JP2002067742A - Combined harvester and thresher - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve a designing and manufacturing property and a handling property, etc., by arranging a car speed controller 27 at a position of a governor controller 34 and changing a structure and a function of one of the car speed controller 27 and the governor controller 34 by commonly using the other of them. SOLUTION: The car speed controller 27 furnished with a grain threshing part 4 and a harvesting part 8, to thresh grains by continuously reaping stalks and to automatically control travelling speed and the governor controller 34 to control engine speed of an engine 20 are furnished separately, a hydraulic pump 18 and a hydraulic motor 19 to constitute a stepless speed change mechanism 17 are provided, the hydraulic pump 18 is connected to the engine 20, and the hydraulic motor 19 is connected to a transmission case 23 to drive a travelling crawler 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile agricultural machine such as a combine harvester for cutting and threshing grain culms.

[0002]

2. Description of the Related Art Conventionally, Japanese Unexamined Patent Publication No.
As disclosed in Japanese Patent Application Laid-Open No. Hei 2-100616, there is a technology for automatically controlling the fuel injection amount of the engine to provide an electronic governor for keeping the rotation of the engine at a set rotation, and for controlling the traveling speed to change the vehicle speed.

[0003]

In the prior art, since both the engine speed and the traveling speed are controlled by the same controller, the structure or function of only one of the electronic governor and the traveling speed is changed. The controller also needs to be changed, and the design and manufacture of the controller and the like are troublesome, and the manufacturing cost cannot be easily reduced, and the cost of storing parts for replacement and repair cannot be reduced. There's a problem.

[0004]

SUMMARY OF THE INVENTION Accordingly, the present invention provides a vehicle speed controller having a threshing unit and a reaping unit for continuously cutting and threshing a grain stalk and automatically controlling a traveling speed.
A governor controller that controls the number of revolutions of the engine is provided separately, a hydraulic pump and a hydraulic motor that constitute a continuously variable transmission mechanism are provided, a hydraulic pump is connected to the engine, and a hydraulic motor is mounted on a transmission case that drives the traveling crawler. Even if a vehicle speed controller is arranged near a driving operation unit or a transmission case away from the engine, for example, the traveling speed control of the traveling crawler by the vehicle speed controller and the engine speed control by the governor controller are connected. In addition to being able to perform properly in connection with each other, the structure and function of the electronic governor can be changed by sharing the vehicle speed controller, and the structure and function of the vehicle speed controller can be changed by sharing the governor controller,
It is possible to easily improve design, manufacture, and handling.

Further, a threshing section and a cutting section are provided, and a vehicle speed controller for automatically cutting the culm and threshing and automatically controlling the running speed and a governor controller for controlling the engine speed are separately provided. A hydraulic pump and a hydraulic motor that constitute a continuously variable transmission mechanism are provided, a hydraulic pump is connected to the engine, a hydraulic motor is connected to a transmission case that drives the traveling crawler, and a governor controller is provided when the load is equal to or more than a certain value. RM engine by
AX (horsepower up mode) controls the rotational load, and the vehicle speed controller decelerates the continuously variable transmission mechanism. The vehicle speed controller controls the traveling speed of the traveling crawler and the governor controller controls the engine speed. It is possible to change the structure and function of the electronic governor by sharing the vehicle speed controller, and to change the structure and function of the vehicle speed controller by sharing the governor controller. It is possible to easily eliminate problems such as stop of the engine and decrease in rotation of the threshing unit even in the harvesting operation, and to easily improve high-load workability by driving the threshing unit with proper rotation.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below in detail with reference to the drawings. 1 is a control circuit diagram, and FIG. 2 is an overall side view of the combine, in which (1) is a traveling crawler (2).
(4) is a threshing unit equipped with an axial-flow screw-type handling cylinder (5) and a sorting mechanism (6) and mounted on the machine (1); 7) is a grain tank for storing grains from the threshing unit (4), (8) is a harvesting unit which is installed in a lower front of the threshing unit (4) via a hydraulic cylinder (9) so as to be able to move up and down, (10) ) Is a driver's cab provided with a driver's seat and a driving operation unit and fixed in front of the grain tank (7), and (11) is a grain carrying auger for taking out grains in the grain tank (7).

The cutting section (8) includes a cereal header (11) for incorporating uncut culms, and the header (11).
And a feed chamber (12) for feeding the harvested grain culm to the threshing unit (4) by being connected to the approximate center of the rear part, and a reel (13) for scraping the uncut grain culm and a reciprocating drive type cutting blade (1).
4) and a grain stalk scraping drum (15) in the grain header (11), and a supply chain conveyor (16) in which a harvested grain culm to be taken into the header (11) is provided in a supply chamber (12). Through the threshing unit (4) for threshing.

