JP4562489B2 - Control device for agricultural machine - Google Patents

Description

  The present invention relates to a configuration of a farm work machine such as a combine for cutting and threshing cereal straws, and more specifically, a manual input system external equipment for operating a plurality of types of output system external equipment such as an actuator in the farm work machine. The present invention relates to a control device that can be rearranged according to the preference and demand of the operator.

  In recent agricultural machines such as combine harvesters, for example, a switch for switching the cutting height between automatic control and manual control, a switch for switching between automatic control and manual control for automatically maintaining the horizontal horizontal posture of the aircraft, Manual input system external devices such as a switch that adjusts the vehicle height) and a switch that adjusts the depth of operation are provided, and these switches (manual input system external devices) operate the output system external devices such as the corresponding actuators. They are connected in association with control means such as a microcomputer.

  Of the input system external devices that perform manual input operations (switches and control levers), and the automatic mode on / off switch, such as the cab side column, front column, steering column, etc. It was arranged at a predetermined position. And as the number of switches and control levers increases, they must be placed not only in easy-to-use parts but also in poorly-useable parts, so there are switches and control levers that are difficult for individual operators to operate. Exists. In addition, switches and control levers that are frequently used during work should be placed in a more convenient location to reduce operability and operator fatigue. Since the types of switches and control levers used for each are different, and the position where the operability is good also differs depending on the handedness (right-handed and left-handed) of each operator, the user should resolve this inconvenience. There was a request from.

Therefore, Patent Document 1 proposes a control device for an agricultural machine that can change (customize) the location of manual input system external devices such as switches and operation levers according to the preference of the operator (user). is doing.
Japanese Patent Laid-Open No. 2002-315424 (see FIGS. 6, 7, and 8)

  According to the configuration of Patent Document 1, among one or a plurality of manual input type external devices that perform input operations such as switches, a plurality of custom switches are arranged at positions where the operator can easily operate, and specific selection switches are arranged separately. In addition, the function setting of each custom switch is changed by this selection switch so that it has a corresponding relationship with the desired output system external device. If you want to frequently turn on or off automatic control of a specific farm work by operating a farm machine, you can place a changeover switch with a predetermined function in a place where it is easy to operate, improving operability and reducing fatigue during work it can.

  However, in Patent Document 1, it is necessary to provide a specific selection switch in order to select a custom switch and perform its function (corresponding to a desired output system external device).

  In addition, the configuration of a specific selection switch having such a function is considerably complicated, and there is a problem in that the connection relationship to the control means is also complicated.

  By the way, in a recent agricultural work machine, as disclosed in Japanese Patent Application Laid-Open No. 2003-325024, etc., a liquid crystal display panel and its vicinity are arranged in the vicinity of the driver's seat, in particular, in the inner diameter portion from the steering wheel of the steering wheel. A plurality of switches for operation are provided, and various switches can be set with this switch, and the function and status of the desired working unit can be displayed on the liquid crystal display panel. Yes.

  In view of such conventional problems and the recent development status of agricultural machines, the present invention makes it easy to select and set functions of manual input system external devices according to the preferences and demands of operators (users). It is possible to prevent the operator from mistakenly operating the manual input system external device due to misunderstanding of the operator, etc., and the operator can check the switching function of the manual input system external device and operate the manual input system external device. The object is to provide a control device.

  In order to achieve the above object, the agricultural machine control device of the invention according to claim 1 is provided with a plurality of types of output system external devices such as actuators that are provided in a traveling unit and a working unit of the agricultural machine to operate them, and A manual input system external device for executing an operation command for each output system external device, a round handle for steering operation of the traveling unit, and a liquid crystal panel for displaying an operating state of the output system external device on a screen In the control device in a farm work machine provided with display means such as manual input system external equipment, output system external equipment and control means connected to the display means, the round handle has a display screen such as a liquid crystal panel The control means is configured to select an operation manual of the manual input system external device selected and determined by the operation of the display means on the screen of the hand display. And it controls to display.

  According to a second aspect of the present invention, in the control device for an agricultural machine according to the first aspect, the manual input system external device and the hand indicator are arranged on a steering wheel portion of the round handle, and the display The means includes a selection switch and a determination switch, and the control means displays on the screen of the display means at least the type of the manual input system external device selected by the selection switch, and is selected by the selection switch. The determined items are determined by a determination switch so that the type of the manual input system external device provided in the steering wheel portion of the round handle is switched.

  According to a third aspect of the present invention, in the control device for an agricultural machine according to the first or second aspect, the manual input system external device is a two-way type or cross-direction type switch.

  According to the first aspect of the present invention, among output system external devices such as a plurality of work units in an agricultural machine, a work unit (output system external device that an operator likes or wants to operate frequently because of necessity in the work process) Therefore, it is possible to easily meet the demands of the operator (user) and improve the work efficiency of farm work. In addition, since the operator can confirm the operation manual of the manual input system external device by looking at the hand display while operating the round handle, the operator can safely perform the switching operation of the manual input system external device and work. Efficiency is improved.

  According to the second aspect of the present invention, the manual input system external device and the hand indicator are disposed on the steering wheel portion of the round handle, and the display means includes a selection switch, a determination switch, The control means displays on the screen of the display means at least the type of the manual input system external device selected by the selection switch, and determines the item selected by the selection switch by a decision switch. Since the control is performed so as to switch the type of the manual input system external device provided in the steering wheel portion of the round handle, which output system external device corresponds to the manual input system external device, The selection and determination of work contents can be executed by a selection switch and a determination switch provided on the display means, and the selection and determination states are displayed. Because it is displayed by means of the screen, the selection and determination of the work simple, it can be carried out and distinctly. Such control for displaying on the screen of the display means can be executed only by the application software (program) stored in the control means such as a microcomputer. Therefore, only the application software (program) for selecting and determining the work content is added. The present invention can be realized with simple modifications.

  According to the third aspect of the present invention, since the manual input system external device is a two-way type or cross-direction type switch, a multifunctional operation unit is provided in a small area called a steering wheel unit of the round handle. There is an effect that can be provided.

