JP5209532B2 - Combine - Google Patents

Description

  The present invention relates to a combine traveling and steering control technique.

  Other control means that can control the hydraulic continuously variable transmission when an error or failure occurs in the operation detection means for detecting the operation state of the speed change operation tool and the steering operation tool in the combine which is an agricultural machine There is one that reliably stops the traveling machine body by using (see, for example, Patent Document 1).

  Also, by providing a plurality of operation detection means for detecting the operation state of the steering operation tool, the detection information of each operation detection means is compared with each other, and when it is determined that there is a failure, other operation detection means are used. Some switches (for example, refer to Patent Document 2).

JP 2004-308531 A JP-A-2005-75297

  However, Patent Document 1 and Patent Document 2 do not consider a case where an abnormality occurs in a control device that generates control information such as a hydraulic continuously variable transmission based on input information from an operation detection unit. . In addition, there is a demand for retreating when there is an abnormality in these, so if an abnormality occurs due to not only the operation detection means but also the control device, etc., it is safe by limiting the traveling speed. Therefore, a technology capable of evacuation was desired.

  Furthermore, when the working unit stops, it is necessary to disassemble and remove the cereals and kernels left in the combine threshing unit, the waste disposal unit, the glen tank, etc. There was a request to continue moving the waste disposal, the discharge of grains stored in the Glen tank, and the like.

  Therefore, the present invention enables safe retreat traveling by limiting the traveling speed and stopping the mowing unit when any abnormality occurs in the control device as well as the operation detecting means, It aims at providing the combine which can be continued about discharge | emission of the grain stored in the Glen tank.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

  That is, in claim 1, a traveling hydraulic continuously variable transmission for shifting the traveling speed of the traveling machine body according to the shifting operation of the shifting operation tool, and the traveling machine body according to the steering operation of the steering operation tool. In a combine equipped with a steering-type hydraulic continuously variable transmission for turning, a first shift operation detecting means and a second shift operation detecting means for detecting an operation state of the shift operation tool, respectively, and the steering operation A first steering operation detection means and a second steering operation detection means for respectively detecting the operation state of the tool, and the hydraulic non-use for traveling according to input information based on detection information of the first shift operation detection means. The control information of the step transmission is generated, and the control information of the hydraulic continuously variable transmission for steering is generated according to the input information based on the detection information of the first steering operation detection means. According to the information, the driving oil A first control device capable of controlling the steering continuously variable transmission and the steering hydraulic continuously variable transmission, and the travel-use variable according to input information based on detection information of the second shift operation detecting means. Generating control information for the hydraulic continuously variable transmission, generating control information for the steering hydraulic continuously variable transmission according to the input information based on the detection information of the second steering operation detecting means, A second control device capable of controlling the engine; and a traveling state detecting means for detecting a traveling state of the traveling machine body, wherein the first control device and the second control device are respectively input information and control information. Are compared with each other, and the respective operating states are determined from each other. When at least one of the input information and the control information does not match, the first control device limits the traveling speed of the traveling machine body. , For running The hydraulic continuously variable transmission and the steerable hydraulic continuously variable transmission are controlled, and the drive of each working unit is controlled.

  According to a second aspect of the present invention, in the combine according to the first aspect, when the first control device limits the traveling speed of the traveling machine body, the traveling hydraulic pressure is set so as not to exceed a preset traveling speed. And the steering type hydraulic continuously variable transmission.

  In Claim 3, in the combine of Claim 1 or Claim 2, when restrict | limiting the drive of each said operation | work part, a cutting part is stopped, a threshing part, a selection part, a grain storage part, a waste disposal process The unit is controlled so as to be continuously driven.

  In Claim 4, in the combine as described in any one of Claims 1-3, when restrict | limiting the drive of each said operation | work part, a threshing part, a selection part, a grain storage part, a waste processing part Controls to stop after a predetermined time.

  As effects of the present invention, the following effects can be obtained.

  According to the first aspect of the present invention, when at least one of the input information to the first and second control devices does not match the control information generated by the first and second control devices, the traveling speed and It becomes possible to limit the drive of each working unit. Therefore, if any abnormality related to the shift or steering operation detection means and the control device that controls the hydraulic continuously variable transmission based on these operations occurs, the traveling speed and the drive of each working unit are immediately determined. It can be limited to improve safety.

  According to the second aspect of the present invention, when at least one of the input information to the first and second control devices and the control information generated by the first and second control devices does not match, it is set in advance. It is possible to run only at a speed less than that. Therefore, when any abnormality relating to the shift or steering operation detection means and the control device that controls the hydraulic continuously variable transmission based on these operations occurs, the retreat travel can be performed safely.