As shown in FIG. 3, the vehicle speed of the combine is changed by a variable displacement hydraulic pump (18) and a hydraulic motor (19) constituting a continuously variable transmission mechanism (17) which is an HST. A transmission having a drive sprocket (22) for the traveling crawler (2) by interlockingly connecting an input shaft (18a) of the hydraulic pump (18) to an output shaft (20a) of (20) via a belt transmission mechanism (21). The output shaft (1) of the hydraulic motor (19) is attached to the case (23).
9a), the handle cylinder input shaft (5a) of the handle cylinder (5) is linked to the input shaft (20a) of the engine (20) via a belt and a gear transmission mechanism (24).

The engine (20) has an electronic governor (25) for controlling a fuel injection amount of a fuel injection pump by an injection amount adjusting rack to maintain a constant rotation speed, and the hydraulic pump (18). Has a DC servomotor (26) for controlling the swash plate angle to adjust the hydraulic discharge amount, and is configured to control the increase / decrease of the vehicle speed by forward / reverse drive of the motor (26). ing.

As shown in FIG. 1, a vehicle speed control circuit (27), which is a fuzzy inference vehicle speed calculation circuit for driving and controlling the servo motor (26), includes an automatic switch (28) for automatically controlling the vehicle speed, and A threshing load sensor (29) for detecting a certain level of the mowing load in the section (8), and a threshing load sensor (30) for detecting a certain level of the threshing load such as the handling cylinder (5) in the threshing section (4). And a straw cutting load sensor (31) for detecting a certain or more cutting load on the straw cutter
And a vehicle speed sensor (32) for detecting a vehicle speed and an HST oil pressure sensor (33), and drive control of a rack position adjusting mechanism (25a) of a governor (25) for adjusting an injection amount of a fuel injection pump. Governor control circuit (34)
And an engine rotation sensor (35) for detecting the rotation of the engine (20) and a governor rack position sensor (36) for detecting the position of the injection amount adjusting rack in the governor (25). , The control circuit (27) (3
4) to make a communication connection between these sensors (29) (3)
0) (31) (32) (33) (35) (36) Based on the detection of the engine (20) constant speed control, emergency stop of the engine (20) and vehicle speed control based on fuzzy inference. Make up.

As is apparent from the above, a vehicle speed control circuit which is a vehicle speed controller having a threshing unit (4) and a reaping unit (8) and continuously cutting and threshing a grain culm and automatically controlling a traveling speed. (27) and a governor control circuit (34) that is a governor controller for controlling the number of revolutions of the engine (20). The hydraulic pump (18) and the hydraulic motor ( 19), a hydraulic pump (18) is connected to the engine (20), and a hydraulic motor (19) is connected to a transmission case (23) for driving the traveling crawler (2). And
For example, a governor control circuit (34) is arranged near an engine (20) provided with an electronic governor (25). For example, the vehicle speed is near an operation unit or a transmission case (23) remote from the engine (20). Control circuit (2
7), the traveling speed control of the traveling crawler (2) by the vehicle speed control circuit (27) and the governor control circuit (3).
The control of the number of revolutions of the engine (20) according to 4) is appropriately performed in association with each other, and the vehicle speed control circuit (27)
To change the structure and function of the electronic governor (25), and to change the structure and function of the vehicle speed control circuit (27) by sharing the governor control circuit (34), thereby improving the design, manufacturing and handling. Improve, etc.

