JP2006232067A - Turning control device for farmwork vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a turning control device for a farmwork vehicle capable of adjusting turning operation characteristic corresponding to each field condition, and switching to the original turning operation characteristic without troublesome adjusting operation. <P>SOLUTION: The turning control device for the farmwork vehicle has the turning operation characteristic C1 respectively regulating predetermined brake output A0, Ab to a starting end position S0 and a finishing end position Sf in an operation range of a turning operating tool. A control portion 31 is equipped, which control and instructs the brake output of a traveling means inside of turning according to an operation signal 34 of the turning operating tool on the basis of the turning operation characteristic C1. In the control portion 31, another turning operation characteristic Cs is added, and two turning operation characteristics C1, C2 are selectively set. Setting of the brake output Ab, Bb of the finishing end positions Sf can be separately changed by signals from setting inputting tools 35a, 35b provided so as to correspond. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a turning control device for an agricultural vehicle that controls turning operation by a turning traveling means such as a crawler provided in an agricultural vehicle such as a combine.

The agricultural vehicle turning control device for controlling the power transmission of the left and right crawlers, for example, turns by applying a braking force to the transmission system inside the turning as shown in Patent Document 1 previously proposed by the present applicant. The inner crawler is controlled to enable turning. The turning radius can be adjusted according to the operation of the turning lever by a predetermined turning operation characteristic that is changed in accordance with the left and right tilt angles of the turning lever such as a power steering lever that is a turning operation tool.
In addition, a normal turning force characteristic is set as a standard turning mode, and a gentle turning mode in which the braking force is set weaker than this is provided, and two turning operation characteristics are set so that the mode can be switched. It becomes possible to cope with.

  The two turning operation characteristics are defined by the start end braking output, the intermediate braking output, the end braking output, etc. with respect to the operation range of the turning operation tool for one of them. By providing a dial for setting the braking output and adjusting the braking force at the maximum tilting operation, even if there is a difference in soil conditions depending on the work place, the dialing operation can adjust the braking force characteristics appropriately Swift operability can be obtained.

However, if the turning operation characteristics are changed and adjusted with the dial as described above, the characteristics of both the standard turning mode and the gentle turning mode will fluctuate, so that an inappropriate turning operation will not occur when switching to the standard turning mode. In addition, there is a problem that it is necessary to make the adjustment operation again by using the dial, and when the dial operation is forgotten, a dangerous situation is caused by a turning operation different from the intention of the operator.
JP 2004-26029 A

  The problem to be solved is that it is possible to adjust the turning operation characteristics according to individual field conditions and to change the original turning operation characteristics without requiring troublesome adjustment operations. The object is to provide a turning control device.

  The invention according to claim 1 has a turning operation characteristic that defines a predetermined braking output for each of the start end position and the end position of the operation range of the turning operation tool, and responds to an operation signal of the turning operation tool based on the turning operation characteristic. In the agricultural vehicle turning control device comprising a control unit for controlling the braking output of the traveling means inside the turning, the control unit is set so that two turning operation characteristics can be selected together with other turning operation characteristics. The braking output at each terminal position can be individually set and changed by a signal from a corresponding setting input tool.

  When the turning control device configured as described above receives the operation signal of the turning operation tool in the control unit, by giving a control command in accordance with the turning operation characteristics defined by the braking output at the start position and the braking output at the end position, The aircraft turns in response to the operation of the turning operation tool. This turning action is determined by selection from two turning operation characteristics, and the braking output at each end position can be individually set and changed by a signal from the setting input tool. Therefore, even after the setting of one turning operation characteristic is changed, the other turning operation characteristic is maintained as it is.

  According to a second aspect of the present invention, in the configuration of the first aspect, the control unit is configured to be able to individually change the braking output at the start position of each turning operation characteristic, and the change range is a braking output at the corresponding end position. Is the upper limit. This turning control device can cope with a wide range of field conditions by individually changing the braking output at the start position of the turning operation characteristics, and the change range is restricted with the braking output at the end position as the upper limit.