  According to the third aspect of the present invention, when at least one of the input information to the first and second control devices and the control information generated by the first and second control devices does not match, The driving can be stopped and the other working units can be continuously driven. Therefore, even if any abnormality related to the shift or steering operation detection means and the control device that controls the hydraulic continuously variable transmission based on these operations occurs, the threshing operation, the waste disposal process, the storage in the Glen tank The discharged grain can be continuously performed.

  According to the invention described in claim 4, even when at least one of the input information to the first and second control devices and the control information generated by the first and second control devices do not match, Threshing work, waste disposal, discharge of grains stored in the Glen tank, etc. can be performed only for a predetermined time. Therefore, the harvested corn straw and the grain in the Glen tank do not remain in the combine.

The left view which shows the whole structure of the combine 1 which concerns on one Embodiment of this invention. The hydraulic circuit diagram which shows the structure of the power transmission of the combine 1 which concerns on one Embodiment of this invention. The block diagram which shows the structure of the control system of the combine 1 which concerns on one Embodiment of this invention. The control flow figure of the combine 1 which concerns on one Embodiment of this invention.

  Next, embodiments of the invention will be described.

  First, the whole structure of the combine 1 which concerns on one Embodiment of this invention is demonstrated.

  As shown in FIG. 1, the combine 1 includes a traveling unit 3, a mowing unit 4, a threshing unit 5, a sorting unit 6, a grain storage unit 7, a waste processing unit 8, and an engine unit 9. The mission unit 10 and the control unit 11 are provided.

  The traveling unit 3 is provided in the lower part of the body frame 2. The traveling unit 3 is a crawler type traveling device 12, 12 or the like having a pair of left and right crawlers, and is configured so that the body can be moved forward or backward by the left and right crawler type traveling devices 12, 12.

  The cutting unit 4 is provided at the front end of the machine frame 2 so as to be movable up and down with respect to the machine body. The mowing unit 4 includes a weeding tool 13, a pulling device 14, a cutting device 15, a transporting device 16, and the like. It is configured such that the cereal is caused, cut by the cutting device 15, the cereal after the cereal is cut, and the cereal after cutting is transported to the threshing unit 5 side by the transport device 16.

  The threshing part 5 is provided at the left front part of the machine body frame 2 and is arranged behind the cutting part 4. The threshing unit 5 includes a feed chain 17, a handling cylinder, a receiving net, and the like. The threshing unit 5 inherits the culm from the conveying device 16 of the cutting unit 4 by the feed chain 17 and conveys it to the waste disposal processing unit 8 side. And the threshing grain being conveyed by the receiving net is threshed, and the threshing can be leaked.

  The sorting unit 6 is provided on the left side of the machine body frame 2 and is disposed below the threshing unit 5. The sorting unit 6 includes a rocking sorting device, a wind sorting device, a grain conveying device, a swarf discharging device, and the like. Swing and sorting into dust, etc., wind sorting using a wind sorting device to further sort into grains and swarf and dust, etc. While being conveyed to the 7 side, it is comprised so that a sawdust, dust, etc. can be discharged | emitted outside by a sawdust discharge apparatus.

  The grain storage part 7 is provided in the right rear part of the body frame 2, and is arrange | positioned at the right side of the threshing part 5 and the selection part 6. FIG. The grain storage unit 7 includes a grain tank 21, a grain discharge device 22, etc., temporarily stores the grain conveyed from the sorting unit 6 by the grain tank 21, and is storing it by the grain discharge device 22. The grain is discharged from the grain tank 21 and further conveyed in an arbitrary direction before being discharged to the outside.

  The waste disposal unit 8 is provided at the left rear portion of the machine body frame 2 and is disposed behind the threshing unit 5. The waste disposal processing unit 8 has a waste transporting device, a waste cutting device, and the like. The waste transporting device inherits the threshed cereal from the feed chain 17 of the threshing unit 5 and uses it as a waste to the outside. It is configured such that it can be discharged or transported to a waste cutting device, cut by the waste cutting device, and discharged to the outside.

  The engine unit 9 is provided at the front right side of the machine body frame 2 and is disposed in front of the grain storage unit 7. The engine unit 9 includes an engine 31 and the like so that power can be supplied from the engine 31 to each unit device using this as a drive source via an appropriate transmission mechanism so that the engine unit 31 can drive each unit device. Composed.

  The mission unit 10 is provided at the front right side of the body frame 2 and is disposed in front of the engine unit 9. The mission unit 10 is configured so that the power of the engine 31 of the engine unit 9 can be shifted before the power of the engine 31 is supplied to the traveling unit 3, the cutting unit 4, and the like.