  Next, an embodiment embodying the present invention will be described in detail with reference to the drawings. 1 is an overall left side view of the combine, FIG. 2 is a right side view thereof, FIG. 3 is a skeleton diagram of a power transmission system, FIG. 4 is a skeleton diagram of a hydraulic continuously variable transmission mechanism, FIG. 5 is a hydraulic circuit diagram, FIG. FIG. 7 is a side view of the traveling device, FIG. 8 is a plan view of the traveling device, FIG. 9 is a plan view of the cab (driving cabin), and FIG. 11 is a plan view of the display portion of the steering column, FIG. 12 is a plan view of the handle portion, FIG. 13 is a plan view of the instrument panel, FIG. 14 is an explanatory view of the main transmission lever, and FIG. It is a functional block diagram of a control system.

  The combine to which the present invention is applied is such that left and right traveling crawlers 2 a and 2 b as a pair of left and right traveling devices are installed in the lower part of the traveling machine body 1, and a threshing device is disposed on the left side in the traveling direction of the traveling machine body 1. 3, and a cutting pretreatment device 4 that can be moved up and down by a single-action cutting unit lifting hydraulic cylinder 9 is disposed at the front of the traveling machine body 1. A clipper-type cutting blade device 5 is arranged on the lower side of the lower frame of the pre-cutting processing device 4, and a cereal groin raising device 6 for six strips is arranged in front, and the front end of the feed chain 7 in the cereal wake raising device 6 and the threshing device. Between the two, a cereal haul conveying device 8 is arranged, and a weed body 10 protrudes in front of the lower portion of the cereal haul raising device 6. A cab 11 is arranged at the front right side of the traveling machine body 1, and a grain tank 12 is arranged on the rear side thereof.

  As shown in FIG. 1, the base end of a vertically downward inclined lifting cylinder frame 14 with the tip attached to the cutting pretreatment device 4 is fixed to a horizontal cylinder (not shown), and the horizontal cylinder is fixed to the front of the traveling machine body 1. A transmission shaft or the like that is pivotally supported by a plurality of bearing brackets (not shown) provided in the section, and the power from the engine 15 on the traveling machine body 1 is disposed on each inner diameter portion of the horizontal cylinder and the lifting cylinder frame 14. The power is transmitted to each part of the pre-cutting processing device 4 via the. Then, the cutting pre-treatment device 8 is driven up and down by the cutting unit lifting hydraulic cylinder 9 mounted between the middle part of the lifting cylinder frame 14 and the traveling machine body 1.

  As shown in the skeleton diagram (FIG. 3) showing the power transmission system of the combine, the output shafts 16a and 16b of the engine 15 project from the front side and the rear side of the engine room cover, and from the front end of the output shaft 16a projecting to the front side. The drive shaft is driven and output to the transmission case 23 via the universal joint shaft. A flywheel is attached to the rear projecting portion of the output shaft 16b projecting rearward, and the work output pulley 24 provided on the rear side faces the counter case 32 via the belt, the tension roller type threshing clutch and the pulley 25. The driving force (constant rotational power) of the engine 15 is transmitted to the first input shaft 26 protruding in the direction.

  The counter case 32 includes a handling cylinder input shaft 26a integrated with the first input shaft 26 projecting forward, a cutting input shaft 27 projecting outward from the machine body, and a second input shaft projecting in the machine body direction. A vehicle speed tuning input shaft 28, a feed chain input shaft 29, and an output rotation shaft 30 are provided.

  A mowing drive pulley provided on an output shaft 23a of a transmission case 23 of a hydraulic continuously variable transmission mechanism (hydraulic pump, hydraulic motor type) to be described later, and a vehicle speed tuning pulley provided on a vehicle speed tuning input shaft 28 protruding to the right side of the counter case 32. A belt is wound around the belt, and the belt is tensioned via a tension roller-type cutting clutch, and vehicle speed synchronization power is input from the transmission case 23 to the counter case 32. When traveling at high speed, the speed of the traveling crawlers 2a and 2b on both the left and right sides The driving speed of the pre-cutting processing device 4 is also set to a high speed.

  Further, the threshing pulley provided on the handling cylinder input shaft 26a protruding to the front side of the counter case 32 and the drive input pulleys of the handling cylinder 13 and the processing cylinder 18 are wound around and connected by a belt, and are attached to the output rotating shaft 30. The driving force is transmitted from the sorting pulley to the sorting trap 17 on the lower side of the handling cylinder 13 and the swinging sorting mechanism through a belt or the like to drive each part of the threshing unit (threshing device) 3 and the left side surface of the counter case 32 Power is transmitted from the feed chain input shaft 29 to the front drive sprocket of the feed chain 7.

  The pulley is provided on the output shaft 16b on the rear side of the engine 15 and the discharge drive pulley attached to the front end of the horizontal screw conveyor 33 of the discharge auger 31 is connected to the belt through the discharge clutch and output to the discharge auger 31. And the kernel of the kernel 12 is discharged.

  In addition, the swing sorting mechanism is the first conveyor for taking the grains into the grain tank 12, the second conveyor for taking out the second sorted product to be re-sorted, the sub-tang 34, the handling cylinder 13 and the first conveyor, the second conveyor. It consists of a rocking sorter 35 or the like placed horizontally.

  In addition, power is transmitted to the feed chain 7 so as to be continuously variable by a feed chain transmission mechanism including a planetary gear mechanism provided with a sun gear, a planetary gear, and a ring gear provided in the counter case 32, and the power from the first input shaft 26 is input. The power is transmitted to the output rotary shaft 30 through the feed chain transmission mechanism via the output shaft 23a from the hydraulic (HST type) continuously variable transmission mechanism while ensuring the minimum rotation necessary for conveying the cereals. The speed of the feed chain 7 can be changed in synchronism with the vehicle speed from constant rotation to high rotation.

