JP2002192982A - Combine harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent drop in threshing performance caused by the variation of rotation of an engine 16 according to a working load by reducing speed by automatic vehicle speed control until the rotation of the engine 16 is decreased, and slowing the speed while the rotation of the engine 16 is kept almost constant to easily eliminate such malfunction that the rotation of a threshing cylinder 6 is varied. SOLUTION: A drive transmission member 28 conducting vehicle speed control based on load of the engine 16 and a vehicle speed sensor 34 is installed, and automatic vehicle speed control is conducted while the rotation of the engine 16 is kept almost constant.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a combine for continuously cutting and threshing grain culms.

[0002]

SUMMARY OF THE INVENTION Conventionally, Japanese Unexamined Patent Publication No.
As shown in Japanese Patent Application Laid-Open No. 08255, when the engine load changes due to a change in the work load and the engine speed changes,
There is a technology that automatically changes the vehicle speed. In addition, 56
As disclosed in JP-A-155363, there is a technique for detecting a threshing load of a threshing unit and automatically changing the vehicle speed. However, the above-mentioned prior art does not
Since the rotation of the engine is restored by performing the vehicle speed control, the rotation of the engine is not kept constant, and the rotation of the handling cylinder fluctuates due to a change in the work load.

[0003]

According to the present invention, there is provided a traveling speed change member for controlling a vehicle speed based on an engine load and a vehicle speed sensor, and performs a vehicle speed control while performing a control for maintaining an engine speed substantially constant. The vehicle speed is reduced by the vehicle speed control before the engine speed decreases, and the problem of fluctuations in the rotation of the handling cylinder can be easily eliminated by lowering the vehicle speed while keeping the engine speed substantially constant. Thus, it is possible to prevent the threshing performance from being lowered due to a change in the engine speed.

[0004]

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 vehicle speed control circuit diagram, FIG. 2 is an overall side view of the combine, and FIG.
Is a track frame on which the traveling crawler (2) is mounted,
(3) is a machine frame mounted on the track frame (1), (4) is a threshing unit which stretches a feed chain (5) to the left side and has a built-in handling cylinder (6) and a processing cylinder (7). , (8)
Is a mowing unit having a cutting blade and a grain culm transport mechanism, etc., (9) is a straw chain (10), a straw processing unit facing the end of (11), (12) is a driver's seat (13) and a driving operation unit ( 14)
A driver's cab, (15) an engine section in which an engine (16) is installed, (17) an engine section (15) disposed in front of the engine section (15), and a grain from the threshing section (4) being lifted. 18) a grain tank to be stored via the above-mentioned grain tank (1);
7) This is an upper discharge auger that takes out the inner grains to the outside, and is configured to continuously perform cutting and threshing operations.

[0005] As shown in FIG. 4, the vehicle speed of the combine is changed by a variable displacement hydraulic pump (21) and a hydraulic motor (22) constituting a continuously variable transmission mechanism (20) which is an HST. The input shaft (21a) of the hydraulic pump (21) is operatively connected to the output shaft (16a) of (16) via a belt and a gear transmission mechanism (23), and the drive sprocket (24) of the traveling crawler (2) is connected. The output shaft (22a) of the hydraulic motor (22) is operatively connected to the transmission case (25) having the
The input shaft (6a) of the cylinder is connected to the belt and gear transmission mechanism (2).
6) and is linked to the output shaft (16a) of the engine (16) via the link (6).

The engine (16) has an electronic governor (27) 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 (21). Has a DC-type servomotor (28) for controlling the swash plate angle to adjust the hydraulic discharge amount, and controls the vehicle speed to be increased or decreased by forward / reverse drive of the motor (28). ing.

As shown in FIG. 1, a vehicle speed control circuit (29), which is a fuzzy inference vehicle speed calculation circuit for driving and controlling the servo motor (28), includes an automatic switch (30) for automatically controlling the vehicle speed, and the reaper. A threshing load sensor (31) for detecting a certain level of the threshing load in the section (8), and a threshing load sensor (32) 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 (33) for detecting a certain or more cutting load on the straw cutter
A vehicle speed sensor (34) for detecting a vehicle speed, an HST oil pressure sensor (35), and a vertical transfer device (3) for the cutting unit (8).
The fuel injection pump is connected to a feed rate sensor (37) which detects the feed rate of the grain culm fed to the threshing unit (4) based on the thickness of the grain culm conveyed provided on the clamping guide rod of (6). Governor control circuit (3) for driving and controlling the rack position adjusting mechanism (27a) of the governor (27) for adjusting the injection amount of the governor (27)
8) An engine rotation sensor (39) for detecting the rotation of the engine (16) and a governor rack position sensor (40) for detecting the position of the injection amount adjusting rack in the governor (27) are input. Connecting the control circuit (29)
(38) are connected for communication, and each of these sensors (31)
(32) (33) (34) (35) (37) (39)
Based on the detection of (40), constant control of the engine speed, emergency stop of the engine, and vehicle speed control based on fuzzy inference are performed.