  The control unit 11 is provided at the front right side of the body frame 2 and is disposed above the engine unit 9 and the mission unit 10. The control unit 11 includes operation tools including a control seat 24, a steering handle 25 as a steering operation tool, and a shift lever 26 as a speed change operation tool, a step, and the like. Thus, the operator can operate the devices of the respective units with the operation tools.

  In this way, the combine 1 supplies the power of the engine 31 from the engine unit 9 to the devices of the respective units by operating the operation tools in the control unit 11, and cuts the vehicle while running the aircraft in the traveling unit 3. The part 4 cuts the cereals in the field, the threshing part 5 threshs the cereals from the reaping part 4, the sorting part 6 sorts out the cereals from the threshing part 5, and the grain storage part 7 sorts the sorting part 6. Is stored so that the waste from the threshing unit 5 can be discharged to the outside by the waste processing unit 8.

  Next, the configuration of the mission unit 10 will be described.

  In the mission unit 10, as shown in FIG. 2, a traveling hydraulic continuously variable transmission (hereinafter referred to as a traveling HST) 40, a steering hydraulic continuously variable transmission (hereinafter referred to as a steering HST). 50), a transmission mechanism 70, and a transmission case. Then, the transmission HST 40, the steering HST 50, and the transmission mechanism 70 are accommodated in the transmission case, and the transmission mechanism of the traveling system of the combine 1 is constituted by these.

  The travel HST 40 is provided with a variable displacement travel pump 40P and a variable displacement travel motor 40M. Traveling pump 40P and traveling motor 40M are fluidly connected to each other.

  The travel pump 40 </ b> P includes a travel pump shaft 41, a travel pump main body 42, and a travel pump volume adjusting means 43, and the travel pump shaft 41 is linked to the output shaft of the engine 31. A rotary shaft 94 is linked to the output shaft of the engine 31 via a PTO pulley electromagnetic clutch 93, and the PTO pulley 92 fixed to the rotary shaft 94 includes the threshing unit 5, the sorting unit 6, and a grain storage. Rotational power is transmitted to the unit 7 and the waste disposal unit 8.

  The traveling pump main body 42 is supported by the traveling pump shaft 41 so as not to be relatively rotatable. The travel pump volume adjusting means 43 has a movable swash plate and a control shaft, and is configured to change the volume of the travel pump 40P by tilting the movable swash plate with the control shaft.

  The travel motor 40M includes a travel motor main body 44, a travel motor shaft 45, and a travel motor volume adjusting means 46. The travel motor main body 44 is fluidly connected to the travel pump main body 42 and supported by the travel motor shaft 45 so as not to be relatively rotatable. The travel motor volume adjusting means 46 has a movable swash plate and a control shaft, and is configured to change the volume amount of the travel motor main body 44 by tilting the movable swash plate with the control shaft. .

  The traveling HST 40 can be operated by a shift operation device. The shift operation device includes a shift operation tool that can be manually operated, such as the shift lever 26, an operation device for the travel pump 40P, and an operation device for the travel motor 40M. These operation devices are controlled by a first control device 200 provided in the combine 1.

  As shown in FIG. 3, the travel pump 40P actuating device is provided with a travel pump solenoid valve 122, a speed change actuator such as a hydraulic cylinder, and the travel pump solenoid valve 122 detects the position of the speed change operation. It is controlled by the first control device 200 so as to change based on the detection result from the first shift operation detecting means 141a. The speed change actuator is operated by switching the supply and discharge of the hydraulic oil in accordance with the position change of the traveling pump electromagnetic valve 122 by the first control device 200.

  The travel motor 40M actuating device is provided with a travel motor solenoid valve 123 and a speed change actuator such as a hydraulic cylinder, and the travel motor solenoid valve 123 detects a position of the sub shift operation detecting means (a sub shift operation detecting means). It is controlled by the first control device 200 so as to change based on the detection result from (not shown). The speed change actuator is operated by switching the supply and discharge of the hydraulic oil according to the position change of the travel motor electromagnetic valve 123 by the first control device 200.

  Then, the operating device for the traveling pump 40P tilts the movable swash plate of the traveling pump volume adjusting means 43 through the control shaft by the operation of the speed change actuator, and changes the tilt angle of the movable swash plate, It is comprised so that the volume amount of the traveling pump 40P can be changed. Further, the operating device for the traveling motor 40M tilts the movable swash plate of the traveling motor volume adjusting means 46 through the control shaft by the operation of the speed change actuator, and changes the tilt angle of the movable swash plate, It is comprised so that the volume amount of the traveling motor 40M can be changed.

