JP3089330B2 - Combine speed controller - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a combine speed control device for controlling a speed of a vehicle based on an increase or decrease of an engine load.

[0002]

2. Description of the Related Art Conventionally, Japanese Patent Application Laid-Open No. 2-295410 discloses
As shown, the thickness of the cut culm layer is detected and the vehicle speed is automatically controlled.
There is technology to do .

[0003]

SUMMARY OF THE INVENTION The prior art is based on grain culm.
The increase in layer thickness slows down the vehicle speed,
Although the gin load is prevented from increasing,
When there is a large change, for example, in a field where the growth of cereals is uneven
When harvesting is performed, the supply of cereal stems is temporarily low.
The vehicle speed is increased by the
The supply of cereal stems increased sharply compared to the work before the
There is a problem that the load becomes excessive, and the supply of grain stalks is likely to change
Simplify vehicle speed control in the field and prevent engine overload
There is a problem that it cannot be easily achieved .

[0004]

SUMMARY OF THE INVENTION Accordingly, the present invention is the vehicle speed control device row cormorants combine the vehicle speed control based on the detection result of the error <br/> engine load and the culms supply, culms supply amount
Speed increase prohibition when the change amount of
The provision of stop means has resulted in a temporary large decrease in the supply of cereal stems.
The vehicle speed is not increased at all, and
The reinstatement will provide more work than before the culm supply was reduced.
An increase in the supply of cereal stalk can be easily prevented,
Increase the threshing load due to the rapid increase in
It is possible to prevent engine overload operation and grain clogging accidents.
The vehicle speed control function can be improved and adaptive working conditions
Can be easily achieved .

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a vehicle speed control circuit diagram, FIG. 2 is an overall side view of the combine, and FIG. 3 is a plan view of the combine, where (1) is a track frame on which a traveling crawler (2) is mounted, and (3) is the truck. (4) is a threshing unit which has a feed chain (5) stretched to the left and has a built-in handling cylinder (6) and a processing cylinder (7), and (8) is a mowing machine. A cutting unit equipped with a blade and a grain stalk transport mechanism.
0) (11) a straw processing unit facing the end, (12) a cab provided with a driver's seat (13) and a driving operation unit (14),
(15) is an engine part in which the engine (16) is installed,
A grain tank (17) is disposed in front of the engine section (15) and stores grains from the threshing section (4) through a fryer cylinder (18). (19) is a grain tank (17). An upper discharge auger that takes out the grains inside,
It is configured to perform threshing work.

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) through the interlock.

The engine (16) has an electronic governor (27) for controlling a fuel injection amount of a fuel injection pump by an injection amount adjustment 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, an automatic switch (30) for automatically controlling the vehicle speed is provided to a vehicle speed control circuit (29) which is a fuzzy vehicle speed control means for driving and controlling the servo motor (28) based on fuzzy inference. And a vehicle speed sensor (31) for detecting the vehicle speed, and an HST oil pressure sensor (32), are input and connected, and are provided on a pinching guide rod of a vertical transfer device (33) of the reaper (8) to be conveyed. A supply amount sensor (34) which is also a cereal stalk sensor for detecting an amount of cereal stalk supplied to the threshing unit (4) based on the thickness of the cereal stalk, and a work clutch for detecting the input operation of the reaping work clutch (35a). A switch (35) is connected to the control circuit (29). A governor control circuit (37) for driving and controlling a rack position adjusting mechanism (36) of an electronic governor (27) for adjusting the injection amount of the fuel injection pump is provided with an engine rotation sensor for detecting rotation of the engine (16). (38) and a governor rack position sensor (3) for detecting the position of the injection amount adjusting rack in the governor (27).
9) and the control circuits (29) and (37)
Between these sensors (31), (32)
(34) Based on the detection of (38) and (39), constant control of the engine speed and vehicle speed control based on fuzzy inference are performed.

An overload monitor (40) is connected to the control circuit (29) for output connection.

This embodiment is configured as described above, and the vehicle speed control will be described below with reference to the engine maximum output map data diagram of FIG. 5 and the flowcharts of FIGS. 6 to 10.