A potentiometer-type transmission for detecting the amount of rotation of a main shift lever (41) for setting a target vehicle speed and performing a manual gear shift operation during automatic control and for controlling the drive of the servomotor (28) according to the amount of rotation. Lever position sensor (4
2), wherein the position sensor (42) is input-connected to the control circuit (29), and the shift lever motor (43) that drives and controls the shift lever (41) to the neutral or high / low speed side. The control circuit (29) is connected to the output so that the shift lever (41) is returned to the neutral position via the drive motor (43) when the engine (16) is stopped in an emergency.

As described above, in a combine harvester that continuously harvests culms by cutting and threshing, the electronic governor (27) for controlling the output of the engine (16) and the driving speed of the traveling crawler (2) are controlled. A vehicle speed control circuit (29), which is a vehicle speed control controller, is mounted. The electronic governor (27) keeps the engine (16) at an appropriate speed with respect to fluctuations in harvesting work load, running load, and the like. 16) Eliminating the problem that the rotation speed is changed and the harvesting operation speed is changed, and eliminating the problem that the engine (16) rotation is reduced and the traveling crawler (2) is insufficient in driving force, and the traveling speed crawler by the vehicle speed control circuit (29) is eliminated. (2)
The driving speed control is performed properly, and the vehicle speed control is automatically performed based on the harvesting work load. The driving speed of the traveling crawler (2) is increased / decreased in proportion to the increase / decrease of the harvesting work load to reduce the overload. The amount of culm to be harvested and threshing is increased or decreased while preventing the operation, thereby simplifying the manual operation of the operator and improving the efficiency of the harvesting operation. A servomotor (28), which is a traveling speed change member for controlling the vehicle, is provided to control the speed of the vehicle while controlling the rotation speed of the engine (16) to be substantially constant. For example, a grain culm sent to the threshing unit (4) The speed of the engine (16) is reduced by the vehicle speed control before the rotation of the engine (16) decreases based on a change in the supply amount of the engine (16), and the vehicle speed is reduced by keeping the rotation of the engine (16) substantially constant to reduce the vehicle speed. Eliminate the problem of rotation varies, the engine (16) rotation is changed by the workload threshing performance to prevent a reduction.

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

Now, reference values and detected values of the respective modules are initialized, and the sensors (31) to (35) (37) (3)
9) When the detection value at (40) is input and the emergency signal is output at the time of abnormal work in the mowing unit (8), threshing unit (4), straw cutter unit, or traveling unit, the engine (16) ) Is performed, and each sensor (34) is operated during normal operation.
(39) Reception of engine data and counting of vehicle speed data based on the detection in (40) are performed.

Then, 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 input data of the engine (16), and the vehicle is controlled to the target vehicle speed to perform traveling. Things.