  Thus, in the travel HST 40, when the travel pump 40P is driven, the volume of the travel pump 40P is changed according to the tilt of the movable swash plate, so that the hydraulic oil discharged from the travel pump 40P to the travel motor 40M is changed. The discharge amount and the discharge direction are changed, the rotation direction of the travel motor shaft 45 is changed to the forward or reverse direction, and the rotation speed is changed steplessly. Further, the rotational speed of the travel motor shaft 45 in the travel motor 40M is changed by changing the volume of the travel motor 40M according to the tilt of the movable swash plate.

  The steering HST 50 includes a variable displacement steering pump 50P and a fixed displacement steering motor 50M. The steering pump 50P and the steering motor 50M are respectively composed of a hydraulic pump and a hydraulic motor, and are fluidly connected to each other.

  The steering pump 50P is provided with a steering pump shaft 51, a steering pump main body 52, and a steering pump volume adjusting means 53. The steering pump shaft 51 is linked to the engine 31 and the steering pump main body 52 is supported by the steering pump shaft 51 so as not to be relatively rotatable. The steering pump volume adjusting means 53 has a movable swash plate and a control shaft, and is configured to change the volume of the steering pump 50P by tilting the movable swash plate with the control shaft. The

  The steering motor 50M includes a steering motor main body 54, a steering motor shaft 55, and a fixed swash plate. The steering motor main body 54 is fluidly connected to the steering pump main body 52 and is supported on the steering motor shaft 55 so as not to be relatively rotatable. The fixed swash plate is provided in the steering motor main body 54 so that the volume of the steering motor 50M can be fixed.

  The steering HST 50 can be operated by a steering operation device. The steering operation device includes a steering operation tool that can be manually operated, such as a steering handle 25, and an operation device for the steering pump 50P. The operation device for the steering pump 50P is controlled by the first control device 200.

  The operating device for the steering pump 50P is provided with a variable speed actuator such as a steering pump solenoid valve 132 and a hydraulic cylinder, and the steering pump solenoid valve 132 detects the steering operation based on the position thereof. It is controlled by the first control device 200 so as to change based on the detection result from the direction operation detecting means 151a. The speed change actuator is operated by switching the supply and discharge of the hydraulic oil in accordance with the position change of the steering pump electromagnetic valve 132 by the first control device 200.

  Then, the operating device for the steering pump 50P tilts the movable swash plate of the steering pump volume adjusting means 53 via the control shaft by operating the speed change actuator, and changes the tilt angle of the movable swash plate. Thus, the volume of the steering pump 50P can be changed.

  Thus, in the steering HST 50, when the steering pump 50P is driven, the volume of the steering pump 50P is changed according to the tilt of the movable swash plate, so that the steering pump 50P discharges to the steering motor 50M. The discharge amount and the discharge direction of the hydraulic oil to be changed are changed, the rotation direction of the steering motor shaft 55 is changed to the forward or reverse direction, and the rotation speed is changed steplessly.

  The transmission mechanism 70 includes a pair of planetary gear mechanisms, that is, a first planetary gear mechanism 80a and a second planetary gear mechanism 80b, a traveling output transmission mechanism 100, and a turning output transmission mechanism 110.

  The first planetary gear mechanism 80a includes a sun gear 81, an internal gear 84, a plurality of planetary gears 82, 82. The sun gear 81 is fixed to the rotating shaft 85, and the internal gear 84 is disposed so as to surround the sun gear 81 concentrically. Each planetary gear 82 is interposed between both gears so as to mesh with the internal teeth of the internal gear 84 and the external teeth of the sun gear 81, and is rotatably supported by the carrier 83. The carrier 83 is fixed to the first output shaft 60a.

  Similarly, the second planetary gear mechanism 80b includes a sun gear 81, an internal gear 84, a plurality of planetary gears 82, 82,. The sun gear 81 is fixed to the rotating shaft 85, and the internal gear 84 is disposed so as to surround the sun gear 81 concentrically. Each planetary gear 82 is interposed between both gears so as to mesh with the internal teeth of the internal gear 84 and the external teeth of the sun gear 81, and is rotatably supported by the carrier 83. The carrier 83 is fixed to the second output shaft 60b.

  The travel output transmission mechanism 100 includes an output shaft 101, a branch shaft 105, a first travel output gear train 106a, a second travel output gear train 106b, an auxiliary transmission mechanism 107, and a parking brake device 102. The output shaft 101 is interlocked with the travel motor shaft 45 of the travel motor 40M in the travel HST 40, and the branch shaft 105 is interlocked with the output shaft 101 via the auxiliary transmission mechanism 107.

  The subtransmission mechanism 107 is configured so that the rotational power of the travel motor shaft 45 can be shifted in multiple stages between the output shaft 101 and the branch shaft 105. Note that a cutting pulley 90 is fixed to the traveling motor shaft 45 of the traveling motor 40M via a cutting pulley electromagnetic clutch 91, and the rotational power of the traveling motor 40M can be transmitted from the cutting pulley 90 to the transmission mechanism of the cutting unit 4. Is done.