  Next, the configuration of the HST type (in which a mechanical transmission mechanism is incorporated in a continuously variable transmission mechanism using two hydraulic motors and two hydraulic pumps) in the transmission case 23 will be described. In the embodiment shown in FIG. 4, a traveling hydraulic pressure comprising a differential gear mechanism comprising a pair of left and right planetary gear mechanisms 61, 61, which will be described later, and a first hydraulic pump 63 and a first hydraulic motor 64 is provided in the mission case 23. Slidable hydraulic drive means including a second hydraulic pump 66 and a second hydraulic motor 67, a power transmission gear mechanism, and the like. The rotational force from the engine 15 mounted on the traveling machine body 1 is transmitted to the input shafts of both the hydraulic pumps 63 and 66 via the output shaft 16a, and the respective hydraulic motors via the hydraulic paths in the transmission case 65. Hydraulic power is transmitted to 64 and 67.

  The pair of left and right planetary gear mechanisms 61, 61 are symmetrical, and a pair of left and right bracelets 68 each having a plurality of (three in the embodiment) planetary gears 69 rotatably supported on the same radius are provided in a transmission case. In 60, it arrange | positions on the coaxial line so that it may mutually oppose. The left and right ends of the sun shaft 71 to which the sun gears 70 and 70 meshing with the planetary gears 69 are fixed are rotatably supported by bearings located at the center of rotation inside the arm rings 68 and 68, respectively. The ring gear 72 having inner teeth on the inner peripheral surface and outer teeth on the outer peripheral surface is arranged concentrically with the sun shaft 71 so that the inner teeth mesh with the three planetary gears 69, respectively. Is formed on the outer periphery of the bracelet 68.

  By changing and adjusting the angle of the rotary swash plate of the variable displacement first hydraulic pump 63 in the traveling hydraulic drive means, the discharge direction and discharge amount of the pressure oil to the first hydraulic motor 64 are changed, The rotation direction and the number of rotations of the output shaft of the first hydraulic motor 64 are configured to be adjustable. The rotational power from the input shaft of the first hydraulic motor 64 is transmitted to the auxiliary transmission mechanism 80 constituted by a gear mechanism via gears 74, 75, 76, 77, and the sun is transmitted via the output gear 78. It is transmitted to a center gear 79 fixed to the shaft 71.

  In addition, it outputs to the PTO shaft 82 (corresponding to the vehicle speed tuning input shaft 28 in the embodiment) that transmits the rotational force to the working machine or the like via the gear mechanism 81 associated with the shaft 74a of the gear 74. In this case, a clutch means 82 a is provided in the middle of the PTO shaft 82. Therefore, the rotational power from the traveling hydraulic drive means is transmitted to the center gear 79 via the transmission gear mechanism and the sub-transmission mechanism 80, and then to the pair of left and right planetary gear mechanisms 61, 61. Then, the transmission gear 83 fixed to the central shaft 73 of the left arm ring 68 is meshed with the transmission gear 84 fixed to the output shaft 21a for the drive wheel 51 of the left traveling crawler 2a and output. Similarly, the transmission gear 83 fixed to the central shaft 73 of the right arm ring 38 is meshed with the transmission gear 84 fixed to the output shaft 21b for the drive wheel 51 of the right traveling crawler 2b and output.

  On the other hand, the discharge direction and the discharge amount of the pressure oil to the second hydraulic motor 67 are changed by changing or adjusting the angle of the rotary swash plate of the variable displacement type second hydraulic pump 66 in the turning hydraulic drive means. Thus, the rotation direction and the number of rotations of the output shaft of the second hydraulic motor 67 can be adjusted. The rotational power from the second hydraulic motor 67 is transmitted to the pair of transmission gears 86 and 87 via the gear mechanism 85. Next, as shown in FIG. 4, the external gear of the right ring gear 72 meshes directly with the transmission gear 86, and the left transmission gear 87 meshes with the reverse gear 89 attached to the reverse shaft. The outer teeth of the ring gear 72 mesh with each other.

  Therefore, when the left ring gear 72 rotates reversely at a predetermined rotational speed by the forward rotation of the second hydraulic motor 67, the right ring gear 72 rotates positively at the same rotational speed as described above. With this configuration, for example, if the turning hydraulic drive means is stopped, the left and right ring gears 72 and 72 are in a free rotation state. In this case, it is preferable to disconnect the output of the hand hydraulic motor 67 by operating a clutch means (not shown). When the traveling hydraulic drive means is driven in this state, the rotational force from the first hydraulic motor 64 is input to the center gear 79 of the sun shaft 71, and the rotational force is the same as the sun gears 70, 70 on both the left and right sides. Since it is transmitted at the rotational speed and is output at the same rotational speed in the same direction to the output shafts 21a, 21b on both the left and right sides via the planetary gears 69 and arm gears 68 of the planetary gear mechanisms on both the left and right sides, Can do. Accordingly, when only the traveling hydraulic drive means is driven to rotate in the forward direction, the traveling machine body 1 moves straight forward, and when it is driven to rotate backward, it moves straight forward.

  On the contrary, in a state where the traveling hydraulic drive means is stopped, the sun shaft 71 and the left and right sun gears 70 are fixed. In this case, it is preferable to operate a brake means (not shown). In this state, when the turning hydraulic drive means (second hydraulic motor 67) is driven to rotate forward, for example, the planetary gear mechanism composed of the left planetary gear 69 and the arm gear 68 rotates in the reverse direction, while the right planetary gear mechanism. The planetary gear mechanism composed of the gear 69 and the arm gear 68 rotates in the forward direction. Accordingly, the left traveling crawler 2 moves backward, while the right traveling crawler 2 moves forward, so that the traveling machine body 1 spin-turns to the left on the spot.

  Similarly, when the turning hydraulic drive means (second hydraulic motor 67) is driven to rotate in the reverse direction, the left planetary gear mechanism 61 rotates in the forward direction and the right planetary gear mechanism 61 rotates in the reverse direction, and the left traveling crawler. While 2 moves forward, the right traveling crawler 2 moves backward, so the traveling machine body 1 spin-turns to the right on the spot. And, when driving the hydraulic drive means for turning while driving the hydraulic drive means for traveling, at the time of forward and backward, it can turn right or left with a turning radius larger than the spin turn turning radius, The turning radius is determined according to the speed of the left and right traveling crawlers 2a and 2b.

