JP4681253B2 - Speed-linked means in a combine - Google Patents

Description

  The present invention relates to a speed interlocking means in a combine which is provided with a transmission for driving a pretreatment and a drive for driving a traveling device independently.

Conventionally, a combine provided with a left and right crawler type traveling device and a pre-processing unit shifts a driving force for driving the traveling device and outputs a driving force for driving the traveling device, and a driving force for driving the pre-processing unit. Based on the information of the drive detection means for detecting the drive speed after the shift of the preprocessing transmission by the speed interlocking means. A configuration in which an actuator is controlled to drive a preprocessing unit in accordance with a traveling speed is known.
JP 2002-305942 A

  The drive detection means detects the drive speed after the shift of the preprocessing transmission, and the detected drive speed matches the drive speed when the preprocessing unit is driven at a speed corresponding to the traveling speed (predetermined error). Feedback control to include. The driving speed of the preprocessing transmission after the shift is measured by measuring the rotation of a predetermined shaft included in the preprocessing transmission. For example, the drive speed is measured by counting the number of pulses generated as the shaft rotates within a predetermined time.

  On the other hand, in order to improve the followability of the driving speed of the preprocessing unit with respect to the traveling speed, it is desirable that the detection time of the driving speed be as short as possible. However, the detection of the driving speed requires a relatively long time as described above. Further, when the driving speed is detected and the feedback control is not performed, the accuracy of the driving speed of the preprocessing unit is lowered. For this reason, there is a drawback that there is a limit to improving the followability of the driving speed of the preprocessing unit.

The speed interlocking means in the combine according to the present invention for solving the above-mentioned problem shifts and outputs the driving transmission device 12 that shifts and outputs the driving force that drives the traveling device, and the driving force that drives the preprocessing unit 2 and outputs it. The pre-processing transmission device 14, the actuator 35 for shifting the pre-processing transmission device 14, the drive detecting means 68 for detecting the driving speed after the shifting of the pre-processing transmission device 14, and the pre-processing unit corresponding to the traveling speed 2 is an operation amount detection means 53 for detecting the speed change operation amount of the pre-processing transmission 14 in a combine provided with a speed interlocking means 72 for controlling the actuator 35 based on the information of the drive detection means 68. After the actuator 35 is operated based on the information of the operation amount detection means 53, the speed interlocking means 72 is actuated based on the information of the drive detection means 68. 35 configured to actuate the, characterized in that to improve the followability to the speed of the preceding processing unit 2 drive speed.

  According to the structure of the present invention configured as described above, the speed interlocking unit operates the actuator based on the operation amount detection unit and then adjusts the operation of the actuator based on the information of the drive detection unit. Adjustment is made based on the operation amount detection means in the vicinity of the target operation position, and then the adjustment is set to the target operation position within the range of fine adjustment based on information from the drive detection means. As a result, the responsiveness of the shift of the transport transmission device is improved, and the followability of the operating speed of the preprocessing unit to the traveling speed is improved, so that there is an effect that a smooth mowing operation corresponding to the traveling speed can be performed.

  FIG. 1 is a plan view of the front side of a combine that employs speed interlocking means in the combine of the present invention. A pre-processing unit 2 is provided to be movable up and down in front of a traveling machine body 1 provided with a crawler type traveling device (not shown) on the left and right as in the prior art. A driver's seat 3 is provided on the traveling machine body 1 in front of the right side.

  A Glen tank 4 is provided behind the driver's seat 3. A threshing device 6 is provided on the side of the Glen tank 4. The threshing device 6 is provided with a feed chain 5 that conveys the threshing potatoes to the outside to supply the threshing device to the threshing device.

  This combine harvests the cereals by the pre-processing unit 2 with the above-described configuration, passes the harvested cereals to the feed chain 5, and conveys the cereals to the threshing device 6 by the feed chain 5. The threshing is performed by 6 and the grain after threshing is stored in the glen tank 4.

  The pre-processing unit 2 is attached to the front end of a vertical frame 9 that is supported by the machine frame so as to be movable up and down at a side position of the driver's seat 3. The vertical frame 9 is internally provided with a transmission mechanism that transmits a driving force to the preprocessing unit 2 side. The vertical frame 9 is provided with an input pulley 10 for driving force input.

  The combine is provided with a work machine transmission 14 that shifts the driving force from the engine 11 and outputs it to the preprocessing unit 2 and the feed chain 5. The work machine transmission 14 is disposed on the driver's seat 3 side in front of the threshing device 6.

  As shown in FIG. 2, a continuously variable transmission (work machine HST) 18 that continuously shifts the driving force from the engine and inputs it to the work machine transmission 14 is integrally attached to the work machine transmission 14. ing. As shown in FIG. 3, the input shaft 18 a and the output shaft 18 b of the work machine HST 18 protrude into the mission case 16.