  The first traveling output gear train 106a transmits the rotational power of the branch shaft 105 to the internal gear 84 of the first planetary gear mechanism 80a, and the second traveling output gear train 106b transmits the rotational power of the branch shaft 105 to the second planetary gear. It is transmitted to the internal gear 84 of the gear mechanism 80b. The transmission directions and transmission ratios of the first traveling output gear train 106a and the second traveling output gear train 106b are set to be the same.

  The parking brake device 102 includes a brake shaft 103 and a brake unit 104, receives rotational power from the output shaft 101 by the brake shaft 103, and outputs it to the branch shaft 105. It is comprised so that braking force can be added to. That is, the parking brake device 102 can operatively apply a braking force to the travel motor shaft 45.

  The turning output transmission mechanism 110 includes an output shaft 111, a common shaft 112, a first turning output gear train 113a, a second turning output gear train 113b, a clutch device 115, and a turning brake device 114.

  The output shaft 111 is linked to the steering motor shaft 55 of the steering motor 50M in the steering HST 50, and the common shaft 112 is linked to the output shaft 111 via the clutch device 115. The clutch device 115 is configured to be able to transmit or block the rotational power from the output shaft 111 to the common shaft 112.

  The first turning output gear train 113a transmits the rotational power of the common shaft 112 to the sun gear 81 of the first planetary gear mechanism 80a through the rotating shaft 85 and the like, and the second turning output gear train 113b rotates the common shaft 112. The power is transmitted to the sun gear 81 of the second planetary gear mechanism 80b via the rotary shaft 85 or the like. The transmission ratios of the first turning output gear train 113a and the second turning output gear train 113b are set to be the same, and the transmission directions are set to opposite directions.

  The turning brake device 114 is configured to selectively apply a braking force to the output shaft 111. That is, the turning brake device 114 can operatively apply a braking force to the steering motor shaft 55 of the steering motor 50M.

  In such a configuration, when the steering motor 50M of the steering HST 50 is stopped and the traveling motor 40M of the traveling HST 40 is driven, the rotational power of the traveling motor 40M is transmitted from the traveling motor shaft 45 to the traveling output transmission mechanism. 100 output shaft 101, branch shaft 105, first and second traveling output gear trains 106a and 106b, internal gear 84 of first and second planetary gear mechanisms 80a and 80b, planetary gear 82, and carrier 83 in this order. It is transmitted to the member, and then transmitted to the first and second output shafts 60a and 60b.

  Due to the transmission of the rotational power, the first output shaft 60a and the second output shaft 60b are rotated at the same rotational speed, and as a result, the drive wheels provided in the left and right crawler type traveling devices 12 are the same rotational speed in the same rotational direction. It is rotated by. As a result, the left and right crawler type traveling devices 12 are driven, and the vehicle travels straight in the front-rear direction.

  When the traveling motor 40M of the traveling HST 40 is stopped and the steering motor 50M of the steering HST 50 is driven, the rotational power of the steering motor 50M is transmitted from the steering motor shaft 55 to the output shaft of the turning output transmission mechanism 110. 111, the common shaft 112, the first and second turning output gear trains 113a and 113b, the sun gear 81 of the first and second planetary gear mechanisms 80a and 80b, the planetary gear 82, and the carrier 83 in this order. It is transmitted to the first and second output shafts 60a and 60b.

  By the transmission of this rotational power, the first output shaft 60a and the second output shaft 60b are rotated in opposite directions, and the drive wheels of the left and right crawler type traveling devices 12 are rotated in the forward or reverse direction, and the other left and right The drive wheels of the crawler type traveling device 12 are rotated in the reverse or forward direction. As a result, the left and right crawler type traveling devices 12 are driven, and the spin turn of the aircraft is performed on the spot. Thereby, the direction change in a farm field or a headland is enabled, for example.

  When the traveling motor 40M in the traveling HST 40 is driven and the steering motor 50M of the steering HST 50 is driven, the rotational power transmitted from the traveling motor 40M via the traveling output power transmission mechanism 100 and the steering motor 50M. Rotational power transmitted from the first and second planetary gear mechanisms 80a and 80b is transmitted to the first and second output shafts 60a and 60b, respectively. .

  By the transmission of this rotational power, the first and second output shafts 60a and 60b are rotated at different rotational speeds, and as a result, the drive wheels of the left and right crawler type traveling devices 12 are rotated at different rotational speeds. As a result, the left and right crawler type traveling devices 12 are driven with a speed difference, and the aircraft is traveling and turning left or right at the same time. The turning direction and turning radius are determined according to the speed difference between the left and right crawler type traveling devices 12.