  According to the configuration of the first aspect, the turning motion of the airframe is determined by selection from two turning operation characteristics, and the braking output at each terminal position can be individually set and changed by a signal from the setting input tool. Even after the setting of the turning operation characteristic is changed, the other turning operation characteristic is maintained as it is. Accordingly, the operator can change the setting of one of the turning operation characteristics to enable the turning operation in accordance with the individual field conditions, and then select the other turning operation characteristic in the normal moving traveling, etc. A stable turning operation is ensured by the original turning operability without being affected by the changing operation.

  With the configuration of claim 2, it is possible to cope with a wide range of field conditions by individually changing the braking output at the start position of the turning operation characteristics, and in this case, the change range is restricted with the braking output at the end position as the upper limit. Even if there is an erroneous operation when changing the braking output at the start position, an excessive braking output setting is prevented, so an unstable turning operation such as a sudden turning with a slight operation of the turning operation tool is avoided. be able to.

Embodiments specifically configured based on the above technical idea will be described below with reference to the drawings.
The combine which applies the turning control device of the agricultural vehicle according to the present invention is, for example, as shown in FIG. 1, a harvesting part A that harvests cereals from a farm field, a threshing part B that receives and threshs and sorts harvested grains A storage unit C for storing the threshed and sorted rice cake, a work machine such as an unloading unit D for discharging the stored rice cake to the outside of the machine, left and right crawlers E and E, which are travel means, and the work machine operation and the machine travel A control unit F and the like for operation are provided. This aircraft is provided with a prime mover (not shown) and a traveling transmission device for turning and controlling the left and right crawlers E, E, etc., and a turning control device.

  When the traveling power transmission of the combiner changes the traveling direction of the airframe by turning, the left and right traveling systems are used in the turning adjustment unit of the traveling transmission to adjust the rotation of the left and right crawlers E and E inside the turning. The rotation transmission inside the turning is switched from the traveling transmission system to the turning adjustment system, and the rotation speed inside the turning is adjusted via a switching clutch provided in the turning adjustment system.

  Specifically, as shown in FIG. 2, the travel transmission device 1 has a transmission power of a hydrostatic continuously variable transmission unit (HST) 2 that continuously changes the prime mover power so as to be able to move forward and backward. The auxiliary transmission shaft 6 that slidably supports the transmission switching member 5 that receives the power transmission from the receiving input shaft 3 and switches the transmission, the auxiliary transmission counter shaft 7 that outputs a multi-stage shift by the transmission switching member 5, and the power A side clutch shaft 9 that pivotally supports left and right side clutch gears 8, 8 detachably branching to the left and right transmission systems, and a gear 9 a that outputs high and low speeds for straight traveling and turning from the side clutch shaft 9, A switching clutch shaft 11 having preload-type double clutches (switching clutches) 10a and 10b for switching the transmission of 9b, a differential mechanism 12 for receiving an output gear 11g of the switching clutch shaft 11 in a differential case 12c, and the differential From left and right differential gears 13 and 13 for differential output to both sides of the structure 12, left and right output gears 14 and 14 meshing with the left and right side clutch gears 8 and 8, respectively, and the left and right output gears 14 and 14 The left and right traveling shafts 15, 15 and the like that are decelerated and transmitted are provided.

  The traveling transmission device 1 having the above-described configuration is configured so that the left and right traveling shafts 15 and 15 travel at the same speed from the left and right side clutch gears 8 and 8 through the left and right output gears 14 and 14 at the sub-shift speed selected by the transmission switching member 5. In order to synchronize the differential mechanism 12, the switching clutch shaft 11 receives the output of the high-speed gear 9a. Further, when turning, the control unit controls the side clutch gear on the inner side of the turn by tilting a so-called power steering lever provided on the control unit F as a turning operation tool having a tilt range in the left and right operation directions. 8 is cut off and the injection pressure of the double clutches 10a and 10b is controlled, whereby the decelerating power is transmitted to the differential case 12c of the differential mechanism 12, and reaches the traveling shaft 15 from the differential gear 13 inside the turning. The transmission system is adjusted.