  As shown in FIGS. 5 and 6, the traveling crawlers 2 a and 2 b are disposed in the middle of the lower surface of the drive wheel 51, the driven wheel 52, and the track frame 50 disposed at the front and rear ends of the pair of left and right track frames 50 and 50, respectively. It is wound around the outer periphery of the plurality of rolling wheels 53. The left and right track frames 50, 50 and the traveling machine body 1 are lifted / lowered traveling parts including left and right lifting hydraulic cylinders 54 a, 54 b and connecting rods that connect L-shaped front and rear levers at the front and rear positions so as to operate simultaneously. The left and right elevating hydraulic cylinders 54a and 54b (see FIG. 5) are connected to each other through driving means, and the left and right traveling crawlers 2a and 2b are independently operated with respect to the left and right of the traveling machine body 1. Move up and down.

  Therefore, when the right and left lifting hydraulic cylinders 54a and 54b are simultaneously operated and the left and right track frames 50 and 50 are simultaneously lowered with respect to the traveling machine body 1, the traveling machine body 1 is brought into contact with the traveling crawlers 2a and 2b on both the left and right sides. On the other hand, it is separated upward (ascended), and the relative height (vehicle height) of the traveling machine body 1 with respect to the traveling crawlers 2a, 2b grounding portion increases. On the contrary, the left and right track frames 50, 50 are simultaneously raised with respect to the traveling machine body 1. The traveling machine body 1 approaches (lowers) the grounding portions of the left and right traveling crawlers 2a, 2b, and the traveling machine body 1 travels. The relative height (vehicle height) with respect to the crawlers 2a and 2b is reduced.

  Then, the left lifting hydraulic cylinder 54a is operated to lower the left track frame 50 relative to the traveling machine body 1, or the right lifting hydraulic cylinder 54b is operated to raise the right truck frame 50 relative to the traveling machine body 1. (Or even if both of these operations are performed simultaneously), the vehicle height of the traveling vehicle body 1 with respect to the right traveling crawler 2b grounding portion becomes low (the vehicle height of the traveling vehicle body 1 with respect to the left traveling crawler 2a grounding portion becomes high). ), The traveling machine body 1 is inclined downward to the right. Conversely, the right elevating hydraulic cylinder 54 b is operated to lower the left track frame 50 relative to the traveling machine body 1, or the left elevating hydraulic cylinder 54 a is operated to move the right track frame 50 relative to the traveling machine body 1. When it is raised (or both of these operations are performed simultaneously), the vehicle height of the traveling vehicle body 1 with respect to the left traveling crawler 2a grounding portion becomes low (the vehicle height of the traveling vehicle body 1 with respect to the right traveling crawler 2b grounding portion is high). That is, the traveling machine body 1 is inclined downwardly to the left.

  The left and right vehicle height detection sensors 150, 151 such as a rotary encoder for detecting the relative height (vehicle height) of the traveling machine body 1 with respect to the left and right traveling crawlers 2a, 2b are connected to the connecting rod. It is configured to detect the vertical movement amount of the left and right track frames 50, 50 of the left and right lifting hydraulic cylinders 54a, 54b in conjunction with each other via a rod or a link mechanism.

  In addition, the inclination detection sensor 152 for detecting the degree of left and right inclination of the traveling machine body 1 is configured by a pendulum type (gravity type) or the like, and is disposed at an arbitrary position of the traveling machine body 1, for example, in the cab 11 or the like. Yes. The left and right ultrasonic sensors 20a and 20b as the cutting height sensors for detecting the cutting height by detecting the ground height between the cutting preprocessing device 4 and the farm scene are the left and right of the precutting processing device 4. It arrange | positions in the bracket (not shown) provided in the back side of the said grain raising apparatus 6 of both ends, The transmitter part (horn part) of the transmitter in each ultrasonic sensor 20a, 20b, and the receiver part of a receiver Arrange it so that it faces the field. When the installation height of each ultrasonic sensor 20a, 20b and the installation height of the cutting blade 5 are different, the cutting height detection value is obtained by predetermined conversion from the detection values of the ultrasonic sensors 20a, 20b. .

  Further, the lifting position sensor 153 for detecting the relative height between the traveling machine body 1 and the pre-cutting processing device 4 is configured to be obtained by detecting the rotation angle of the lifting frame 14. (See FIG. 7).

  FIG. 8 shows a hydraulic circuit for the elevating hydraulic cylinders 54a, 54b, etc., which branches through a diverter valve 93 that divides the pressure oil discharged from the hydraulic pump 90, and from the one discharge path before the cutting This is sent to the first hydraulic circuit 91 for the hydraulic cylinder 9 as a cutting unit lifting / lowering actuator for lifting and lowering the processing device 4 and the right / left (operating cab 11 side) lifting hydraulic cylinder 54b. From the other discharge path of the diversion valve 63, the second hydraulic pressure for the discharge auger lifting hydraulic cylinder 31c for changing the inclination angle of the horizontal pipe 31a of the discharge auger 31 with respect to the vertical pipe 31b and the left lifting hydraulic cylinder 54a. An electromagnetic control valve 95, 96, 97, 98, a check valve, a relief valve, etc. are connected to each hydraulic cylinder 9, 31c, 54a, 54b.

  As shown in FIG. 7, the cereal conveying device 8 includes a vertical conveying chain 8 a that passes the stock portion of the six chopped cereals harvested by the cutting blade 5 to the feed chain 7, It consists of a first auxiliary transport chain 8b and a second auxiliary transport chain 8c that pass the middle part of the harvested cereal rice cake to the feed chain 7. A feed start end of the vertical transfer chain 8a is attached to the elevating frame 14 of the pre-cutting processing device 4 via a support shaft, and the handling depth is adjusted by rotating the vertical transfer chain 8a around the support shaft. An electric motor capable of forward and reverse rotation is provided as the actuator 99 for use. By forward / reverse rotation of the handling depth adjusting actuator 99, the feed end portion of the vertical transport chain 8a can be rotated so as to be in contact with and separated from the front end portion of the first auxiliary transport chain 8b. Therefore, when the vertical conveyance chain 8a is rotated, the tip part of the harvested cereal rice cake finally inherited by the feed chain 7 is located on the deep handling side or the shallow handling side. A handling depth sensor 154 for detecting the tip of the harvested cereal cocoon is provided on the side of the vertical conveying chain 8a. In the embodiment, the handling depth sensor 154 includes a shallow handling sensor and a deep handling sensor. A handling depth position sensor 155 is provided for detecting the handling depth of the vertical conveyance chain 8a rotated through the handling depth adjusting actuator 99 (see FIG. 15).

