JP6615085B2 - Harvesting machine - Google Patents

Description

  The present invention relates to a harvester provided with a harvest storage unit for storing harvested harvest.

  For example, Patent Document 1 describes a conventional harvesting machine. The harvesting machine described in Patent Literature 1 includes a yield detection sensor (“Weight Sensor” in the same document) for detecting the amount of harvest stored in the harvest storage unit (“Glen tank” in the same document), and an artificial operation. And a speed change operation tool ("main speed change lever" of the same document) for setting the speed of the travel device ("travel crawler" of the same document). Further, the harvesting machine shifts the power from the operation position detection sensor for detecting the operation position of the speed change operation tool and the power source ("engine" in the same document) based on the detection result of the operation position detection sensor, And a continuously variable transmission ("hydraulic continuously variable transmission mechanism" in the same document) that transmits to the traveling device. In this harvester, the speed change state of the continuously variable transmission is determined by the operation position of the speed change operation tool.

JP 2008-220336 A

However, in the above conventional technique, when the amount of the crop stored in the crop storage section increases (the weight of the machine body increases), the load applied to the transmission system including the continuously variable transmission increases, and the speed change operation is performed. Response of vehicle speed change to equipment operation tends to be delayed. On the other hand, if the amount of harvest is reduced (the weight of the aircraft is reduced), the load on the transmission system including the continuously variable transmission is reduced, and the speed change operation is performed. Response of changes in vehicle speed to tool operation tends to be faster.
For this reason, for the operator, when the amount of the crop stored in the crop storage section is large, the behavior of the speed increase / decrease of the fuselage when the speed change operation tool is operated is felt slowly, while the crop storage section When the amount of harvested product stored in the vehicle is small, it has been felt that the speed-up / down behavior of the fuselage when operating the speed change operation tool is too rapid. In other words, the feeling of acceleration felt by the driver when the speed change operation tool is operated in accordance with the change in the amount of harvest (weight of the aircraft) stored in the harvest storage section has changed greatly.

  In view of the above circumstances, it has been desired to provide a harvesting machine in which the acceleration feeling felt by the operator is difficult to change even when the amount of the crop stored in the crop storage unit fluctuates, when the speed change operation tool is operated. .

The harvesting machine of the present invention is
A crop storage section for storing harvested crops;
A yield detection sensor for detecting the amount of harvest stored in the harvest storage unit;
A shift operating tool for setting the speed of the traveling device by human operation;
An operation position detection sensor for detecting an operation position of the speed change operation tool;
A continuously variable transmission that shifts power from a power source based on a detection result of the operation position detection sensor and transmits the power to the traveling device;
Using the control execution relationship that is the relationship between the operation speed of the shift operation tool calculated based on the detection result of the operation position detection sensor and the state change speed of the continuously variable transmission, the continuously variable transmission is A control unit that changes the speed set by the speed change operation tool to a state of appearing; and
The control unit acquires a detection result of the yield detection sensor, corrects the control execution relationship so that the state change speed with respect to the operation speed increases as the harvest amount increases, and The control execution relationship is modified so that the state change speed with respect to the operation speed becomes smaller as the quantity decreases.

According to the present invention, the state change speed of the continuously variable transmission based on the operation speed of the speed change tool is obtained by using the control execution relationship that is the relationship between the operation speed of the speed change operation tool and the state change speed of the continuously variable transmission. The control execution relationship is appropriately modified in accordance with the amount of the crop stored in the crop storage unit.
In other words, when the amount of harvest stored in the harvest storage section increases (the weight of the aircraft increases), the response of the state change of the continuously variable transmission to the operation of the transmission operation tool becomes faster, and the response in the transmission system On the other hand, if the amount of harvest stored in the harvest storage section is reduced (the weight of the fuselage is reduced), the response of the state change of the continuously variable transmission to the operation of the transmission operation tool is delayed. Thus, the speed of response in the transmission system is eliminated.
As a result, even if the amount of harvest (the weight of the machine) stored in the harvest storage unit varies, it can be avoided that a large difference occurs in the behavior of acceleration / deceleration of the machine due to the operation of the transmission operation tool.
Therefore, according to the present invention, even if the amount of harvest stored in the harvest storage section varies, the feeling of acceleration felt by the driver when operating the speed change operation tool is difficult to change.