  The turning adjustment by the traveling transmission device 1 is performed in accordance with the transmission speed difference between the inner and outer sides determined according to the injection pressure to the double clutches 10a and 10b within the deceleration range by the turning low speed gear 9b of the side clutch shaft 9. The aircraft can be turned with a different turning radius. That is, the transmission by the side clutch gear 8 inside the turn is cut off corresponding to the turning operation, and the input to the differential case 12c is controlled by the switching clutch shaft 11 so that the transmission speed inside the turn is slower than the outside. The vehicle can be turned by operating the power steering lever in the range from the brake turning where the inside of the turn is the stop speed (zero speed) and the spin-like sudden turning where the inside of the turn is the opposite direction to the outer transmission system.

  Specifically, as shown in the rotation speed diagram of FIG. 10, the left and right rotation speeds are the deceleration of the switching clutch shaft 11 with respect to the reference rotation input to the differential gear 13 from the side clutch gear 8 outside the turning. By inputting the decelerated rotation by the control to the differential case 12c, the differential gear 13 inside the turning is decelerated and controlled with a double speed difference. Accordingly, when the switching clutch shaft 11 is decelerated and rotated by half of the reference rotation outside the turning, the differential gear 13 inside the turning stops and further decelerates to become the reverse rotation speed (for example, 1/3 of the outside speed). Corresponding to the inner differential gear 13, the rotational speed of the inner traveling crawler E is controlled, and from the slow turning decelerated with respect to the outer traveling crawler E to the brake turning by the stop and the sudden turning of the reverse rotation. The aircraft is controlled to turn within the range.

  As shown in the control system diagram of FIG. 3, the control unit 31 of the turning control device that controls the traveling transmission device 1 tilts the turning operation switch 32 and the turning operation tool for switching the turning mode between the standard mode and the wet field. Power steering lever position sensor 34 for detecting the operation, adjustment dial 35a as a setting input tool for adjusting and setting the standard mode brake pressure (braking output at the end position), slow turning mode brake pressure (braking output at the end position) The adjustment dial 35b, which is a setting input tool for adjusting the setting of the brake, and the dial 39, which is a setting input tool for setting the standard initial braking force for setting the braking output at the start position, are input, and the switching clutch 10a, A proportional valve 10v for adjusting the injection pressure to 10b, and a side clutch control valve for engaging / disengaging the right or left side clutch 8, 8. v connected to the control output and the like.

  The control unit 31 includes a power steering operation detection unit 31a that determines a turning operation state based on detection signals such as a power steering tilt direction and an angle, and a turning hydraulic output control determination unit that determines a control hydraulic pressure (braking output) according to a turning operation characteristic. An input signal processing unit 31c, a control device driving unit 31d, and the like are provided around 31b.

  The control unit 31 controls the proportional valve 10v and the like in response to the signal of the power steering lever position sensor 34, thereby changing the injection pressure to the switching clutches 10a and 10b according to the tilting operation angle in the horizontal direction by the power steering. The left and right transmission systems decelerate the transmission system on one side from straight traveling at the same speed, and control processing for turning traveling is performed according to predetermined turning operation characteristics.

  As shown in the characteristic diagram (configuration example 1) of FIG. 4, the turning operation characteristic by the control unit 31 is the maximum angular position from the initial angular position (start position) S0 beyond the neutral dead zone in the tilting operation range of the turning operation tool. (Terminal position) The braking output at each tilt angle position up to Sf is represented by a characteristic line that defines the driving current A of the proportional valve 10v corresponding to the braking output. Further, in order to perform turning control in accordance with various conditions, the control unit is configured so that the characteristic line can be changed, or a plurality of types of characteristic lines can be set and switched.