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

1) As shown in FIG. 7, the relationship between the input rack position (fuel injection amount) of the electronic governor (27) and the engine speed is represented by a maximum load curve (RMAX) and a no-load curve (RIDL). The rack position deviation value (RE) and the maximum output deviation value (RM) are calculated based on the characteristic diagram,
The change rate (ds (n)) of the grain culm supply amount is calculated based on the detection of the supply amount sensor (37).
pm, the maximum target value of the rack that becomes the target maximum injection amount is A, the no-load value of the rack that becomes the injection amount at no load is B, and the target injection amount when the load ratio is set to 80%. The value C of the target rack value (RACT) is 80% = C−B /
It is calculated from the relational expression AB. That is, assuming that the actual output data (ract) is D, and the limited maximum injection amount value E output from the control circuit (38) which is an electronic governor controller by constant control of the rotation speed of the engine (16) at that time, the target rack The input value of the fuzzy inference from the value C, the maximum target value A to the rack deviation value RE (= DC), the maximum target deviation value RM (= EA), and the change rate of the grain culm supply amount (ds (n)). And let Although constant control of the engine speed (for example, constant control at 2625 rpm) is performed, the rotation sensor (39) is controlled due to a control delay of the rack position adjusting mechanism (27a), a stepwise control, a sudden change in 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. As shown in FIG. 8, the rate of change of the supply amount is detected by the reaping conveyance calculated from the voltage input value (Vs) of the supply amount sensor (37) and the vehicle speed (v). Speed (v
k) (the vehicle speed and the mowing transport speed are synchronized), and the supply amount (S (n)) is S (n) = Vs × vk × α
(Α is a proportional constant) is calculated at regular intervals from the relational expression.
The difference ds between the supply amount (S (m)) before a certain time and the current supply amount (S (n)) is stored in the ring counter sequentially.
(N) (ds (n) = S (m) -S (n)) is calculated as the rate of change in the supply amount. The conveying time from the point of passing the supply amount sensor (37) to the time of supply to the threshing unit (4) is set, and the cereal stem that has passed the position of the sensor (37) is supplied to the threshing unit (4). This is the time until output as the engine load.

[0015] As shown in Fig. 9, it is represented by five fuzzy sets of PB (positive and large), PS (positive and small), ZO (zero), NS (negative and small), and NB (negative and large). These values are normalized to (RE) (ds (n)) (RM) so as to correspond to the membership functions, and are converted into fuzzy variables (re) (ds) (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 RE = 4, RM = -2 as input data from the electronic governor (27), and the grain culm supply amount change rate When ds (n) = 0 is input, re = 18, ds = 14, rm = 12 so as to correspond to the membership function.
Is converted to the input variables of

2) The degree (grade) at which the values of the variables (re), (ds), and (rm) are included in these five sets is shown in FIG.
Are calculated as weights of the triangular membership function.

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

3) For each rule, a variable that is the antecedent of the rule, that is, each membership value (re) (ds) (r)
The fitness of m) is calculated from FIG.

For example, if the if-then type rule of fuzzy control is 0, "if re is ZO, ds is ZO,
If rm is NB, the target vehicle speed deviation value ve is assumed to be ZO. "If the value of re = 18 is 11, the fitness for the antecedent part" re is ZO "of the rule is 11 from FIG. 10, and ds = 14. Is "1 for rd is ZO".
5, and the value of rm = 12 has a fitness of 3 for “rm is NB”.

4) 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 the example, min (11,
15, 3) = 3.

5) As shown in FIG. 11, an output fuzzy of each rule consequent is obtained. The figure shows ve = ZO of rule 0
in the case of.

6) As shown in FIG. 12, the head of the output fuzzy set of the consequent part is cut by the fitness of the antecedent part of each rule. In the case of illustration, it cuts in 3.

7) 8) When all such processes for each rule are completed, as shown in FIG. 13, the maximal synthesis of output fuzzy sets for all rules is performed.

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

10) Convert the output fuzzy variable (ve) 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.

On the other hand, as shown in FIG. 14, when the rack position sensor (40) detects that the driving of the engine (16) has been stopped by an emergency signal from a straw cutter or the like during the work, the main shift is performed. The rack value (RAC) which is the rack position of the electronic governor (27) is returned to neutral.
T) is less than the minimum rack value (RMIN) (RACT <
When RMIN) is detected for a predetermined count number (A0), that is, for a predetermined time or more, the engine stop flag is turned on, and when there is a shift lever (41) other than neutral, the lever motor (43) is driven to operate the lever (41). Is returned to the neutral position, an emergency output for stopping the fuel injection in the governor (27) is output, and the emergency output is released when the lever (41) returns to the neutral position. As a result, when the engine (16) is emergency-stopped and the engine (16) is started next, the main shift is not started except in the neutral position, and is started only when the main shift is in the neutral position. 16) A sudden start after an emergency stop can be prevented, and safety can be improved.