In the present invention,
It is preferable that the control unit linearly change the control execution relationship between a state where the harvest amount is zero and a state where the harvest amount is full.

  According to this configuration, the state in which the amount of harvest stored in the crop storage unit is close to zero (the weight of the aircraft is lightest) and the amount of crop stored in the crop storage unit is full (The weight of the aircraft is heaviest), the weight of the aircraft changes linearly, so that the control execution relationship is also linearly changed in accordance with the weight of the aircraft and stored in the harvest storage part. The continuously variable transmission can be controlled using an optimal control execution relationship that is unlikely to cause a difference in acceleration when operating the speed change operation tool according to the amount of harvested product (weight of the aircraft). Become.

In the present invention,
Even if the operation speed is the same, the control unit has different control execution relationships depending on whether the speed change operation tool is operated to the speed increasing side or the speed change operation tool is operated to the speed reduction side. Is preferably used.

  According to this configuration, for example, the load applied to the transmission system may differ between when the aircraft is accelerating and when the aircraft is decelerating, so by appropriately changing the control execution relationship used in conjunction therewith, the aircraft Smooth acceleration and acceleration can be achieved.

It is a whole side view of a combine. It is a figure which shows a power transmission structure (transmission system) and a control structure collectively. It is a figure explaining correction of control execution relation. It is a schematic diagram of the planar view which shows the indicator provided in the vicinity of the speed change operation tool.

  Hereinafter, an embodiment which is an example of the present invention will be described with reference to the drawings. Regarding the direction, the sign F in FIG. 1 is the forward direction of the combine (forward direction), and the sign R in FIG. 1 is the reverse direction of the combine (reverse direction).

  The combine shown in FIG. 1 (an example of a “harvesting machine”) is configured to be self-removing. The combine body includes a pair of crawler-type left and right traveling devices 1, a body frame 2 assembled in a frame shape supported by the traveling device 1, a reaping portion 3 supported on the front side of the body frame 2, and a reaping portion 3, a threshing device 4 supported by the vehicle body frame 2 and a tank-type grain storage unit 5 ("crop storage unit" which is disposed on the side of the threshing device 4 and stores harvested crops (grains). ”), An unloader 6 capable of discharging the grain stored in the grain storage unit 5, a driving unit 7 for a driver to perform a driving operation, and the like.

  The combine harvester 3 harvests the planted cereals in the field while the traveling device 1 travels the machine body, threshs the harvested cereals with the threshing device 4, and stores the grains obtained by the threshing process. It is designed to be stored in the part 5. The grain stored in the grain storage unit 5 can be discharged out of the machine by the unloader 6.

  A load cell 6 </ b> A (an example of a “yield detection sensor”) that detects the amount of harvest stored in the grain storage unit 5 is provided in the lower part of the grain storage unit 5. The load cell 6A can detect the weight of the grain stored in the grain storage unit 5 as a harvest amount.

  As shown in FIG. 2, the combine is provided with an engine 8 as a power source, a continuously variable transmission 9 composed of HST which is a hydrostatic continuously variable transmission, and a transmission 10 composed of a gear mechanism. Yes.

  As shown in FIG. 2, the continuously variable transmission 9 is configured to shift the power from the engine 8 and transmit it to the traveling device 1 and the cutting unit 3. The continuously variable transmission 9 is provided with a variable displacement hydraulic pump 9A (main transmission) and a variable displacement hydraulic motor 9B (sub transmission) driven by pressure oil from the hydraulic pump 9A. ing. The hydraulic pump 9A can change the angle of the swash plate by driving an actuator 11 composed of a servo cylinder or the like. The hydraulic motor 9B can change the angle of the swash plate by driving another actuator (not shown). By changing the angle of the swash plate of the hydraulic pump 9A, the gear ratio of the continuously variable transmission 9 can be changed continuously. In addition, by changing the angle of the swash plate of the hydraulic motor 9B, the power output from the continuously variable transmission 9 can be switched between a low-speed shift state for work travel and a high-speed shift state for normal travel. It has become.

  As shown in FIG. 2, the transmission 10 is configured to shift the power input from the continuously variable transmission 9 and transmit it to the traveling device 1 and the cutting unit 3.