  A power input shaft 19 projects from the side surface of the mission case 16. The power input shaft 19 and the input shaft 18 a of the work machine HST 18 are transmission-coupled via a gear 21 in the mission case 16. An input pulley 24 is pivotally supported at the end of the power input shaft 19 on the engine side. A driving force is transmitted to the input pulley 24 from an output pulley 27 supported by the output shaft 26 of the engine 11 via a belt 28 and a work machine clutch 29.

  The mission case 16 is supported by a preprocessing drive shaft 36 for driving force output to the preprocessing unit 2 side, a feed chain drive shaft 37 for driving force output to the feed chain 19 side, and an intermediate shaft 22. ing. The preprocessing drive shaft 36 and the feed chain drive shaft 37 protrude from the transmission case 16, respectively.

  The output shaft 18 b of the work machine HST 18 transmits a driving force to the intermediate shaft 22 via the gear 23. A driving force is input to the preprocessing drive shaft 36 from the intermediate shaft 22 via the gear 38. A driving force is transmitted from the gear 39 of the pretreatment drive shaft 36 to a sprocket-integrated gear 41 that is loosely fitted to the intermediate shaft 22.

  A sprocket 40 is pivotally supported on the feed chain drive shaft 37. A driving force is transmitted to the feed chain drive shaft 37 through the sprocket 42, the chain 43, and the sprocket 40 that are integral with the gear 41. As described above, the driving force input from the engine to the power input shaft 19 is steplessly shifted by the work implement HST 18 and input to the work implement transmission 14, and the preprocessing drive shaft 36 of the work implement transmission 14 and the feed chain. Output from the drive shaft 37.

  A preprocessing output pulley 44 is provided at the end of the preprocessing drive shaft 36. A driving force is transmitted from the preprocessing output pulley 44 to the input pulley 10 on the preprocessing unit 2 side via the belt 46 and the preprocessing clutch 47, and the preprocessing unit 2 is driven. A feed chain shaft 33 is connected to the feed chain drive shaft 37 via a coupling 32. A drive sprocket 48 of the feed chain 5 is provided at the end of the feed chain shaft 33, and the feed chain 5 is driven.

  A threshing output pulley 31 is also supported on the power input shaft 19. The threshing device 6 is driven by the driving force from the threshing output pulley 31. When the work implement clutch 29 is engaged and operated as described above, the driving force is directly input from the engine 11 to the power input shaft 19 and the threshing device 6 is driven, and the pre-processing unit 2 and the feed chain 5 are steplessly driven. Is done.

  A work machine rotation sensor 68 that detects the output rotation of the preprocessing drive shaft 36 is attached to the preprocessing drive shaft 36. The detection work machine HST18 detects the drive speed of the work machine transmission 14 after shifting.

  Work implement HST18 is shifted according to the rotation angle of trunnion shaft 18a. The work machine transmission 14 is provided with a speed change motor 35 as an actuator for operating the swash plate angle on the trunnion shaft 18a to perform the speed change operation of the work machine HST18 in order to electrically change the speed of the work machine HST18. Yes.

  As shown in FIG. 2, the transmission motor 35 is integrally attached to the transmission case 16 via a motor base 51. A gear 52 is interposed between the transmission motor 35 and the trunnion shaft 18a. The trunnion shaft 18a is rotated through the gear 52.

A trunnion potentiometer 53 for detecting the rotation angle of the trunnion shaft 18a is attached to the motor base 51. The trunnion potentiometer 53 is connected to the gear 52 via an arm 54. The trunnion potentiometer 53 detects the rotation angle (position) of the trunnion shaft 18 c via the gear 52.

  The trunnion potentiometer 53 is set so that the value increases when the trunnion shaft 18a is rotated in the speed increasing direction. Therefore, when the speed change motor 35 is driven so that the value of the trunnion potentiometer 53 is increased, the working machine HST18 is accelerated, and when the value of the trunnion potentiometer 53 is driven, the work machine HST18 is decelerated. The value of the trunnion potentiometer 53 theoretically corresponds to the rotation angle of the trunnion shaft 18a.

  On the other hand, as shown in the transmission diagram of FIG. 3, a traveling transmission 12 is provided that shifts the driving force from the engine 11 and outputs it to the traveling device. The traveling transmission 12 is provided at the front lower side of the engine 11. A continuously variable transmission (travel HST 13) that continuously changes the driving force from the engine 11 and inputs it to the travel transmission 12 is integrally attached to the travel transmission 12.