Further, an electronic governor (25) for controlling a fuel injection amount of the engine (20), a vehicle speed sensor (32) for detecting a vehicle speed, and a servomotor (26) as a traveling speed change member for changing the vehicle speed are provided. At the same time, the target vehicle speed is calculated by fuzzy inference based on at least the fuel injection amount controlled by the electronic governor (25) and the rate of change of the fuel injection amount, and the vehicle travels based on the target vehicle speed and the vehicle speed detection value of the vehicle speed sensor (32). The shift output is calculated by fuzzy inference, and the shift servomotor (26) is operated based on the shift output.
In a combine provided with a vehicle speed control circuit (27) which is a vehicle speed controller for automatically controlling the speed, an automatic switch (28) for automatically controlling the vehicle speed, and a cutting load sensor for detecting a certain or more cutting load in the cutting unit (8). (29)
A threshing load sensor (30) for detecting a certain or more threshing load, such as a handling cylinder (5) in a threshing unit (4), and a straw cutting load sensor (3) for detecting a certain or more cutting load with a straw cutter.
1) a vehicle speed sensor (32) for detecting a vehicle speed;
A governor control circuit (34) that drives and controls a governor (25) that adjusts the injection amount of the fuel injection pump while connecting the hydraulic pressure sensor (33) to the vehicle speed control circuit (27).
And an engine rotation sensor (35) for detecting the rotation of the engine (20) and a governor rack position sensor (36) for detecting the position of the injection amount adjusting rack in the governor (25). , Each of the control circuits (27)
(34) is connected for communication, and the automatic switch (28)
During a certain grace period immediately after the start of the vehicle speed control, the engine (20) speed is controlled in a predetermined initial mode, the vehicle speed is also driven at the initial set speed, and then the engine (20) speed is turned on. It is configured to perform constant control of the number, emergency stop of the engine (20), and vehicle speed control based on fuzzy inference. Then, the initial mode control is performed within a certain grace period immediately after the start of the vehicle speed control, and the initially set engine (20)
The automatic work is started at the rotation speed and the vehicle speed, and the vehicle speed control based on the fuzzy inference is smoothly started. Is maintained at an appropriate speed, eliminating the problem that the engine (20) rotation is changed due to overload and the harvesting speed is changed, and the problem that the engine (20) rotation is reduced and the driving force of the traveling crawler (2) is insufficient. The vehicle speed controller (27) controls the traveling crawler (2) drive speed appropriately,
The simplification of the manual operation of the worker and the improvement of the efficiency of the harvest work are aimed at.

This embodiment is configured as described above, and the vehicle speed control will be described below with reference to the flowchart of FIG.

Now, the reference value and the detection value of each module are initialized, and the sensors (29) to (33) (35) (3)
6) The detection value is input, and the emergency signal of the engine (20) is output when an emergency signal is output at the time of abnormal work in the cutting unit (8), the threshing unit (4), the straw cutter unit, or the traveling unit. During normal operation, the sensors are stopped (32)
(35) Reception of engine (20) data and counting of vehicle speed data based on the detection of (36) are performed. If the automatic switch (28) is turned on within a certain grace period immediately after the start of vehicle speed control, Controls the number of revolutions of the engine (20) in a predetermined initial mode, and the vehicle speed also runs at the initial set speed.

After a lapse of a predetermined delay time, a target vehicle speed deviation value (VE) requiring acceleration / deceleration with respect to the current vehicle speed is calculated and output based on fuzzy inference from the input data of the engine (20) to obtain the target vehicle speed. And a threshing unit (4) and a reaping unit (8).
A vehicle speed control circuit (27) for continuously cutting and threshing the culm and automatically controlling the running speed, and an engine (20)
And a governor control circuit (34) for controlling the number of revolutions of the hydraulic pump (1) constituting the continuously variable transmission mechanism (17).
8) and a hydraulic motor (19).
To the traveling crawler (2)
The hydraulic motor (1) is attached to the transmission case (23)
9), and when the load is equal to or greater than a predetermined value, the governor control circuit (34) switches the engine (20) to the RMA.
The rotational load is controlled in X (horsepower up mode), and the continuously variable transmission mechanism (17) is decelerated by the vehicle speed control circuit (27). The traveling speed control of the traveling crawler (2) by the vehicle speed control circuit (27) and the rotation speed control of the engine (20) by the governor control circuit (34) are appropriately performed in association with each other. The control circuit (27) is shared to change the structure and function of the electronic governor (25),
In addition, the governor control circuit (34) is shared to change the structure and function of the vehicle speed control circuit (27), and the engine (20) stops or the threshing unit (4) rotates even in a high load harvesting operation. Problems such as lowering are easily eliminated, and the threshing unit (4) is driven by appropriate rotation to improve high-load workability.

Next, the fuzzy inference control for calculating the vehicle speed deviation value (VE) will be described with reference to FIGS.