During the mowing operation, the electronic governor (2
7) When the rack position data corresponding to the engine load (fuel injection amount) is input from the above, the maximum output map data (RMAX) as shown in FIG. 5 expressing the relationship between the rack position and the engine speed by a maximum load curve. A target vehicle speed is inferred based on the target vehicle speed, and a vehicle speed deviation of how much the current vehicle speed is increased or decreased from the target vehicle speed and the rate of change of the vehicle speed is fuzzy inferred,
A drive pulse of a servomotor (28) for shifting and driving the transmission mechanism (20) is determined. Specifically, the actual output data (rack position) is set to A, and the engine speed is controlled by a constant control at that time. The control maximum injection amount output from the control circuit (46) which is the governor controller is represented by B
Then, a rack deviation value RE (= A−C) maximum target deviation value RM calculated from the target rack value C and the maximum target value D
(= CD) and the rate of change (RD) of the rack deviation value (RE) for a certain period of time are input as input values for fuzzy inference,
Target vehicle speed deviation (Ve) with respect to the current vehicle speed as an output value
Is output.

During the vehicle speed control, when the speed increase inhibition flag is turned on by the supply amount control based on the detection of the supply amount sensor (34), all the speed increase data is cleared and only the vehicle speed on the low speed side is cleared. The supply amount control is performed by the sensor (34) as shown in the subroutine of FIG.
When the absolute value of the detected supply amount is equal to or greater than the set value and the supply amount change rate is equal to or greater than the set value, the speed increase inhibition flag is turned on. When the flag is on, the supply amount change rate becomes equal to or less than the set value. At this time, after a certain time (T) is measured by the timer, the prohibition flag is turned off to reset the speed increase prohibition flag, and when the speed increase prohibition flag is turned on during the measurement of the reset time, the time measurement of the reset time is cleared. . That is, the time (T) until the prohibition flag is reset is determined by the feed amount sensor (3)
4) The transport time is set from the point in time of passing the position to the time of supply to the threshing unit (4), and the sensor (34)
When the following is detected from the set value of the change rate of the supply amount to the following, the prohibition flag is reset when the cereal stem at this time is actually supplied to the threshing unit (4).

As shown in FIG. 8, the supply amount and the change rate of the supply amount are detected by the reaping conveyance speed (vk) calculated from the voltage input value (Vs) of the supply amount sensor (34) and the vehicle speed (v). ) (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 (n) (dS (n) = S (n) −) between the supply amount (S (n−3)) before a certain time and the current supply amount (S (n)) is sequentially stored in the ring counter. S (n-3)) is calculated as the supply rate change rate.

Thus, when the supply amount of the grain culm supplied to the threshing unit (4) increases and the threshing load increases and the engine load increases, the vehicle speed increases at an early stage. Since the control is prohibited to prevent the threshing load from becoming greater, it is possible to prevent culm clogging accidents at the threshing unit (4) and to stabilize this vehicle speed control. It can be.

As is apparent from the above, the engine (1)
6) Vehicle speed control based on load and culm supply detection results
In the combine speed control device,
When the amount of change is greater than a certain value, the speed increase control is prohibited.
Measures have been taken to reduce the supply of cereal stems temporarily.
Even if the vehicle speed does not increase, the supply of cereal stalks recovers
Cereal supply is lower than before
Prevent increase in culm supply, and increase culm supply
The problem that threshing load becomes excessive
(16) Prevent overload operation and culm clogging accidents
To improve vehicle speed control functions and expand applicable working conditions
Plan.

During the harvesting operation, when the rack position sensor (38) detects that the engine (16) is overloaded and operates the overload monitor (40),
As shown in the flowchart of FIG. 9, at the same time as the operation of the overload monitor (40), the selected output of the maximum output map data (RMAX) of the engine (16) is changed from the normal mode at the normal time to the horsepower up mode for a fixed time. Thus, the vehicle speed control based on the selected output of the horsepower up mode is performed to improve the responsiveness when the load suddenly changes.

As shown in the flowchart of FIG.
When the work clutch switch (35) is in the on-cutting state and the supply amount sensor (34) is off in the non-detection state of the grain culm, for example, at the time of turning the body, the engine (16) is overloaded. The rack position sensor (3
8) When the deceleration signal is detected and the deceleration signal is output, the vehicle speed immediately before the deceleration is stored, the vehicle speed is reduced by the servo motor (28), the load on the engine (16) is reduced again, and the acceleration signal is output. Then, the vehicle speed is increased and returned to the original vehicle speed stored.