  As shown in FIG. 2, the power from the engine 8 (an example of “power source”) is output to the continuously variable transmission 9, continuously shifted by the continuously variable transmission 9, and output to the transmission 10. The power of the transmission 10 is transmitted toward the traveling device 1 and the cutting unit 3. In addition to being output to the continuously variable transmission 9, the power from the engine 8 is also output to the threshing device 4, the unloader 6 and the like without being subjected to the shifting action of the continuously variable transmission 9. Power transmission / removal operation is performed between the transmission 10 and the traveling device 1, between the transmission 10 and the cutting unit 3, between the engine 8 and the threshing device 4, and between the engine 8 and the unloader 6. A possible clutch (not shown) is interposed.

  As shown in FIGS. 1 and 2, the driving unit 7 has a driving seat 12 on which a driver can sit, and a swinging operation for a speed change operation of the continuously variable transmission 9 (for an angle operation of a swash plate of the hydraulic pump 9A). An operation-type shift lever 13 (corresponding to “shift operation tool”), a pressing operation-type sub-shift switch 13A for shifting operation of the continuously variable transmission 9 (for operating the angle of the swash plate of the hydraulic motor 9B), A dial-operated accelerator dial 13B for setting the target rotational speed of the engine 8 and other various manual operating tools (not shown), an indicator 15 disposed in the vicinity of the shift lever 13, and the like are provided.

  The speed change lever 13 shown in FIG. 2 sets the speed of the traveling apparatus 1 by human operation. The speed change lever 13 can be swung between a forward maximum operating position Fmax and a reverse maximum operating position Rmax across the neutral position N. The continuously variable transmission 9 shifts the power from the engine 8 based on the detection result of a potentiometer 18 (corresponding to an “operation position detection sensor”) that detects the operation position of the transmission lever 13, and transmits it to the traveling device 1. It is configured as follows. When the transmission lever 13 is operated to the neutral position N, the swash plate of the hydraulic pump 9A of the continuously variable transmission 9 becomes a neutral angle, and no power is output from the continuously variable transmission 9 to the traveling device 1. As a result, no power is output to the traveling device 1. When the shift lever 13 is operated from the neutral position N toward the forward maximum operating position Fmax, the swash plate of the hydraulic pump 9A of the continuously variable transmission 9 is changed from the neutral angle to the forward angle side. Forward power is output from the step transmission 9 and the traveling device 1 is driven forward. Further, when the speed change lever 13 is operated from the neutral position N toward the reverse maximum operation position Rmax, the swash plate of the hydraulic pump 9A of the continuously variable transmission 9 is changed from the neutral angle to the reverse angle side. Reverse power is output from the step transmission 9 and the traveling device 1 is driven backward.

  The sub-shift switch 13A shown in FIG. 2 operates other actuators to change the state of the hydraulic motor 9B of the continuously variable transmission 9 from a low-speed shift state for work travel, a high-speed shift state for normal travel, It is an operation tool that can be switched to. The auxiliary transmission switch 13 </ b> A is provided on the grip 16 of the transmission lever 13. The auxiliary transmission switch 13 </ b> A can be operated with a finger of a hand holding the grip 16.

[About control configuration]
As shown in FIG. 2, the combine is provided with a control device 17 for controlling the vehicle speed and information displayed to the driver. The control device 17 includes a detection signal of a potentiometer 18 that detects the operation position of the transmission lever 13, an operation signal of the auxiliary transmission switch 13A, a detection signal of the operation position of the accelerator dial 13B, and a rotation speed that detects the actual rotation speed of the engine 8. The output signal of the sensor 19, the output signal of the swash plate angle sensor 20 capable of detecting the detection angle of the swash plate of the hydraulic pump 9A of the continuously variable transmission 9, the output signal of the vehicle speed sensor 21 capable of detecting the vehicle speed of the vehicle body, the load cell 6A Output signal or the like is input.

  As shown in FIG. 2, the control device 17 controls a storage unit 22 that stores various types of information, a control unit 23 that controls the engine 8 and the continuously variable transmission 9, and information that is output to the indicator 15. And a display output unit 24.

  The storage unit 22 stores a control execution relationship that is a relationship between the operation speed of the shift lever 13 calculated based on the detection result of the potentiometer 18 and the state change speed of the continuously variable transmission 9. In other words, the control execution relationship indicates the relationship between the change amount per unit time of the continuously variable transmission 9 with respect to the change amount per unit time of the detection result of the potentiometer 18 that detects the operation position of the shift lever 13. It is a thing.