  An input pulley 57 is attached to the input shaft 56 of the traveling HST 13. The driving force from the engine 11 enters the traveling HST 13 through the traveling output pulley 58, the belt 59, the traveling clutch 61, and the input pulley 57 of the engine 11 and is transmitted freely. The traveling transmission 12 sub-shifts the output of the traveling HST 13 in the mission case 62 via the sub-transmission mechanism 63 and outputs it to the drive shaft 64 of the crawler traveling device.

  The traveling HST 13 is operated by a front / rear and left / right swing switching operation of a main transmission lever 66 provided on the driver's seat 3 side. The subtransmission mechanism 63 is operated by a forward / backward swing switching operation of a subtransmission lever 67 provided on the side of the main transmission lever 66. The traveling speed of the traveling machine body 1 is determined by the combination operation of the main transmission lever 66 and the auxiliary transmission lever 67.

  The travel transmission 12 is provided with a travel rotation sensor 71 that detects output rotation after the sub-shift from the sub-shift output shaft 69. A main transmission potentiometer that detects an operation position of the main transmission lever 66 is provided at a base end portion of the main transmission lever 66.

  On the other hand, as shown in FIG. 4, the transmission motor 35 described above is connected to the output side of the microcomputer 72. The trunnion potentiometer 53, the traveling rotation sensor 71, the work implement rotation sensor 68, and the main transmission potentiometer 73 are connected to the input side of the microcomputer 72. The operation of the transmission motor 35, that is, the driving speeds of the preprocessing unit 2 and the feed chain 5 are controlled by the microcomputer 72 according to the traveling speed, as the microcomputer 72 functions as a speed interlocking unit as will be described later.

  The traveling speed of the traveling machine body 1 is detected by a traveling rotation sensor 71. However, when the traveling rotation sensor 71 stops operating due to a failure or the like, the main transmission potentiometer 73 is used for detecting the traveling speed instead of the traveling rotation sensor 71.

  Next, automatic shift control of work implement HST18 by microcomputer 72 will be described. A speed interlock program is stored on the microcomputer 72 side. The microcomputer 72 functions as speed interlocking means for executing the automatic shift control shown below by the operation based on the speed interlocking program, and finally determines the driving speeds of the preprocessing unit 2 and the feed chain 5 as the work implement rotation sensor 68. Control based on information from

  As shown in the flowchart of FIG. 5, in the automatic shift control, first, in step S1, data is read from the travel rotation sensor 71 or the main shift potentiometer 73 to detect the travel speed. In step S2, the rotation angle of the trunnion shaft 18a corresponding to the detected traveling speed is calculated, and the value of the trunnion potentiometer 53 corresponding to the rotation angle is calculated as the target potentiometer value. In step S3, the rotation speed of the preprocessing drive shaft 36 corresponding to the travel speed detected as described above is calculated as the target rotation speed.

  Thereafter, the process proceeds to step S4, where the value of the trunnion potentiometer 53 is read and compared with the target potentiometer value. If the read potentiometer value is within a predetermined range based on the target potentiometer value, the process proceeds to step S5, a flag is set, the process proceeds to step S6, and the drive of the transmission motor 35 is stopped.

  On the other hand, if the read potentiometer value is outside the predetermined range based on the target potentiometer value in step S4, the process proceeds to step S7, the flag is reset, and the process proceeds to step S8.

  In step S8, the read potentiometer value is compared with the target potentiometer value. If the read potentiometer value exceeds the target potentiometer value, the process proceeds to step S9, and the speed change motor 35 is driven in the deceleration direction and read. If the potentiometer value is less than or equal to the target potentiometer value, the process proceeds to step S10, and the transmission motor 35 is driven in the speed increasing direction.

  After step S6 or step S10, the process proceeds to step S11, where the flag is checked. If the flag is set, that is, the read potentiometer value is within a predetermined range based on the target potentiometer value. If so, the process proceeds to step S12.

  In step S12, the value of the work implement rotation sensor 68 is read, the rotation speed of the preprocessing drive shaft 36 is calculated, the calculated rotation speed is compared with the target rotation speed, and the calculated rotation speed is the target rotation. If it is within a predetermined range based on the number, the process proceeds to step S13, the drive of the transmission motor is stopped, and the process returns.

  On the other hand, if the calculated rotational speed is outside the predetermined range based on the target rotational speed in step S12, the process proceeds to step S14, where the calculated rotational speed is compared with the target rotational speed to calculate the rotational speed. If the number exceeds the target number of revolutions, the process proceeds to step S15, and the speed change motor 35 is driven in the decelerating direction to return. If the calculated number of revolutions is equal to or less than the target number of revolutions, the process proceeds to step S16. Drive in the fast direction and return.