  Next, an arrangement configuration of various operation levers and switches in the cab 11 will be described with reference to FIGS. The steering column 45 is erected on the front horizontal step portion 44 of the step frame 43 in the operator cab 11, and the operation round handle 47, the instrument panel 40 and the front panel 41 are arranged above the steering column 45. In addition, the rear portion of the step frame 43 is formed in a stepped rising seat portion, and the driver's seat 46 is provided on the seat portion. An opening / closing door for the entrance of the cab 11 is provided along the right side of the step frame 43. A side column 48 is provided on the left side of the driver's seat 46 on the side opposite to the entrance of the cab 11, and a main transmission lever 249, an auxiliary transmission lever 250, a threshing and mowing clutch lever 251, and a waste are disposed on the upper surface of the side column 48 from the front. A cutting and focusing switch 252 is provided. Left and right armrests 253 are provided on the left and right sides of the driver seat 46 so as to be foldable upward. HST type (in which a mechanical transmission mechanism is incorporated in a continuously variable transmission mechanism using two hydraulic motors and two hydraulic pumps) is a main component for adjusting the swash plate of each hydraulic pump of the traveling drive unit 42 to continuously change the vehicle speed. As shown in FIG. 9, the transmission lever 49 rotates back and forth along a guide groove 258 formed in the upper surface of a substantially horizontal side column 48 on the side of the seat 46 in the cab 11 and is substantially vertical. When it is tilted forward with respect to the neutral position (stop position) of the posture, it is the forward movement position, and the vehicle speed increases as the inclination angle with respect to the vertical increases. When the vehicle is tilted backward, the vehicle moves backward, and the vehicle speed increases as the tilt angle increases.

  As shown in FIGS. 9 to 11, the front panel 41 is divided into upper and lower panel cases 259a and 259b which are left and right wings extending from the center in the left-right direction. Switch panels 41 a and 41 b are provided on the upper surface of the upper panel case 259 a on the left and right sides, and the lower side of the lower panel case 259 b is fixed to the upper part of the steering column 45. The panel box of the instrument panel 40 is connected so as to protrude upward from the front end of the left and right central portion of the upper panel case 259a. The round handle 47 is formed of a handle wheel 255, a handle spoke 256, and a handle hub 257 in a substantially U shape in a side view, and a handle shaft 257a (not shown) that protrudes above a left and right central portion of the upper panel case 259a. To fix. A panel box of the instrument panel 40 is disposed in a space surrounded by the foil 255, the spoke 256, and the hub 257 so that the handle shaft and the mounting portion of the handle hub 257 are concealed at the center of the front panel 41. ing.

  The left and right switch panels 41a and 41b on the front panel 41 are provided with a plurality of various switches for operation and setting. For example, on the left switch panel 41a, an automatic horizontal switch 190 for operating on / off of automatic horizontal control for maintaining the traveling machine body 1 in a horizontal horizontal posture, and a tilt setting dial for setting the left / right tilt angle of the traveling machine body 1 191, switches such as an automatic handling depth switch 192 for operating on / off of the automatic handling depth control for maintaining the handling depth position of the harvested cereal masher with respect to the threshing device 3 are disposed.

  The right switch panel 41b includes an automatic cutting height switch 193 for operating automatic cutting height control for maintaining the cutting pretreatment device 4 at a predetermined cutting height position, and cutting for automatic cutting height control. Switches for various operations such as a cutting height setting dial 194 for setting the height position and a sorting adjustment dial 195 for adjusting the grain sorting state in the sorting mechanism (not shown) are arranged.

  Other types of switches, for example, a rapid control on / off switch that automatically decelerates the vehicle speed when the engine load approaches the limit and automatically returns to the original vehicle speed when the load is reduced. Such as an automatic travel switch, a work light switch for turning on / off the work light, a dial type setter for adjusting the accelerator of the engine 15, an eco mode switch for turning on / off the electronic governor control for rotating the engine 15 and the like.

  The front panel 41, which is an operation panel, is provided at the upper end of the steering column 45 and below the round handle 47 in the shape of a left and right longitudinal wing, so that operation members such as various work switches necessary for the combine work are provided on the front panel 41. The space between the driver's seat 46 and the driver's seat 46 is reduced by reducing the work switch installed on the side column 48 and reducing the horizontal width of the column 48. It is possible to improve workability by enlarging the size. The controller 103 for the operation unit that is bolted to the side plate of the side column 48 is configured to be covered with a box 103a.

  As shown in FIGS. 12 and 13, the liquid crystal display device 121 is arranged on the instrument panel 40 disposed above the front panel 41 and on the inner diameter portion of the handle wheel 255 of the round handle 47, and on both left and right sides thereof. Are provided with a plurality of switches 122, 123, 124, and 125 for screen selection and screen setting of the liquid crystal display device 121.

  As shown in FIG. 14, on the upper surface of the grip portion of the main transmission lever 249, a posture adjustment switch 126 that can be manually moved in a cross direction that can adjust the left-right and front-back inclination posture of the traveling machine body 1, and the pre-cutting processing device 4 A cutting shift switch 127 for shifting the cutting speed of the cutting, a handling depth adjusting switch 128 for manually changing and adjusting the handling depth position of the harvested culm, and a cutting pretreatment device 4 are manually moved up and down. Forcibly raising the cutting lift switch 129 and the cutting pretreatment device 4 to a predetermined height higher than a cutting height position (hereinafter referred to as a set cutting height position) preset by a cutting height setting dial 194 A cut-off auto switch 130 for forcibly lowering to the set cutting height position, and a motor such as a transmission motor for operating a mechanical transmission mechanism (not shown) provided in the HST traveling drive unit 42. A subtransmission switch 131 for controlling the Chueta is arranged.

  Since these switches have many opportunities to be operated during harvesting and threshing work in a combine, when they are arranged in the grip part of the main transmission lever 249 in this way, the switch can be easily operated with, for example, the thumb without separating the left hand from the grip part. The operability is very good.

