JP2600722Y2 - Mobile harvester direction control device - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a direction control device for a mobile harvester such as a combine, and more particularly to a manual steering device in a direction control device having an automatic direction control device.

[0002]

2. Description of the Related Art Generally, a directional control device of a mobile harvester, for example, a combine, has a manual directional lever and an automatic directional control device. Directional sensor is provided in the lower front part of the traveling aircraft,
Further, the side clutch is disengaged and controlled based on the direction sensor to automatically correct the direction of the traveling body.

When the direction sensor comes into contact with the cereal stem and intermittently generates an on / off signal, if it becomes necessary to operate the left and right side clutches of the manual steering device, the manual operation lever is operated within a predetermined range. The clutches of the left and right side clutch devices are controlled to be disengaged, and the clutches of the left and right side clutch devices are disengaged and controlled by operating the manual operation lever beyond the predetermined range.

[0004]

However, during the operation of the manual operation lever of the manual steering device during the intermittent generation of the ON / OFF signal due to the direction sensor abutting on the grain stalk as in the prior art, the clutch is disengaged. Since the operation was performed by continuous operation from to the brake operation, some operators may mistakenly set the clutch release operation as the brake operation operation, so the aircraft suddenly turned against the operator's intention,
It was happening that it was out of line.

The present invention has been made in order to solve the above-mentioned inconvenience. When the direction sensor comes into contact with the grain stalk and generates an on / off signal intermittently, the manual operation lever of the manual operation device is operated. An object of the present invention is to provide a directional control device for a mobile harvester that prevents the operation from being disengaged.

[0006]

According to the present invention, there is provided a left and right side clutch device having a clutch and a brake, and the clutches of the left and right side clutch devices are determined based on direction sensors (3) and (5) installed in front of the fuselage. A direction automatic control device for controlling the disengagement, and a disengagement control of the clutches of the left and right side clutch devices based on an operation of a predetermined range of the manual operation member (11), and an operation of the manual operation member (11) exceeding the predetermined range. in mobile harvester comprising and a manual steering device which operates the brake with based controls disengage the clutch of the right and left side clutch device, the direction
Sensors (3, 5) are installed at positions where they can contact the planted grain culm.
Is, the direction sensor (3), and (5) is based on what is happening intermittently turned on and off signals in contact with the culms (6), the work determining means for determining working (C1) When the determining means (C1) determines that the work is being performed, the brake operation stopping means (C) stops the braking operation of the manual steering device.
2).

[0007]

According to the above construction, when the mobile harvester performs a mowing operation, the direction sensors (3) and (5) are planted in the field.
Based on the intermittent output of the ON / OFF signal in contact with the grain culm , the work determination means (C1) determines that a work such as a mowing operation is being performed. In this state, when the operator corrects the direction by operating the manual operation member (11), even if the manual operation member (11) is operated up to the brake range, the brake is stopped by the brake operation stopping means (C2). Does not operate, and the direction of the aircraft is smoothly corrected by the disengagement of the clutch. Meanwhile, the mobile harvester
The heading is reached by taking the direction, the direction sensor (3),
When the on / off signal from (5) is no longer output,
Stop the manual operation member (11) immediately after
It is possible to perform turning operation by operating to the
You.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment according to the present invention will be described below with reference to the drawings.

As shown in FIG. 1, the combine 1 has a large number of dividers 2 in the front part of the fuselage. The direction sensor 3 is installed on the left side, ie, the uncut side divider 2a, and the right side, ie, the existing one. The direction sensor 5 is installed in the cutting side divider 2b. The two-way sensors 3 and 5 are provided with sensor arms 3a and 5a, respectively, toward the interior of the machine, and have sensor switches 3b, 3c, 5b and 5c.
(See FIG. 4 (a)).
a, 5a is rotated in contact with the cereal stem 6 planted in the field ,
Each sensor switch 3b, 3c, 5b, 5c operates based on the rotation range of the sensor arm 3a, 5a. The side clutch / brake operating valve 7 interposed in the hydraulic circuit shown in FIG. 3 by a combination of opening and closing operations of the sensor switches 3b, 3c, 5b, 5c is controlled by the control unit C shown in FIG.
To control the running direction of the aircraft.