  If the flag is reset in step S11, the process returns from step S11. As described above, the driving speeds of the preprocessing unit 2 and the feed chain 5 increase and decrease with the increase and decrease of the traveling speed, and are interlocked so as to be proportional to the traveling speed within a predetermined error range.

  At this time, the microcomputer 72 operates the transmission motor 35 based on the value of the trunnion potentiometer 53, and then adjusts and controls the operation of the transmission motor 35 based on the value of the work implement rotation sensor 68. For this reason, the trunnion shaft 18a is first adjusted to the vicinity of the final rotation angle position of the trunnion shaft 18a by the speed change motor 35 based on the value of the trunnion potentiometer 53, and then based on the information of the work implement rotation sensor 68. The final (target) rotation angle corresponding to the traveling speed in the fine adjustment range is adjusted and set within a predetermined error range.

  The driving speeds of the preprocessing unit 2 and the feed chain 5 change following the movement of the trunnion shaft 18a, and follow the traveling speed. FIG. 6 shows a state of speed change by the automatic shift control of the preprocessing unit 2. Reading of the value of the trunnion potentiometer 53 can be performed at high speed because reading of the value output from the trunnion potentiometer 53 is sufficient. For this reason, as shown in FIG. 6, the speed control of the preprocessing unit 2 and the feed chain 5 based on the value of the trunnion potentiometer 53 is performed at high speed, and is completed approximately T0 after the start of control.

  On the other hand, in order to calculate the rotation speed of the preprocessing drive shaft 36 from the value of the work implement rotation sensor 68, it is necessary to read data from the work implement rotation sensor 68 for a predetermined time. For example, when a rotary encoder is used as the work implement rotation sensor 68, it is necessary to read the number of pulses generated and output during a predetermined time. This is unavoidable because the driving speeds of the preprocessing unit 2 and the feed chain 5 depend on the rotational speed of the preprocessing drive shaft 36, and the definitions of the definitions of the speed and the rotational speed are changes per predetermined time.

  Therefore, the calculation of the rotational speed based on the information of the work implement rotation sensor 68 requires a relatively long time and is difficult to process at a high speed, and the preprocessing unit 2 and the feed based on the information of the work implement rotation sensor 68 are difficult. The speed control of the chain 5 becomes low speed. However, as described above, the speed control of the preprocessing unit 2 and the feed chain 5 based on the information of the work machine rotation sensor 68 is performed in advance based on the value of the trunnion potentiometer 53. Will be done later.

  Accordingly, the speed control of the preprocessing unit 2 and the feed chain 5 based on the information of the work machine rotation sensor 68 is combined with a relatively small error, and as illustrated in FIG. Setting of the speed of the feed chain 5 is completed approximately T1 after the start of control.

  When only the speed control of the preprocessing unit 2 and the feed chain 5 based on the information of the work machine rotation sensor 68 is performed from the start of control, as indicated by an imaginary line (two-dot chain line) in FIG. Setting is generally completed after a large T2. That is, the responsiveness of shifting with respect to the traveling speed of the preprocessing unit 2 and the feed chain 5 is improved, the followability of the operating speed of the preprocessing unit 2 with respect to the traveling speed is improved, and smooth mowing work corresponding to the traveling speed is performed. Can do.

Top view of the front part of the combine Top view of work equipment transmission Transmission diagram of driving force from engine It is a block diagram of the drive system of a transmission motor It is a flowchart figure of automatic transmission control. It is a graph which shows the speed change of the pre-processing part by automatic transmission control.

Explanation of symbols

2 Pre-processing unit 12 Traveling transmission (traveling transmission)
14 Work machine transmission (pre-processing transmission)
35 Variable speed motor (actuator)
53 Potentiometer (Operation amount detection means)
72 Microcomputer (Speed interlocking means)

Claims (1)

A traveling transmission (12) that shifts and outputs a driving force that drives the traveling device, a preprocessing transmission (14) that shifts and outputs a driving force that drives the preprocessing unit (2), and a preprocessing shift An actuator (35) for shifting the speed of the device (14), drive detection means (68) for detecting the driving speed after shifting of the pre-processing transmission (14), and a pre-processing unit (2) corresponding to the traveling speed In the combine provided with the speed interlocking means (72) for controlling the actuator (35) based on the information of the drive detecting means (68) so as to drive the shift operation amount, the shift operation amount of the preprocessing transmission (14) is determined. An operation amount detecting means (53) for detecting is provided, and the speed interlocking means (72) operates the actuator (35) based on the information of the operation amount detecting means (53), and then the information of the drive detecting means (68). Actuye based Motor (35) configured to actuate the pre-processing unit (2) speed interlocking means in combine with improved followability to the traveling speed of the driving speed of the.

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