  The auxiliary transmission lever 50 that rotates back and forth along the guide groove is for controlling an actuator such as a transmission motor that operates a mechanical transmission mechanism (not shown) provided in the HST travel drive unit 42. Is.

  Next, referring to FIG. 12, a plurality of types of output system external devices that are provided in the traveling crawlers 2 a and 2 b that are traveling units and the threshing device 3 and the pre-cutting processing device 4 that are working units to operate them. The steering right switch 132, which is a manual input system external device for executing an operation command for a certain cutting part lifting hydraulic cylinder 9, left / right lifting hydraulic cylinders 54a and 54b, and a handle depth adjusting actuator 99, will be described. A liquid crystal for displaying a steering right switch 132 and a switching function (vehicle height adjustment, cutting height adjustment, handling depth adjustment, etc.) of the steering right switch 132 on the upper surface of the right hand grip portion of the handle wheel 255. A hand display 134 such as a panel is arranged. On the upper surface of the left hand grip portion of the handle wheel 255, there are a steering left switch 133 and an operation function and a switching function (horn, vehicle height adjustment, cutting height adjustment, handling depth adjustment, etc.) of the steering left switch 133. A hand display 135 such as a liquid crystal panel for display is arranged. The steering right switch 132 and the steering left switch 133 operate in the front-rear and left-right directions (the cross direction in plan view). For example, when the steering right switch 132 is moved forward during the harvesting operation, the cutting-fit lifting operation (the cutting-part lifting hydraulic cylinder) that lifts and supports the cutting blade 5 to a height necessary for the direction change in the field headland 9 control) is performed. When the steering right switch 132 is operated rearward, a cutting fit lowering operation (cutting part lifting hydraulic cylinder for supporting the cutting blade 5 and the like by lowering the cutting blade 5 to a height necessary for cutting the stock of uncut grain straw in the field. 9 control) is performed. When the steering right switch 132 is operated in the left or right direction, a left or right fit steering operation (hydraulic for turning) that changes the course in order to correct the lateral displacement of the herb body 10 with respect to the uncut grain rows in the field Pump 66 steering control) is performed. In this way, the operation of the steering right switch 132 is set and shipped.

  Next, the setting change operation and control of the steering right switch 132 arranged in the right hand side grip portion of the handle wheel 255 of the round handle 47 will be described. An electronic control device (controller) 103 such as a microcomputer for performing these operation controls is shown in FIG. 15, and although not shown, a central processing unit (CPU) for executing various arithmetic processes and controls and a control program are stored therein. Read-only memory (ROM), read / write readable memory (RAM) that temporarily stores various detection values, data, etc., non-volatile memory for holding stored data even when the control device 103 is turned off, A clock, interface, bus, etc. are provided as timer functions.

  Connected to the input side of the control device 103 are the steering right switch 132, a first selection switch 122 for selecting the function of the steering right switch 132, and a display changeover switch for switching display contents of the liquid crystal panel 121. A second selection switch 123 that also functions as a steering switch, a setting switch 124 that selects a function of the steering left switch 133, a determination switch 125 that also functions as a buzzer stop switch for turning off the alarm buzzer 156, and a threshing clutch Threshing clutch switch 157 for turning on (turning on) and turning off (cutting), cutting clutch switch 158 for turning on (turning on) and turning off (cutting) the cutting clutch, and lifting arm of cutting pretreatment device 4 Elevating position for detecting 14 rotational positions (position to aircraft height) Sensor 153, ultrasonic sensors 20a and 20b for detecting the height position (ground height) of the pre-cutting processing device 4 with respect to the field scene during normal cutting and threshing work, and the left and right ground heights of the traveling machine body 1 Left and right vehicle height sensors 150 and 151 for detecting the vehicle, an inclination detection sensor 152 for detecting the inclination of the traveling body 1 in the left and right direction, and a handle for detecting the handle depth position of the vertical conveyance chain 8a. A depth position sensor 155, a handling depth sensor 154 for detecting the length of the harvested cereal mash sent from the vertical conveying chain 8a to the feed chain 7, and a key switch 159 for turning on the power of the controller 103 (the engine 15) Also used for starting).

  Also, the output side of the control device 103 is connected to the output adjusting units of the first traveling hydraulic pump 63 and the second turning hydraulic pump 66 in the HST traveling driving unit 42 and the solenoid valve of the threshing clutch 160. The drive circuit, the drive motor drive circuit of the reaping clutch 161, the solenoid valve drive circuit of the reaping part lifting hydraulic cylinder 9, the solenoid valve drive circuit of the left and right lifting hydraulic cylinders 54a and 54b, and the handle depth adjusting actuator 99 These include a drive motor drive circuit, a liquid crystal panel 121, left and right hand displays 134 and 135, an alarm buzzer 156, and the like.

  Next, control for switching the function of the steering right switch 132 will be described with reference to the flowchart of FIG. When the key switch 159 is turned on and the power is turned on, the function of the steering right switch 132 is displayed on the liquid crystal panel 121 (S1). For example, as shown in Fig. 17, "The setting of the right switch of the steering wheel has been changed. Are you sure you want to change this setting?", "Front and rear: Vehicle height adjustment, Left and right: Vehicle height inclination adjustment", "Reset (Return to initial state) ”and“ Yes ”are displayed on the liquid crystal panel 121. At this time, the second selection switch 123 is turned on to perform a “reset” operation, or the decision switch 125 is turned on to perform a “yes” operation (S2).

  When the second selection switch 123 is turned on and a “reset” operation is performed, the initial factory setting is set (the steering fit switch is moved up and down by the front and rear movements of the steering right switch 132, and the left and right movements of the steering right switch 132 are moved to the left. Or the right fit steering operation is performed). When the determination switch 125 is turned on and a “Yes” operation is performed, the previous setting is continued. Thereafter, the engine 15 can be started by operating the key switch 159.

  The second selection switch 123 and the decision switch 125 are simultaneously turned on for a certain time (about 5 seconds or more) (S3). As shown in FIG. 18, the display of the liquid crystal panel 121 is switched to the “maintenance selection menu” screen. Each item of “initial setting mode”, “checker mode”, and “serviceman mode” is displayed on the liquid crystal panel 121 (S4). By turning on the first selection switch 122 or the second selection switch 123, each item of “initial setting mode”, “checker mode”, and “serviceman mode” is selected.

