hydraulic circuit diagram.

FIG. 9 is a functional block diagram of a vehicle speed control device.

FIG. 10 is a flowchart of operator proficiency level vehicle speed control.

11 (a) is a partially cutaway plan view of a grain culm presence / absence sensor in the platform, and FIG. 11 (b) is XIb-XI of FIG. 11 (a).
FIG.

FIG. 12 is a plan view of another embodiment of the grain culm presence sensor in the platform.

FIG. 13 is a partially cutaway plan view of a grain culm presence sensor provided at a part of a grass body.

[Explanation of symbols]

2 traveling devices 3 traveling aircraft 4 Mowing pretreatment device 8 engine 107 Electromagnetic control valve 111 Vehicle speed control device 330 First (for traveling) hydraulic pump 340 First (for traveling) hydraulic motor

Claims (2)

[Claims] 1. The power of an engine mounted on a traveling aircraft,
A vehicle speed control means capable of performing vehicle speed control via a mission of the traveling unit capable of gear shift control according to the operation amount of the main gear shift lever while transmitting to a working unit such as a threshing unit and the traveling unit by separate systems In the combine, the engine load monitoring means for monitoring the load of the engine in relation to the fuel supply means, the storage means for storing the engine load during the past certain period during the agricultural work, and the storage means for storing the engine load A calculating means for calculating an average value of the engine load, and when a set engine load slightly higher than the average value is exceeded, the vehicle speed of the agricultural work machine is controlled to be appropriately reduced regardless of the operation position of the main speed change lever. A vehicle speed control device for an agricultural work machine, comprising: a control means. 2. Even if the operation position of the main speed change lever is changed, the current engine load does not exceed the set engine load and the vehicle speed corresponding to the changed operation position of the main speed change lever is not exceeded. The vehicle speed control device for an agricultural work machine according to claim 1, wherein the vehicle speed control is executed as described above.