  Next, the configuration and control flow of the control system for the combine 1 according to the present invention will be described with reference to FIGS.

  The control system of the combine 1 mainly includes first shift operation detecting means 141a and second shift operation detecting means 141b for detecting the driver's shift operation, and first steering operation detecting means for detecting the driver's steering operation. 151a, second steering operation detection means 151b, first shift operation detection means 141a, and first steering operation detection means 151a based on input information to generate control information and the travel pump solenoid valve 122, Based on input information from the first control device 200 capable of controlling the travel motor solenoid valve 123 and the steering pump solenoid valve 132, the second shift operation detection means 141b, and the second steering operation detection means 151b. Based on input information from second control device 300 that generates control information, engine speed detecting means 175, temperature sensor (not shown), oil temperature sensor (not shown), and the like. An engine control unit 400 for controlling the operating state of the engine 31, and a.

  The first control device 200 includes a travel pump electromagnetic valve 122 and a travel motor for the travel device that inclines the movable swash plates of the travel pump volume adjusting means 43 and the travel motor volume adjusting means 46 provided in the travel HST 40. The solenoid valve for the steering pump 132 of the actuator for tilting the movable swash plate of the steering pump volume adjusting means 53 provided in the solenoid valve 123 and the steering HST 50 is electrically connected via the solenoid valve driver 163. . The first control device 200 is connected to a traveling state detection unit 173, and the first shift operation detection unit 141a and the first steering operation detection unit 151a are electrically connected via the first I / O driver 161. Connected to.

  The second control device 300 is connected to the traveling state detection unit 173 and is electrically connected to the second shift operation detection unit 141b and the second steering operation detection unit 151b via the second I / O driver 162. Is done. Further, the second control device 300 includes an electromagnetic clutch 91 for cutting pulley that transmits or blocks rotational power to the cutting unit 4 and an electromagnetic clutch 93 for PTO pulley that transmits or blocks rotational power to the threshing unit 5 and the like. Connected.

  The first I / O driver 161 and the second I / O driver 162 are electrically connected to the first and second control devices 200 and 300 and the engine control device 400 by a CAN (Controller Area Network). And each control apparatus 200 ... is comprised so that detection information from each operation detection means 141a ... and other detection means may be shared.

  The first shift operation detecting means 141a and the second shift operation detecting means 141b are composed of a potentiometer or the like, and detect the shift operation state of the shift lever 26 by the operator, that is, the shift operation position of the shift lever 26. The first steering operation detection means 151a and the second steering operation detection means 151b are composed of a potentiometer or the like, and detect the steering operation state of the steering handle 25 by the driver, that is, the steering operation position of the steering handle 25. Is.

  In the present embodiment, the first shift operation detecting means 141a and the second shift operation detecting means 141b are configured to detect the shift operation position of the shift lever 26 by different detection methods. Similarly, the first steering operation detection means 151a and the second steering operation detection means 151b are also configured to detect the steering operation position of the steering handle 25 by different detection methods.

  Specifically, the first shift operation detecting means 141a is configured to amplify the electric signal as the tilt angle by the tilt operation of the shift lever 26 increases and detect the shift operation position of the shift lever 26. The second shift operation detecting means 141b is configured to detect the shift operation position of the shift lever 26 by decreasing the electrical signal as the tilt angle by the tilt operation of the shift lever 26 increases.

  Further, the first steering operation detecting means 151a amplifies the electric signal as the turning angle of the steering handle 25 when turning right (the electric signal decreases as the turning angle when turning left) increases. The steering operation position of the steering handle 25 is detected. The second steering operation detecting means 151b decreases the turning angle of the steering handle 25 when turning right (the electric signal is amplified as the turning angle when turning left) increases. The steering operation position is detected.

  Thus, the first control device 200 and the second control device 300 obtain a plurality of pieces of detection information obtained by different detection methods for the operation of a certain shift lever 26 or the steering handle 25 as input information, respectively, By comparing the input information to the device 200 and the input information to the second control device 300 by the respective control devices 200 and 300, it is possible to determine whether or not the input information is appropriate. It has become. This makes it possible to accurately determine the occurrence of an abnormality in each of the operation detection means 141a... And improve the reliability of input information.

  The first control device 200 is a main controller that controls the traveling state of the combine 1 in accordance with the shifting operation and steering operation of the operator. In the first control device 200, control information for controlling the traveling HST 40 and the steering HST 50 is generated based on the input information from the first shift operation detecting means 141a and the first steering operation detecting means 151a. The control HST 40 and the steering HST 50 are controlled by this control information.