  When the “initial setting mode” is selected by operating the first selection switch 122 or the second selection switch 123 and the determination switch 125 is turned on and determined, the “initial setting menu” screen is displayed as shown in FIG. The display on the liquid crystal panel 121 is switched (S6). “Steering right switch setting”, “Vehicle height vertical adjustment setting”, “Saw depth mode setting”, “Fit steering setting”, “Vehicle height tilt adjustment setting”, “Mowing height raising / lowering (no fitting) setting”, “ Each item of “cutting height raising / lowering (fit raising / lowering) setting” is displayed. For each item, the lower item is sequentially selected from the upper item by the operation of the second selection switch 123 (arrow ↓). Similarly, for each item, the upper item is sequentially selected from the lower item by operating the first selection switch 122 (arrow ↑).

  "Steering right switch setting" is selected by operating the first selection switch 122 or the second selection switch 123 (S7). The determination switch 125 is turned on to determine (S8). As shown in FIG. 20, the display on the liquid crystal panel 121 is switched to the “steering right switch setting” screen (S9). First, the type of switch for front / rear operation of the steering right switch 132 is selected (S10). As shown in FIG. 21, the front / rear operation switch of the steering right switch 132 selects any one of vehicle height up / down adjustment, cutting height raising / lowering (no fit), cutting fit raising / lowering, and handling depth adjustment. .

  Next, the type of left / right operation switch of the steering right switch 132 is selected (S11). As shown in FIG. 21, the left / right operation switch of the steering right switch 132 selects any one of vehicle height inclination adjustment, fit steering, and handling depth adjustment. As shown in FIG. 21 and FIG. 22, there are ten combinations of the types of front and rear operation switches of the steering right switch 132 and the types of left and right operation switches. When the type of front / rear and left / right operation switch is selected with the steering right switch 132, a confirmation screen for the type of the selected switch (for example, “Are you sure you want to use this setting?”, “Front / rear: Height adjustment”, “Left / Right: The vehicle height inclination adjustment ") is displayed (S12). The determination switch 125 is turned on to determine the setting of the operation manual for the steering right switch 132 (S13). The determined operation manual of the steering right switch 132 is displayed on the right hand display 135 (S14).

  As shown in FIG. 22, the operation manual of the steering right switch 132 includes the type and operation instruction code of the steering right switch 132 which is a manual input system external device. For example, the type of steering right switch 132 and the operation instruction code are: vehicle height up / down adjustment and front / rear direction switching instruction code, vehicle height inclination adjustment and left / right direction switching instruction code, cutting height raising / lowering and front / rear direction switching. There are an instruction code, a fit steering and a left and right direction switching instruction code, a mowing fit up and down and a front and rear direction switching instruction code, a handle depth adjustment and a left and right direction switching instruction code, and the like.

  As shown in FIG. 22, ten combinations of the operation manual of the steering right switch 132 are displayed on the right hand display 135. The display of 10 combinations in the operation manual of the steering right switch 132 is a combination (A) of vehicle height up / down adjustment (switching in the front / rear direction) and vehicle height inclination adjustment (switching in the left / right direction), or raising / lowering the cutting height ( Combination (B) of front / rear direction switching and fit steering (left / right direction switching) (B), or combination of cutting fit lifting (front / rear direction switching) and vehicle height inclination adjustment (right / left direction switching) (C), or Combination (D) of cutting height raising / lowering (front / rear direction switching) and handling depth adjustment (right / left direction switching), or vehicle height up / down adjustment (front / rear direction switching) and handling depth adjustment (left / right direction switching) (E), or a combination (F) of raising / lowering the cutting fit (front / rear direction switching) and handling depth adjustment (right / left direction switching), or vehicle height up / down adjustment (front / rear direction switching). Fit steering wheel )), Or a combination (H) of raising / lowering the cutting height (switching in the front-rear direction) and adjusting the vehicle height inclination (switching in the left-right direction), or adjusting the handle depth (switching in the front-rear direction) There is a combination (I) with fit steering (switching in the left-right direction), or a combination (J) with adjusting the handle depth (switching in the front-rear direction) and adjusting the vehicle height inclination (switching in the left-right direction).

  Setting the left / right operation switch type of the steering right switch 132 to “Vehicle height tilt adjustment” is convenient when the aircraft's left / right tilt adjustment is required, such as when working on wetlands, when working on the coastline, or when hoisting waste. . When the type of the front / rear operation switch of the steering right switch 132 is set to “cutting height raising / lowering (no fit)”, it is possible to enter and leave the field while harvesting the cereal with a quick cutting lifting / lowering operation. When the type of the front / rear operation switch of the steering right switch 132 is set to “cutting fit up / down”, the cutting unit can be gently moved up and down, and the cutting height of the uncut grain can be finely adjusted. When the right / left operation switch type of the steering right switch 132 is set to “Handling depth adjustment”, it is possible to quickly adjust the handling depth of the cereal when slanting or mowing the cereal, such as spillage To prevent. If the type of the left / right operation switch of the steering right switch 132 is set to “up / down adjustment of vehicle height”, the ground height of the machine body can be quickly adjusted with respect to wet field work and changes in the depth of the field. When the type of the left / right operation switch of the steering right switch 132 is set to “fit steering”, it is possible to easily perform the alignment operation when cutting the cereal. When the front / rear operation switch or the left / right operation switch of the steering right switch 132 reaches the limit, the display character of the hand indicator 135 blinks, or the light emission color of the display character is changed from green to red so that the steering right switch 132 can be switched. The operator can be informed that it is a limit.