As described above, in the combine which continuously performs the harvesting operation of cutting and threshing the culm, the electronic governor (27) for controlling the output of the engine (16) and the driving speed of the traveling crawler (2) are controlled. A vehicle speed control circuit (29), which is a vehicle speed control controller for
According to 7), the vehicle speed control is automatically performed based on the harvesting work load while controlling the rotation of the engine (16), and the engine (16) can be started only when the traveling shift is in the neutral position. The automatic governor (27) automatically controls the rotation of the engine (16) by the electronic governor (27), while the vehicle speed is automatically controlled by the harvesting work load. The electronic speed governor (27) is supplemented by the vehicle speed control to complement the threshing unit (4). In addition to securing the driving speed, the engine (1
6) After an emergency stop or stop, the engine (16)
Even if the engine is restarted, the engine (16) is restarted and the vehicle does not suddenly start in a state where the traveling shift is at a position other than the neutral position.
The present invention eliminates the problem that the aircraft suddenly starts due to the start of the engine (16), simplifies the manual driving operation of the operator, and improves the vehicle speed control function and the harvesting work efficiency.

As shown in FIG. 15, when the load of the engine (16) suddenly changes and exceeds the target load, the lever position sensor (42) turns the lever to a vehicle speed corresponding to the engine load. The position is converted and determined, and the shift lever (41) is driven and controlled by the motor (43) to the lever position serving as the converted position so that the vehicle speed responds to a sudden load change. Transmission mechanism (20) and transmission case (2
5) A quick response without control delay can be performed as compared with the feedback of the vehicle speed sensor (34) responding via
More appropriate vehicle speed control can be performed.

In the above-described embodiment, the supply amount sensor (37) is provided on the clamping guide rod of the vertical conveying device (36). However, the supply amount sensor (37) is provided on the clamping rod of the feed chain (5). Thus, the supply amount of grain culm fed into the threshing unit (4) may be detected from the layer thickness of the grain culm conveyed by the feed chain (5).

In the embodiment, a self-removing type combine is described as an example, but a full-load type ordinary type combine may be used.

[0033]

As is apparent from the above embodiments, the present invention provides a traveling speed change member (28) for controlling the vehicle speed based on the load of the engine (16) and a vehicle speed sensor (34), and reduces the rotational speed of the engine (16). The vehicle speed control is performed while performing control to maintain substantially constant, and the vehicle speed is reduced by the vehicle speed control until the rotation of the engine (16) decreases, and the vehicle speed is controlled while maintaining the rotation of the engine (16) substantially constant. By lowering the rotation speed, it is possible to easily eliminate the problem that the rotation of the handling cylinder (6) fluctuates, and to prevent the rotation of the engine (16) from changing due to the work load and the threshing performance from lowering.

[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 an overall plan view of the combine.

FIG. 4 is a partial explanatory view of an engine drive system.

FIG. 5 is a flowchart of vehicle speed control.

FIG. 6 is a flowchart of fuzzy control.

FIG. 7 is a characteristic diagram showing a relationship between an engine and a rack position.

FIG. 8 is a flowchart of detecting the supply of cereal stems.

FIG. 9 is an explanatory diagram showing a triangular fuzzy variable.

FIG. 10 is an explanatory diagram showing the fitness of each rule of a fuzzy variable.

FIG. 11 is an explanatory diagram of an output fuzzy set.

FIG. 12 is an explanatory diagram of a cut of an output fuzzy set.

FIG. 13 is an explanatory diagram of Maxim synthesis of an output fuzzy set.

FIG. 14 is a flowchart for an emergency stop of the engine.

FIG. 15 is a flowchart at the time of a sudden change in engine load.

[Explanation of symbols]

 (16) Engine (28) Servo motor (traveling member) (34) Vehicle speed sensor

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) F02D 1/08 F02D 1/08 A 3G093 29/00 29/00 H 45/00 305 45/00 305D 322 322C F-term (reference) 2B076 AA03 CC02 EC02 EC09 ED01 3D041 AA66 AA67 AB04 AC01 AC19 AD02 AD10 AD31 AD51 AD53 AE03 AE31 AF01 AF05 3D044 AA03 AA04 AA12 AA27 AA47 AB04 AC03 AC05 AC22 AC26 AC42 AD02 AD17 GA18 A08 AE03 AA07 BA03 BA13 BA32 CA01 CA07 DA04 DA36 EB16 EC04 FA05 FA06 FA10 FA18 FA33 FA36 3G093 AA06 AA09 AA15 AB05 BA02 BA14 CA01 CB10 CB11 CB12 DA01 DA10 DA12 DB05 DB11 DB22 EA03 EA05 EB03 EB07 EC04 FA07 FA12

Claims (1)

[Claims] A traveling transmission member (28) for controlling a vehicle speed based on an engine (16) load and a vehicle speed sensor (34).
Wherein the vehicle speed control is performed while performing control for maintaining the engine (16) rotation speed substantially constant.