As shown in FIG. 6, the relationship between the input rack position (fuel injection amount) of the electronic governor (25) and the engine speed is represented by a maximum load curve (RMAX) and a no-load curve (RIDL). The rack position deviation value (RE), its rate of change (RD) and the maximum output deviation value (R
M), where the rated speed N rpm, the maximum target value of the rack that becomes the target maximum injection amount is A, and the no-load value of the rack that becomes the injection amount at no load is B, and the load factor is 8
The value C of the target rack value (RACT), which is the target injection amount when 0% is set, is calculated from the relational expression of 80% = CB / AB. That is, the actual output data (rac
t) is D, at which time the control circuit (3) which is an electronic governor controller by constant control of the rotation speed of the engine (20).
4), the target rack value C and the rack deviation value RE from the maximum target value A (= D
-C), the maximum target deviation value RM (= EA) and the rate of change (RD) of the deviation value (RE) over a certain period of time are input as fuzzy inference values. Although constant control of the number of revolutions of the engine (for example, constant control of 2625 rpm) is performed, the rotation sensor (35) is controlled due to control delay of the rack position adjusting mechanism (25a) or the like, stepwise control, rapid fluctuation of load, or the like. ), The maximum target value (for example, A) determined by the maximum load curve does not substantially match the limited maximum injection amount E output from the electronic governor controller. (However, they may coincide with each other.) And, as shown in FIG. 7, PB (positive and large), PS (positive and small), ZO (zero), NS
(RE) (RD) (RM) of these values are normalized to correspond to the membership function represented by five fuzzy sets of (negative and small) and NB (negative and large), and the fuzzy variable (Re), (rd), and (rm).

For example, by applying a numerical value to this,
N = 2625 rpm, target load factor 80%, A = 18
9, when B = 102, C = 172 is calculated, and D
= 176, E = 187, RE = 4, RM = -2 are calculated, and when RE = 4, RD = 0, RM = -2 are input as input data from the electronic governor (25),
Re = 18, rd = so as to correspond to the membership function
14, a conversion is made to rm = 12 input variables.

The degree (grade) in which the values of the variables (re), (rd), and (rm) are included in these five sets is determined as the weight of the triangular membership function in FIG.

For example, when re = 18, NB = 0 NS = 4 ZO = 11
When PS = 12 PB = 5 rd = 14 NB = 1 NS = 8 ZO = 15
PS = 8 PB = 1 When rm = 12 NB = 3 NS = 10 ZO = 13
PS = 6 PB = 0

For each rule, the fitness as the antecedent of the rule, that is, the fitness of each of the membership values (re), (rd), and (rm) is calculated from FIG.

For example, in the if-then type rule 0 of fuzzy control, "if re is ZO, rd is ZO,
If rm is NB, the target vehicle speed deviation value ve is set to ZO. "If the value of re = 18 is 11, the fitness to the antecedent part" re is ZO "of the rule is 11 from FIG.
If the value of d = 14 is “rd is ZO”, the fitness is 15,
Furthermore, the fitness of rm = 12 for “rm is NB” is 3.

The fitness of the antecedent part calculated in each rule is obtained by minimum synthesis (taking the smallest value from each value). In the case of illustration, min (11, 15,
3) = 3.

As shown in FIG. 9, the output fuzzy of each rule consequent is obtained. The figure shows the case where ve = ZO of rule 0.

As shown in FIG. 10, the head of the output fuzzy set of the consequent part is cut according to the fitness of the antecedent part of each rule. In the case of illustration, it cuts in 3.

When all such processes for each rule are completed, as shown in FIG. 11, the maximal synthesis of the output fuzzy sets for all the rules is performed.

The center of gravity is obtained from the synthesized output fuzzy set by non-fuzzy processing, and an output fuzzy variable ve which is a deviation from a median value is calculated.

The output fuzzy variable (ve) is converted into a vehicle speed deviation value (VE) which is an actual vehicle speed control output.

When such fuzzy inference is used for vehicle speed control, a multidimensional nonlinear function can be easily realized, and parameters of the nonlinear function can be set and changed intuitively by fuzzy rules, thereby expanding adaptability. Can be done.

[0030]

As is apparent from the above embodiments, the present invention comprises a threshing unit (4) and a cutting unit (8), and continuously cuts and threshes the culm and automatically controls the traveling speed. A hydraulic pump (1) comprising a vehicle speed controller (27) and a governor controller (34) for controlling the number of revolutions of the engine (20), and constituting a continuously variable transmission mechanism (17)
8) and a hydraulic motor (19).
To the traveling crawler (2)
The hydraulic motor (1) is attached to the transmission case (23)
9), for example, even if the vehicle speed controller (27) is arranged near the driving operation unit or the transmission case (23) remote from the engine (20), the traveling crawler (27) by the vehicle speed controller (27) is used. The traveling speed control (2) and the rotation speed control of the engine (20) by the governor controller (34) can be appropriately performed in association with each other.
7) can be used to change the structure and function of the electronic governor (25), and the governor controller (34) can be used to change the structure and function of the vehicle speed controller (27). Improvement can be easily achieved.