  The second control device 300 is a sub-controller for the first control device 200 that is a main controller. In the second control device 300, communication is performed with the first control device 200 as needed, and the operating state of the first control device 200, that is, whether or not it is operating is monitored. At the same time, the first control device 200 monitors the operating state of the second control device 300. That is, the first control device 200 and the second control device 300 are configured to monitor the operating state of each other. The power lines of the first and second control devices 200 and 300 are separate.

  In the first and second control devices 200 and 300, the first shift operation detecting means 141a or the first steering operation detecting means 151a is changed from the first shift operation detecting means 151a to the first control apparatus 200 according to the operation of the shift lever 26 or the steering handle 25. The input information inputted is compared with the input information inputted from the second shift operation detecting means 141b or the second steering operation detecting means 151b to the second control device 300 according to the same operation.

  In addition, in the first and second control devices 200 and 300, the control information generated from the input information is compared with the control information generated from the input information in the second control device 300. As a result of these comparisons, it is determined whether or not each operation detecting means 141a... Is operating, that is, whether it is operating normally.

  The traveling state detection means 173 is composed of a straight rotation sensor or a turning sensor, and detects whether the combine 1 is traveling, that is, whether the combine 1 is traveling or whether the combine 1 is turning. Here, the rectilinear rotation sensor and the turning rotation sensor are provided in the traveling output transmission mechanism 100 and the turning output transmission mechanism 110 of the above-described traveling system transmission mechanism, respectively, and rotate appropriate shafts or gears in each transmission mechanism. It shall be detected.

  The first control device 200 performs feedback control so that the target running state is achieved based on detection information from the rectilinear rotation sensor and the turning rotation sensor, and the operation state information of the engine 31 from the engine control device 400. Control information is generated so as to always realize the traveling state according to the driver's request, and the traveling HST 40 and the steering HST 50 are controlled.

  In such a configuration, when the combine 1 is traveling or turning, control relating to stopping of traveling or turning is performed in the following steps.

  In step S500, when a shift operation is performed by the shift lever 26, the first shift operation detecting unit 141a and the second shift operation detecting unit 141b detect the shift lever tilt angle. In step S500, when the steering operation is performed by the steering handle 25, the first steering operation detection unit 151a and the second steering operation detection unit 151b detect the turning angle of the steering handle.

  In step S510, the first control device 200 selects detection information from the first shift operation detection means 141a and the first steering operation detection means 151a among the detection information shared with the other control devices 300 and 400. And input as input information. In addition, the second control device 300 selects detection information from the second shift operation detection means 141b and the second steering operation detection means 151b, and takes it in as input information.

  In step S520, the first and second control devices 200 and 300 compare whether there is a difference between the input information. In this embodiment, in this embodiment, the first and second shift operation detecting means 141a and 141b are configured to detect the shift operation position by different detection methods, and the first and second steering operation detecting means 151a. Since 151b is also configured to detect the steering operation position by different detection methods, it is performed after appropriately performing arithmetic processing on the input information from these to make them comparable.

  As a result, in the first control device 200, if there is no difference between the input information, or if there is a difference, the process proceeds to step S530. If it is determined that there is a difference between the input information, it is assumed that there is an abnormality in any of the operation detection means 141a... And the process proceeds to step S560.

  In step S530, the first control device 200 generates control information for controlling the traveling HST 40 and the steering HST 50 based on the input information. Specifically, in order to control the traveling pump electromagnetic valve 122 for tilting the movable swash plate provided in the traveling HST 40 and the steering pump electromagnetic valve 132 for tilting the movable swash plate provided in the steering HST 50. Control information is generated. Also in the second control device 300, control information is generated based on the input information as in the first control device 200.

  In step S540, the first and second control devices 200 and 300 compare whether there is a difference between the control information. In the first control device 200, if there is no difference in the control information, or if there is a difference, the control information is transmitted to the traveling pump solenoid valve 122 and the steering pump solenoid valve 132 if within the allowable range. (Step S550). If it is determined that there is a difference between the control information, it is determined that there is an abnormality in one of the first and second control devices 200 and 300, and the process proceeds to step S560.

  In step S560, which is shifted when it is determined that the input information or control information is different from each other, the travel pump solenoid valve is set so that the travel speed of the combine 1 from the first control device 200 does not exceed a predetermined limit value. Control information is transmitted to 122 and the solenoid valve 132 for the steering pump. That is, the control information is transmitted so that a speed exceeding a certain level does not occur by limiting the bevel angles of the movable swash plates of the traveling HST 40 and the steering HST 50.

  Thereby, the input information input to the first control device 200 and the input information input to the second control device 300 can be compared with each other, and are generated in at least one of the operation detection units 141a. It is possible to detect abnormalities. Also, the control information output from the first control device 200 and the control information output from the second control means 300 can be compared with each other, and at least one of the first and second control devices 200 and 300 can be compared. It is possible to detect even when an abnormality occurs.