  Specifically, in addition to the standard mode mainly for moving travel, the two turning operation characteristics of the gentle turning mode for turning the body in a wet paddy field are set to be switchable. In the standard mode, from the initial operating pressure current A0, which is the braking output at the start position, to the braking operating pressure current Ab, which is the braking output at the end position, corresponding to the angular positions of the start end S0 and the end Sf of the tilt operation range on the left and right sides. A standard mode characteristic line C1 that changes uniformly and is constant at a position Sb in the vicinity of the maximum angular position Sf is set. In the slow turning mode, a gentle turning mode characteristic line C2 is set that is uniformly changed from the initial operating pressure current B0 to the brake operating pressure current Bb, being smaller than the standard mode, and constant at the position Sb in the vicinity of the maximum angular position Sf. This is configured to perform switching corresponding to the ON operation of the mode switch 32.

  The braking outputs Ab and Bb at the end positions in the two mode characteristic lines C1 and C2 are configured such that the set values can be individually changed within predetermined increase / decrease ranges Fa and Fb by adjusting operations of the corresponding adjustment dials 35a and 35b. In this case, an inappropriate adjustment operation is prevented by restricting the brake operation pressure current Bb in the slow turning mode with the brake operation pressure current Ab in the standard mode as the upper limit.

  When the turning control device configured as described above receives the operation signal 34 of the turning operation tool from the control unit 31, the control according to the turning operation characteristics defined by the initial operating pressure currents A0 and B0 and the brake operating pressure currents Ab and Bb. By giving the command, the airframe turns according to the operation of the turning operation tool. The turning operation is determined by selection from the two turning operation characteristics C1 and C2, and the braking outputs Ab and Bb at the end positions can be individually set and changed by signals from the adjustment dials 35a and 35b. Even after one setting of the operation characteristics C1 and C2 is changed, the other turning operation characteristic is maintained as it is.

  Accordingly, the operator can change the setting of one of the turning operation characteristics to enable the turning operation in accordance with the field condition, and then select the other turning operation characteristic in the normal moving traveling, etc. Stable turning operation is ensured by the original operability without being affected by the above.

Next, another change adjustment mode of the turning operation characteristic will be described with reference to the characteristic diagram (configuration example 2) of FIG.
The brake operating pressure current Ab that is a braking output at a predetermined intermediate position Sm so that the brake operating pressure current Ab can be adjusted by the adjustment dial 35a with respect to the turning operation characteristics in the standard mode and can be adjusted according to the operator's preference. Is configured to be changeable within a predetermined increase / decrease range M by dialing.
Further, as shown in the characteristic diagram of FIG. 6 (configuration example 3), the increase / decrease range M is configured to restrict the brake operating pressure current Ab to the upper limit, thereby preventing an inappropriate adjustment operation by the dial. Can do. Furthermore, a turning operation characteristic having a high degree of freedom can be set similarly for a configuration in which the initial operating pressure current A0 is dial-adjusted instead of the intermediate operating pressure current Am.

Next, functional control of a farm machine such as a combine will be described.
As shown in FIG. 7 (a), the farm work machine 41 is equipped with a GPS receiver 42 with a GPS antenna 42 for position detection, and is displayed on the menu 43 of FIG. 7 (b) displayed on the meter of the cab. It is configured such that determination as to whether or not to execute specific control according to the detection position, for example, position interlock control on / off can be set by a selection operation. The menu 43 can be easily operated on a monitor screen such as a liquid crystal instead of a meter in order to improve operability.

  As shown in the system diagram of FIG. 8, the specific input / output control configuration is such that a signal is received by the GPS antenna 42 to the control unit 44 and a position signal from the GPS receiver is input, and the menu 43 is switched. The operation signal 43m for selection and selection and the switch / sensors 44s for device control are inputted, and the display of the menu 43 by the meter and the control output to the solenoid / relays 44a for device control are made.

  The farm work machine 41 needs to be safe by restricting operations unique to farm work as much as possible outside a specific place, for example, a farm field. However, since it may be operated by an operator's mistaken operation, or conversely, it may be necessary to operate other than the farm field, the various machine controls can be linked with the position by configuring the farm work machine 41 as described above. Since it can be set whether to perform, adaptability can be improved.