Further, as shown in FIG.
An operation panel 10 is disposed on an upper surface of the manual operation lever 10. On the right side of the operation panel 10, a manual operation lever 11 is provided so as to be rotatable in the left-right and front-rear directions. Controls the elevation of the pre-processing unit by operating in the front-rear direction, and operates the left and right side clutches and brakes by operating in the left-right direction. The manual operation lever member 1
A push button switch 12 is provided at the tip of 1.
A direction automatic switch 13 is provided on the left side of the operation panel 10.
Are arranged. As shown in FIG. 2 (b), a manual steering device operated by the manual operation lever 11 has a potentiometer at the lower end of the manual operation lever 11 for detecting the tilt angle of the manual operation lever 11. 15 are provided. Below the manual operation lever 11, an arm 16 rotatably supported by a support shaft 16a is provided.
One end of the arm 16 is connected to an arm 19 via a wire 17. The arm 19 is rotated about a support shaft 19a, and operates the variable relief valve 21 by the other end. 22 is a hydraulic valve assembly,
7 is a side clutch / brake operation valve, and 23 is a bypass valve.

Therefore, when the manual operation lever 11 is operated, for example, rightward within a predetermined range, the potentiometer 15
The tilt angle of the operated manual operation lever 11 is detected, and the detected voltage of the meter is transmitted to the control unit C. Then, the control unit C transmits a signal to the solenoid 7b of the side clutch / brake operating valve 7, activates the right side clutch cylinder 24b, and controls the disengagement of the right side clutch. Further, when the manual operation lever 11 is operated rightward beyond a predetermined range, the manual operation lever 1
The arm 16 is rotated in conjunction with 1 to pull the wire 17 and further rotate the arm 19 to control the variable relief valve 21 to operate the right side brake cylinder and operate the right side brake. It has become. The same applies to the operation of the manual operation lever 11 to the left.

As shown in FIG. 3, the hydraulic circuit communicates oil from a hydraulic pump 25 to a side clutch / brake operating valve 7 through a filter 26, and the side clutch / brake operating valve 7 Side brake cylinder 27 together with cylinders 24a and 24b
a, 27b, and further to the bypass valve 23 together with the variable relief valve 21. Then, the braking pressure of the left and right brakes is controlled by the throttle amount of the variable relief valve 21 corresponding to the tilt angle of the manual operation lever 11 due to the operation of the manual operation lever 11 exceeding a predetermined range. In the drawing, 28 is an orifice, 29 is a check valve,
Reference numeral 30 denotes an oil tank, and 31 denotes a main relief valve.

Then, as shown in FIG. 4 (a), signals from the sensor switches 3b, 3c, 5b, 5c of the direction sensors 3, 5 installed in the front of the fuselage of the combine 1, the potentiometer 15 of the manual operation lever 11 Is input to the control unit C. Also, turn on directional car control
Off-direction automatic switch 13, push button switch 12, change switch 46 in keyboard box 46
a, switch 46b, input keys 46c, 46c,.
Are also input to the control unit C. The control unit C is provided with solenoids 7 for the left and right side clutch / brake operating valves.
output to the side clutch cylinders 24a, 2b.
4b, operate the side brake cylinders 27a, 27b. Further, the control unit C outputs to the solenoid 23a of the bypass valve 23 to control the bypass circuit 34. In the control section C, a work determination means C1 and a brake operation stopping means C2 are stored.
Determines that a mowing operation is being performed based on an intermittent on / off signal from the direction sensor 3,
2 stops the brake operation of the manual steering device during the mowing operation. Note that the control unit C includes the CPU 33 and R
OM35, RAM36, input interface 3
7, a microcomputer system including an output interface 38 and the like.

FIG. 4B is a functional block diagram showing the direction control device of the mobile harvester according to the present invention.

Next, regarding the operation based on the above configuration,
5, 6, 7, 8, 9 and 10 will be sequentially described.

First, the direction control according to the present embodiment will be described with reference to FIG.

When the combine 1 is traveling in a field, the sensor arm 3a of the left direction sensor 3
It intermittently contacts the grain culm 6 planted in the field . Then
The direction sensor 3 outputs an intermittent ON / OFF signal to the control unit C.
, And based on the signal, the reaping operation determining means C1 of the control unit C determines that the reaping operation is being performed (S
1). Then, when the reaping work determination means C1 determines that the reaping work is being performed, the control unit C is performing travel control of the work (S2). Next, when the direction sensor 3 is transmitting the intermittent signal to the control unit C and the direction automatic switch 13 is in the ON state (S3), the control unit C is performing automatic direction control (S4).
Further, the control unit C is provided with a manual operation lever 1 by an operator.
It is determined whether or not the control unit C is operating the manual operation lever 11 (S5).
Receives a signal based on a combination of the opening and closing operations of the sensor switches 3b and 3c of the direction sensor 3, and determines whether the operating direction of the body is the left turning operation direction, the right turning operation direction, or the straight traveling operation direction. (S11), when the operation direction of the body is the left turning operation direction, the control unit C performs inching control including on-time and off-time based on a signal based on a combination of opening and closing operations of the direction sensor switches 3b and 3c. A signal is transmitted to the solenoid 7a of the side clutch / brake operating valve 7, the left side clutch cylinder 24a is operated, and the left side clutch is disengaged (S1).
2). When the operation direction of the body is the right turning operation direction, the control unit C outputs an inching control signal including an on-time and an off-time based on a signal based on a combination of opening and closing operations of the direction sensor switches 3b and 3c. The signal is transmitted to the solenoid 7b of the brake operation valve 7, the right side clutch cylinder 24b is operated, and the right side clutch is disengaged (S14).