  As is apparent from the above description and FIGS. 14 to 22, the traveling crawlers 2 a and 2 b that are traveling units in the combine (agricultural working machine) and the cutting pretreatment device 4 that is the working unit and the actuators that operate these are provided. Operation commands for the plurality of types of output system external devices, the cutting unit elevating hydraulic cylinder 9, the left and right elevating hydraulic cylinders 54a, 54b, the handle depth adjusting actuator 99, and the output system external devices 9, 54a, 54b, 99. Steering right switch 132 which is a manual input system external device for executing the operation, the round handle 47 which steers the travel units 2a and 2b, and the operating states of the output system external devices 9, 54a, 54b and 99 Display means 121 such as a liquid crystal panel for displaying the image on the screen, the manual input system external device 132, and the output system external devices 9 and 54. , 54b, 99 and the controller 103 in the agricultural machine having a controller 103 connected to the display means 121, the round handle 47 is provided with a hand display 135 having a display screen such as a liquid crystal panel. The control means 103 displays the operation manual of the manual input system external device 132 selected and determined by the operation of the display means 121 on the screen of the hand display 135.

  Therefore, among the output system external devices 9, 54a, 54b, 99 such as a plurality of work units in the agricultural machine, the operator prefers the work unit (output system external device) that he / she wants to frequently operate because of necessity in the work process. Since the manual input system external device 132 can be arbitrarily selected and determined, it is possible to easily meet the demand of the operator (user) and improve the work efficiency of farm work. Further, since the operator can check the operation manual of the manual input system external device 132 by looking at the hand display 135 while operating the round handle 47, the operator can safely switch the manual input system external device 132. In addition, work efficiency is improved.

  Further, the manual input system external device 132 and the hand display 135 are disposed on the steering wheel 255 portion of the round handle 47, and the display means 121 includes a first selection switch 122 and a second selection switch. 123 and a decision switch 125, and the control means 103 displays on the screen of the display means 121 at least the type of the manual input system external device 132 selected by the selection switches 122 and 123, and the selection switch Since the item selected by 122 and 123 is determined by the determination switch 125, the type of the manual input system external device 132 provided in the steering wheel 255 portion of the round handle 47 is controlled to be switched. Which output system external devices 9, 54a, 54b, 99 and the manual input system external device 1 are operated by the operator 2 can be selected and determined by the selection switches 122 and 123 and the determination switch 125 provided in the display unit 121, and the state of the selection and determination is displayed on the screen of the display unit 121. Therefore, it is possible to easily and clearly select and determine the work content. Such control to be displayed on the screen of the display means 121 can be executed only by the application software (program) stored in the control means 103 such as a microcomputer, and therefore the application software (program) for selecting and determining the work content is added. The present invention can be realized with a simple change.

  Further, since the manual input system external device 132 is a two-way type or cross-direction type switch, a multi-function operation unit can be provided in a small area such as the steering wheel 255 of the round handle 47. There is an effect.

  The second selection switch 123 is used as a display changeover switch for switching the display screen of the liquid crystal panel 121 in addition to selecting the function of the manual input external device 132. The determination switch 125 is used as a buzzer stop switch for stopping the buzzer 156 in addition to determining the function of the manual input system external device 132. In this way, the number of switches can be reduced by using the switch for multiple purposes. Further, the setting change of the switching function of the steering left switch 133 and the display switching of the left hand display 134 can be performed in the same manner as the setting change of the switching function of the steering right switch 132 and the display switching of the right hand display 135 described above. Therefore, the steering left switch 133 and the steering right switch 132 can be used separately for the convenience of the operator.

It is a right side view of the combine. It is a left view of a combine. It is a skeleton figure of a power transmission system. It is a skeleton figure of a hydraulic continuously variable transmission mechanism. It is side surface explanatory drawing of a raising / lowering hydraulic cylinder part. It is plane explanatory drawing of a raising / lowering hydraulic cylinder part. It is a partial side view of a cutting pretreatment apparatus. It is a hydraulic circuit diagram. It is a top view of a driver's cab. It is a right view in a driver's cab. It is a plane explanatory view of a front panel. It is a top view of a round handle part. It is plane explanatory drawing of an instrument panel. It is a plane explanatory view of the grip part of the main transmission lever. It is a functional block diagram of a control device. It is a function switching control flowchart of a steering right switch. It is explanatory drawing of the initial screen of a liquid crystal panel. It is explanatory drawing of the maintenance selection menu screen of a liquid crystal panel. It is explanatory drawing of the initial setting menu screen of a liquid crystal panel. It is explanatory drawing of the steering right switch setting screen of a liquid crystal panel. It is a combination table of front and rear and left and right switch functions of the steering right switch. It is explanatory drawing of the display screen of the switching function of the steering right switch of a hand indicator.

Explanation of symbols

1 traveling machine body 2a, 2b traveling crawler (traveling unit)
3 Threshing device (working unit)
4 Cutting pre-treatment device (working unit)
9 Cutting hydraulic cylinder (output system external equipment)
47 Round handle 54a Left lifting hydraulic cylinder (output system external equipment)
54b Right elevating hydraulic cylinder (output system external equipment)
99 Handling depth adjustment actuator (external device for output system)
103 controller (control means)
121 Liquid crystal panel (display means)
122 First selection switch 123 Second selection switch 125 Determination switch 132 Steering right switch (manual input system external device)
135 Right hand display 255 Steering wheel

Claims (3)

A plurality of types of output system external devices such as actuators that are provided in the traveling unit and the working unit of the agricultural work machine and operate them,
A manual input system external device for executing an operation command for each output system external device;
A round handle for steering the traveling unit;
Display means such as a liquid crystal panel for displaying the operating state of the output system external device on a screen;
In a control device in a farm work machine comprising the manual input system external device, the output system external device and a control means connected to the display means,
The round handle is provided with a hand display having a display screen such as a liquid crystal panel,
The control means controls to display an operation manual of the manual input system external device selected and determined by the operation of the display means on a screen of the hand display device. . In the steering wheel portion of the round handle, the manual input system external device and the hand display are arranged, and the display means includes a selection switch and a determination switch,
The control means displays at least the type of the manual input type external device selected by the selection switch on the screen of the display means, and determines the item selected by the selection switch by the determination switch, thereby 2. The control device for an agricultural machine according to claim 1, wherein control is performed so as to switch a type of the manual input system external device provided in a steering wheel portion of a handle.   The control device for an agricultural working machine according to claim 1 or 2, wherein the manual input system external device is a two-way type or a cross-direction type switch.

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