  For example, when the machine body 41 is more than a certain distance from the field, by restricting the wireless discharge auger operation, a situation in which the auger moves due to an erroneous operation during traveling on the road can be avoided, and safety can be improved. Further, when the check switch for maintenance is turned on, the control operation can be performed to ensure maintenance compatibility regardless of the position of the machine body.

  In addition, when the body position is on the road and is away from the work field by a certain distance or more by the determination of the body position, the sudden turn and the gentle turn are regulated and fixed to the standard turn. The sudden turn and the gentle turn are commonly called spin turn and mild turn, both of which have turning characteristics for handling field work. Since an inappropriate turning motion can be avoided, safety can be improved.

Next, handling of the vehicle body level control will be described.
As shown in FIG. 9 which is a control system diagram relating to the vehicle body horizontal control, detection signals from the inclination sensor 52 and the azimuth sensor 53 are input to the control unit 51, and the support angle of the aircraft is set to the traveling support unit by the control output 54. Adjust with a hydraulic cylinder. The direction sensor 53 can be configured with a small size and high performance by a magnetoresistive element or the like. When the aircraft is tilted, the control unit 51 holds the aircraft horizontally by a hydraulic cylinder in accordance with a signal from the inclination sensor 52. Further, when the output of the azimuth sensor 53 is greatly changed by a certain angle or more, the aircraft is turning. The vehicle body horizontal control is stopped and the vehicle is fixed in a neutral state along the ground inclination.

The vehicle body horizontal control is for stabilizing the threshing operation against the inclination of the field during the cutting operation, and the vehicle body horizontal control is performed due to the centrifugal force acting on the inclination sensor while the aircraft is turning. Since malfunction occurs, stable turning is possible by controlling the vehicle body horizontal control function according to the case as described above.
In addition, the tilt sensor 52 is combined with the azimuth sensor 53 and configured to correct the tilt detection according to the centrifugal force, thereby preventing malfunction during turning.

It is a side view of the combine which applied the turning control device for agricultural vehicles of the present invention. It is an expanded sectional view of a turning control device for agricultural vehicles provided with a turning adjustment part. It is a control system diagram of the control part of a turning control device. It is a turning operation characteristic figure (configuration example 1). It is a turning operation characteristic figure (configuration example 2). It is a turning operation characteristic view (configuration example 3). They are a farm machine (a) and a control operation menu (b). It is a block diagram (a) of function control of an agricultural machine, and a display example (b) of an operation menu. It is a control system diagram regarding vehicle body horizontal control. It is a rotation speed diagram of right and left at the time of turning.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Traveling power transmission device 8v Side clutch control valve 10v Switching clutch proportional valve 31 Control part 31a Power steering operation detection means 31b Turning hydraulic output control determination means 32 Mode changeover switch 34 Power steering lever position sensor 35a, 35b Adjustment dial (setting input tool)
39 Adjustment dial A0, B0 Initial operating pressure current (braking output at start position)
Ab, Bb Brake operating pressure current (braking output at end position)
Am Intermediate working pressure current C1 Standard mode characteristic line C2 Slow turn mode characteristic line F1, F2 Increase / decrease range S0 Start position Sf End position Sm Intermediate position

Claims (2)

  A turning operation characteristic that defines a predetermined braking output for each of the start end position and the end position of the operation range of the turning operation tool, and braking of the traveling means inside the turning according to the operation signal of the turning operation tool based on the turning operation characteristic. In the agricultural vehicle turning control apparatus including a control unit for controlling the output, the control unit is configured so that two turning operation characteristics can be selected in combination with other turning operation characteristics, and the braking output of each end position is set. Is a turn control device for a farm vehicle characterized in that the setting can be individually changed by a signal from a corresponding setting input tool. 2. The farm work according to claim 1, wherein the control unit is configured to be able to individually change a braking output at a start position of each turning operation characteristic, and the change range has a braking output at a corresponding end position as an upper limit. Car turning control device.