Further, when the operating direction of the body is the straight running direction, the control unit C does not transmit a signal to the solenoids 7a and 7b of the side clutch / brake operating valve 7, so that the left and right side clutches do not operate.

When the control unit C determines that the manual operation lever 11 is being operated (S5), the control unit C cancels the automatic direction control (S6). Potentiometer 15 is
The tilt angle of the lever 11 due to the operation of the manual operation lever 11 is detected, and the detected voltage of the meter is transmitted to the control unit C.
Then, the controller C determines whether the operation of the manual operation lever 11 is within the predetermined range or beyond the predetermined range (S7), and determines whether the operation of the manual operation lever 11 is outside the predetermined range. In some cases, the brake operation stopping means C2 controls the solenoid 23a of the bypass valve 23, operates the bypass valve 23, reduces the brake operating pressure, and stops the operation of the left and right brake cylinders 27a, 27b (S
8). On the other hand, when the operation of the manual operation lever 11 is within the predetermined range, the brake operation stopping means C2 is
No signal is sent to the solenoid 23a of No. 3, and the bypass valve 23 does not operate (S9). Next, the control unit C
Determines whether the left or right operation direction of the manual operation lever 11 is left or right (S10). If the operation direction is left, the control unit C controls the solenoid 7a of the side clutch / brake operation valve 7 to operate. A signal is transmitted, the left side clutch cylinder 24a is operated, and the left side clutch is disengaged (S12). On the other hand, when the operation direction of the manual operation lever 11 is the right direction, the control unit C transmits a signal to the solenoid 7b of the side clutch / brake operation valve 7, activates the right side clutch cylinder 24b, and releases the right side clutch. Cutting control is performed (S14).

Further, the combine 1 reaches the headland as shown in FIG. 8 and interrupts the harvesting operation, and at the same time, interrupts the intermittent signal from the direction sensor 3, whereby the operation determining means C1 determines that the operation is not being performed. (S15). Then, in this state, the operation angle of the manual operation lever 11 is detected, and even if the operation angle exceeds the predetermined range, the bypass valve 23 is not turned on, and the variable relief valve 21 according to the operation angle is not turned on. By increasing the brake working pressure by restricting,
The side brake cylinders 27a and 27b are operated. The same applies to traveling on a road.

Further, when the automatic direction switch 13 is off, the process proceeds to step 7 via the path b.

Next, a partially modified embodiment will be described with reference to FIG.

In the flow shown in FIG. 5, the combine 1
When the operator operates the manual operation lever 11 during the automatic direction control in the field work of the above, the smooth running of the body may not be able to move. Therefore, the present embodiment adds steps S21 and S22 to store the inching control signal in the output data storage means C3 as left turn output data when the body is to be turned left during automatic direction control. When the body is in the right turning operation direction, the inching control signal is stored in the output data storage means C3 as right turning output data. Further, steps S23, S
24, the operating state maintaining means C5 transmits the left turning output data stored in the output data storing means C3 to the direction automatic control device when the operation direction of the manual operation lever 11 is the left direction, and changes the operating state. maintain. When the operation direction of the manual operation lever 11 is rightward, the operating state maintaining means C5 transmits the right turning output data stored in the output data storing means C3 to the automatic direction control device to maintain the operating state. Shall be.

Further, a partially modified embodiment will be described with reference to FIG.

The flow shown in FIG. 6 cannot cope with the case where the brake operation by the operation of the manual operation lever 11 becomes necessary. Therefore, the present embodiment adds step 31 and, when the operation of the manual operation member 11 exceeds the predetermined range,
When the push button switch 12 provided at the tip of the member 11 is turned on, the solenoid 23a of the bypass valve 23 is turned on.
This is to stop the signal transmitted to.

Next, FIG. 8 will be described.

The cutting operation of the combine 1 in the field is shown.

In general, there are two types of mowing operations: so-called mowing, which works along a row, and so-called lateral mowing, which is performed in a direction perpendicular to the row.

Next, an embodiment in which a part of the flow relating to the automatic direction control is partially modified will be described with reference to FIG.