  And when there is an abnormality in the operating state of the first and second control devices 200 and 300, input information to the first and second control devices 200 and 300, and control information from the first and second control devices 200 and 300 Is not matched, control information for limiting the traveling speed is transmitted to the traveling pump solenoid valve 122 of the traveling HST 40 and the steering pump solenoid valve 132 of the steering HST 50, and the combine 1 is restricted to a safe traveling speed. It is possible to perform evacuation travel in the state that has been performed.

  Thereafter, in step S570, a signal is transmitted so as to cut off the power transmission to the mowing pulley electromagnetic clutch 91 transmitting the rotational power to the mowing unit 4.

  Thereby, since the drive of the cutting part 4 stops, it can evacuate safely and it can drive continuously about other working parts, such as a threshing part. It is possible to continue to discharge the grain stored in the plant.

  In the present embodiment, power transmission is interrupted from the second control device 300 to the PTO pulley electromagnetic clutch 93 after a predetermined time has elapsed since a signal was transmitted to the mowing pulley electromagnetic clutch 91 to interrupt power transmission. The signal is transmitted as follows.

  This is because the abnormal operation state of the first and second control devices 200 and 300, the input information to the first and second control devices 200 and 300, and the control information from the first and second control devices 200 and 300 match. If all the working parts stop immediately after it is determined not to be done, the harvested cereal grains and the grains in the grain tank will remain in the combine 1 and must be decomposed and removed. For this reason, at least the harvested cereals undergo threshing and the like, and the wastes are discharged. After all the grains in the Glen tank have been discharged, all the working parts are stopped.

  As described above, the combine 1 according to the embodiment of the present invention includes the shift or steering operation detection means 141a, 141b, 151a, 151b, and the traveling HST 40 and the steering HST 50 based on these operations. In addition to the first control device 200 to be controlled, if any abnormality relating to the second control device 300 occurs, the travel speed is immediately restricted and the drive of each working unit is restricted to improve safety or repair. It is possible to facilitate and reduce the waste of the harvest.

1 Combine 1
31 Engine 40 Traveling hydraulic continuously variable transmission 50 Steering hydraulic continuously variable transmission 122 Traveling pump solenoid valve 123 Traveling motor solenoid valve 132 Steering pump solenoid valve 141a First shift operation detecting means 141b Shift operation detection means 151a First steering operation detection means 151b Second steering operation detection means 200 First control device 300 Second control device 400 Engine control device

Claims (4)

A hydraulic continuously variable transmission for traveling that shifts the traveling speed of the traveling machine body according to the shifting operation of the shifting operation tool;
In a combine comprising a steering hydraulic continuously variable transmission for turning the traveling machine body in response to a steering operation of a steering operating tool,
A first shift operation detecting means and a second shift operation detecting means for detecting an operation state of the shift operation tool,
A first steering operation detecting means and a second steering operation detecting means for detecting an operation state of each of the steering operation tools;
Control information for the traveling hydraulic continuously variable transmission is generated according to the input information based on the detection information of the first shift operation detecting means, and the input information is based on the detection information of the first steering operation detecting means. Accordingly, control information for the steering hydraulic continuously variable transmission is generated, and the traveling hydraulic continuously variable transmission and the steering hydraulic continuously variable transmission are determined based on the control information. A first control device that can be controlled;
Control information of the hydraulic continuously variable transmission for traveling is generated according to input information based on detection information of the second shift operation detecting means, and input information based on detection information of the second steering operation detecting means is used. In response, the control information of the hydraulic continuously variable transmission for steering is generated, and the second control device capable of controlling the engine;
Traveling state detection means for detecting the traveling state of the traveling machine body,
The first control device and the second control device compare each input information and control information with each other, determine each operating state from each other,
If at least one of this input information and control information does not match,
The first control device controls the traveling hydraulic continuously variable transmission and the steering hydraulic continuously variable transmission so as to limit the traveling speed of the traveling machine body,
A combine that is controlled so as to limit driving of each working unit. When the first control device limits the traveling speed of the traveling aircraft,
The combine according to claim 1, wherein the traveling hydraulic continuously variable transmission and the steering hydraulic continuously variable transmission are controlled so as not to exceed a preset traveling speed. When limiting the drive of each working unit,
3. The combine according to claim 1 or 2, wherein the reaping unit is stopped and the threshing unit, the selection unit, the grain storage unit, and the waste processing unit are controlled to be continuously driven. When limiting the drive of each working unit,
The combine according to any one of claims 1 to 3, wherein the threshing unit, the selection unit, the grain storage unit, and the excretion processing unit are controlled to stop after a lapse of a predetermined time.

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