FIG. 11 shows a flowchart in the case where the vehicle speed control is performed by a combination of the speed change mechanism (20) and the sub speed change mechanism for switching between high and low speeds. The operation amount of the servo motor (28) is shown in FIG. M1) is detected, and when switching to the high-speed side in the sub-transmission mechanism is determined, for example, by the HST oil pressure with respect to the vehicle speed, the operation amount (M) of the servo motor (28) when the sub-transmission is at high speed is M = K × M1. (K <1 constant)
Is reduced to prevent a culm clogging accident at the time of high speed of the subtransmission, and always enables the optimum vehicle speed control regardless of the level of the subtransmission.

FIGS. 12 to 14 show the transmission mechanism (20).
Provided with a manual lever (41) for restricting the highest speed position of the lever shaft (41), and a lever shaft (42) for supporting the lever (41) in idle rotation, and fixed to the base end of the lever shaft (42) A shift lever (44) for operating a micro switch (43) provided on the lever (41);
A stopper (45) fixed to 1) for restricting the operation of the shift lever (44), a shift lever drive motor (46) for rotating the lever shaft (42), and the lever shaft (42)
And a potentiometer type shift lever position sensor (47) for detecting the amount of rotation of the servomotor and controlling the driving of the servomotor (28) according to the amount of rotation, and at the time of automatic control, the speed set by the manual lever (41). The motor (46) drives and controls the speed change lever (44) so as to change the vehicle speed by the servo motor (28) within a range not exceeding the range.
The motor (46) when a speed increase or deceleration signal is output based on a target vehicle speed calculated by fuzzy inference;
Thus, the speed change lever (44) is driven and controlled to the high speed or low speed side, and the limit switch (43) is moved to the limit switch (43) when the speed change lever (44) is controlled at the high speed side.
Is turned on upon contact with, the control on the high-speed side is further prevented. In manual control for shifting the vehicle speed with the manual lever (41), the lever (4
The vehicle speed control is performed by moving the shift lever (44) to the high-speed side so that the micro switch (43) is always kept on so that the shift lever (44) always follows the shift lever (1). In any of the controls, safe and favorable work can be performed without increasing the speed higher than the vehicle speed set by the manual lever (41).

FIG. 15 shows a rotary work machine (49) in which an engine (16) having the same electronic governor (27) as described above and a transmission mechanism (20) are mounted on a tractor (48). ), The engine (16) is controlled to rotate at a constant speed, and when the engine (16) is overloaded, the vehicle speed is controlled to a target vehicle speed calculated by fuzzy inference. Even if an excessive load is applied to the tractor, the tractor (48) can smoothly perform the tillage operation without stalling at a constant plowing depth.

Although the self-removable combine is used in the above-described embodiment, the same function and effect may be obtained by using a normal combine.

[0022]

As apparent from the above embodiment the present invention is engine (16) load and culms supply amount of the vehicle speed control apparatus odor row cormorants combine the vehicle speed control based on the detection result
When the change in the supply of cereal stalk is more than a certain
Provision of speed-up prohibition means to prohibit
Even if it decreases greatly, the vehicle speed does not increase,
The crop before the supply of cereal stem decreased due to the recovery of the supply of cereal stem
It is easy to prevent the supply of grain stalks from increasing more than in the industry
The threshing load is too large
The condition can be easily eliminated, and the engine (16) is overloaded.
Load operation and grain clogging accidents can be prevented beforehand, and vehicle speed control
Easy to improve control functions and expand applicable working conditions
It can be .

[Brief description of the drawings]

FIG. 1 is a vehicle speed 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 an explanatory diagram of an engine drive system.

FIG. 5 is an explanatory diagram showing engine maximum output map data.

FIG. 6 is a flowchart showing load control of vehicle speed.

FIG. 7 is a flowchart of supply amount control.

FIG. 8 is a flowchart of supply amount detection.

FIG. 9 is a flowchart of overload control.

FIG. 10 is a flowchart of turning control.

FIG. 11 is a flowchart of sub-shift control.

FIG. 12 is an explanatory view of a shift lever.

FIG. 13 is an explanatory view of a shift lever.

FIG. 14 is a flowchart of a shift lever control.

FIG. 15 is an explanatory view of a tractor.

[Explanation of symbols]

 (16) Engine

Claims (1)

(57) [Claims] 1. A vehicle speed control system of row cormorants combine the vehicle speed control based on the engine (16) of the load and the culms supply amount detection result, when the amount of change culms supply amount is above a certain,
A combine speed control device comprising a speed increase inhibiting means for inhibiting speed increase control.