In the flow shown in FIG. 5, since the given control data stored in the ROM 35 is used as the control data for the automatic direction control, the combine 1 is not sufficiently operated under various working conditions. There was a case that could not be handled. Therefore, in the present embodiment, steps S52, S53, S
Add 55. First, a plurality of standard control data is stored in the ROM 35 in advance. When the direction automatic switch 13 of the combine 1 is turned on (S51), the control unit C transmits the normal control data stored in the ROM to the C.
The data is read into the PU 33 (S52). Therefore, when the control data switch 46b for changing the control data from the plurality of standard control data to the specified control data is operated (S5).
3) The control data replacing means (C6) replaces the specified control data from the plurality of control data stored in the ROM 35 with the normal control data (S55). As control data, inter-row data, inter-plant data, weed data, and wetland degree data are used, but other condition data may be added. Steps S56 to S59 are the same as steps S11 to S14 in FIG.

An embodiment in which a part of the flow relating to the automatic direction control is partially modified will be described with reference to FIG. In the flow shown in FIG. 9, since the control data is designated from a plurality of standard data stored in the ROM 35 as the control data for the automatic direction control, the operator cannot input the control data according to the work condition.
Therefore, in the present embodiment, the control data change switch 46 for changing the control data by adding steps S60 to S62.
a is turned on (S60), the control data input keys 46c,
When the control data is input by operating 46c... (S6
1) The input control data replacing means (C7) replaces the input control data with the designated control data (S6).
2).

[0032]

[Effects of the Invention] As described above, according to the present invention,
The direction sensor of the combine comes in contact with the culm planted in the field, and the brake of the side clutch device operates even if the manual operation member is operated beyond the predetermined range intermittently while the on / off signal is generated. As a result, sudden turning of the body is eliminated, so that it is possible to prevent an unfamiliar operator from malfunctioning due to a malfunction of the manually operated member.

Next, when the body is turned by a predetermined operation of the manual operation member, the operation state of the automatic direction control device can be continuously maintained, so that it is possible to prevent an unfamiliar operator from malfunctioning due to a malfunction of the operation member. it can.

Further, when the brake operation is required by operating the manual operation member, the brake can be operated, and the body can be largely turned. Therefore, it is possible to cope with the case where extreme bending or automatic direction control cannot be used.

As control data for automatic direction control,
Control data suitable for work conditions can be used from a plurality of control data, and more efficient work can be performed, and various work conditions can be handled.

Then, as the control data of the automatic direction control, the operator can input the control data suitable for the work condition, and the work can be performed more efficiently.

[Brief description of the drawings]

FIG. 1 is a schematic plan view showing a combine to which the present invention can be applied.

FIG. 2 (a) is a diagram showing a driving console according to the present invention, and FIG.
FIG. 2 is a diagram showing the manual operation device according to the present invention.

FIG. 3 is a hydraulic circuit diagram.

4A is an electric circuit diagram, and FIG. 4B is a functional block diagram.

FIG. 5 is a flowchart for explaining the operation of the embodiment according to the present invention.

FIG. 6 is a flowchart for explaining the operation of another embodiment.

FIG. 7 is a flowchart for explaining the operation of another embodiment.

FIG. 8 is a diagram showing a cutting direction in a field.

FIG. 9 is a flowchart for explaining the operation of another embodiment.

FIG. 10 is a flowchart for explaining the operation of another embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Moving harvester (combine) 3, 5 Direction sensor 6 Grain 7 Side clutch / brake operation valve 11 Manual operation member (lever) 12 Push button switch 13 Direction automatic switch 23 Bypass valve 24a, 24b Side clutch cylinder 27a, 27b Side brake cylinder C control unit C1 work determination means C2 brake operation stopping means C3 output data storage means C5 operating state maintaining means C6 control data replacement means C7 input control data replacement means

Claims (1)

(57) [Scope of request for utility model registration] 1. An automatic direction control device having a left and right side clutch device having a clutch and a brake, and controlling the disengagement of the clutches of the left and right side clutch devices based on a direction sensor installed in front of the fuselage, and a predetermined range of a manual operation member. A manual steering device for controlling the disengagement of the clutches of the left and right side clutch devices based on the operation of and manually controlling the disengagement of the clutches of the left and right side clutch devices based on an operation of the manual operation member exceeding the predetermined range, and operating the brake Wherein the direction sensor is installed at a position where it can abut the planted grain culm.
It is, based on what is happening intermittently turned on and off signals the direction sensor is brought into contact with the culms, and field work determining means for determining a working, if the determination means determines the working, A direction control device for a mobile harvester, comprising: brake operation stopping means for stopping a brake operation of the manual steering device.