A vehicle speed controller (27) for continuously cutting and threshing grain stalks and automatically controlling the running speed, comprising a threshing unit (4) and a cutting unit (8), and an engine (20). Governor controller (3
4), a hydraulic pump (18) and a hydraulic motor (19) that constitute a continuously variable transmission mechanism (17) are provided, and the hydraulic pump (18) is connected to the engine (20). 2) A hydraulic motor (19) is connected to a transmission case (23) for driving the engine, and when the load is higher than a predetermined value, the governor controller (34) controls the engine (20) by RMAX (horsepower up mode). The continuously variable transmission mechanism (17) is decelerated by a vehicle speed controller (27).
7) The traveling speed control of the traveling crawler (2) by the traveling crawler (2) and the rotation speed control of the engine (20) by the governor controller (34) can be appropriately performed in association with each other, and the vehicle speed controller (27) Can be used to change the structure and function of the electronic governor (25), and the governor controller (34) can be used to change the structure and function of the vehicle speed controller (27). Problems such as stop of the engine (20) and reduction of rotation of the threshing unit (4) can be easily eliminated, and the threshing unit (4) can be driven with proper rotation to easily improve high-load workability. It can be aimed at.

[Brief description of the drawings]

FIG. 1 is a control circuit diagram.

FIG. 2 is an overall side view of the combine.

FIG. 3 is a partial explanatory view of an engine drive system.

FIG. 4 is a flowchart of vehicle speed control.

FIG. 5 is a flowchart of fuzzy control.

FIG. 6 is a characteristic diagram showing a relationship between an engine and a rack position.

FIG. 7 is an explanatory diagram showing a triangular fuzzy variable.

FIG. 8 is an explanatory diagram showing the fitness of each rule of a fuzzy variable.

FIG. 9 is an explanatory diagram of an output fuzzy set.

FIG. 10 is an explanatory diagram of a cut of an output fuzzy set.

FIG. 11 is an explanatory diagram of the maximum synthesis of an output fuzzy set.

[Explanation of symbols]

 (2) Traveling crawler (4) Threshing unit (8) Cutting unit (17) Continuously variable transmission mechanism (18) Hydraulic pump (19) Hydraulic motor (20) Engine (23) Transmission case (27) Vehicle speed control circuit (vehicle speed controller) (34) Governor control circuit (Governor controller)

Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (reference) B60K 41/00 301 B60K 41/00 301A 3G093 301D 3J552 F02D 29/02 301 F02D 29/02 301C F16H 61/02 F16H 61 / 02 // F16H 59:14 59:14 59:42 59:42 59:44 59:44 59:50 59:50 63:06 63:06 F term (reference) 2B074 AA05 AC02 BA15 CD02 DA02 DB01 DB03 DB04 DC01 EA13 EB04 EC02 GB02 GJ04 2B076 AA04 DB08 EA01 EC01 ED01 ED11 3D041 AA11 AA41 AA66 AB04 AC01 AC19 AC22 AD00 AD02 AD09 AD51 AE03 AE07 AE30 AF05 3D042 AA00 AA06 AB10 AB11 BA04 BB03 BC05 BD02 AD03 AD06 AD09 AE04 AE31 3G093 AA06 AA09 BA14 BA23 CA05 CA09 CB01 CB10 DA01 DA10 DB00 DB05 EA03 EA05 EB03 EC02 FA02 FA03 FA11 FA12 3J552 MA10 NA07 NB01 PA01 PA22 RB00 RC14 RC19 SA31 SB02 TA18 TB07 UA08 VA52Z VC03Z VC

Claims (2)

[Claims] 1. A threshing unit (4) and a reaping unit (8),
A vehicle speed controller (27) for continuously cutting and threshing the culm and automatically controlling the traveling speed, and an engine (2)
0), a governor controller (34) for controlling the number of revolutions is provided separately, a hydraulic pump (18) and a hydraulic motor (19) constituting a continuously variable transmission mechanism (17) are provided, and a hydraulic pressure is supplied to the engine (20). A combine having a pump (18) connected thereto and a hydraulic motor (19) connected to a transmission case (23) for driving the traveling crawler (2). 2. A threshing unit (4) and a reaping unit (8),
A vehicle speed controller (27) for continuously cutting and threshing the culm and automatically controlling the traveling speed, and an engine (2)
0), a governor controller (34) for controlling the number of revolutions is provided separately, a hydraulic pump (18) and a hydraulic motor (19) constituting a continuously variable transmission mechanism (17) are provided, and a hydraulic pressure is supplied to the engine (20). A pump (18) is connected, and a hydraulic motor (19) is connected to a transmission case (23) for driving the traveling crawler (2). When the load is equal to or more than a predetermined value, the governor controller (34) controls the engine (2).
0) controlling the rotational load in RMAX (horsepower up mode) and decelerating the continuously variable transmission mechanism (17) by a vehicle speed controller (27).