[About the control unit]
The control unit 23 reads the control execution relationship from the storage unit 22 in accordance with the detection result of the load cell 6A, and controls the continuously variable transmission 9 based on the detection result of the potentiometer 18 that detects the operation position of the shift lever 13. To do. That is, the control unit 23 uses the control execution relationship that is the relationship between the operation speed of the speed change lever 13 calculated based on the detection result of the potentiometer 18 and the state change speed of the continuously variable transmission 9, so The device 9 is configured to change to a state in which the speed set by the transmission lever 13 appears.

  In addition, the control unit 23 acquires the detection result of the load cell 6A, corrects the control execution relationship so that the state change speed with respect to the operation speed of the speed change lever 13 increases as the harvest amount increases, and the harvest amount. The control execution relationship is modified so that the state change speed with respect to the operation speed of the speed change lever 13 decreases as the speed decreases.

  Further, the control unit 23 is configured to linearly change the control execution relationship between a state where the amount of harvest is zero and a state where the amount of harvest is full.

  Even if the operation speed of the speed change lever 13 is the same, the control unit 23 changes the speed when the speed change lever 13 is operated to the speed increasing side (for example, from the neutral position N toward the forward maximum operation position Fmax). A different control execution relationship is used when the lever 13 is operated to the deceleration side (for example, when the lever 13 is operated from the forward maximum operation position Fmax toward the neutral position N). Specifically, the state of the continuously variable transmission 9 with respect to the operating speed of the speed change lever 13 is greater when the speed change lever 13 is operated to the speed increasing side than when the speed change lever 13 is operated to the speed reduction side. The rate of change is faster.

  The control unit 23 also controls the engine 8 so that the actual rotational speed of the engine 8 detected by the rotational speed sensor 19 approaches the target rotational speed corresponding to the operation position of the accelerator dial 13B. Yes.

  The display output unit 24 causes the indicator 15 to display the shift state (vehicle speed) of the continuously variable transmission 9 according to the actual swash plate angle based on the detection result of the swash plate angle sensor 20.

[Changes in the control execution relationship according to the amount of harvest]
FIG. 3 shows a schematic diagram for correcting the control execution relationship according to the amount of harvest. 3 shows that the shift lever 13 is moved from the first position (corresponding to the first target value of the angle of the swash plate of the hydraulic pump 9A of the continuously variable transmission 9) to the second position (hydraulic pressure of the continuously variable transmission 9). This shows a case where the operation is performed to (when the angle of the swash plate of the pump 9A is set to the first target value).

  In FIG. 3, the control execution relationship A <b> 1 indicates that the amount of harvest stored in the grain storage unit 5 is zero, and the control execution relationship A <b> 2 indicates that the amount of harvest stored in the grain storage unit 5 is the same. It shows a full state. Moreover, in FIG. 3, state change speed B1 shows the state change speed (response speed of the angle change of a swash plate) of the continuously variable transmission 9 in the state where the amount of crops stored in the grain storage part 5 is zero. The state change speed B2 indicates the state change speed of the continuously variable transmission 9 in a state where the amount of harvest stored in the grain storage unit 5 is full.

  As shown in FIG. 3, the state change speed B <b> 1 of the continuously variable transmission 9 in the control execution relationship A <b> 1 used when the amount of harvest stored in the grain storage unit 5 is zero is stored in the grain storage unit 5. It is slower than the state change speed B2 of the continuously variable transmission 9 in the control execution relationship A2 used when the harvested amount is full. In other words, the state change speed B2 of the continuously variable transmission 9 in the control execution relation A2 is faster than the state change speed B1 of the continuously variable transmission 9 in the control execution relation A1.

  That is, in the control execution relationship A1, the response of the state change of the continuously variable transmission 9 to the operation of the shift lever 13 is slower than the control execution relationship A2. In other words, in the control execution relationship A2, the response of the state change of the continuously variable transmission 9 to the operation of the transmission lever 13 is faster than the control execution relationship A1.

  As shown in FIG. 3, the state of the continuously variable transmission 9 with respect to the operation speed of the shift lever 13 increases from the control execution relationship A1 to the control execution relationship A2 as the amount of harvest stored in the grain storage unit 5 increases. The rate of change increases linearly. For this reason, as the amount of harvest (the weight of the machine body) stored in the grain storage unit 5 increases, the state change speed of the continuously variable transmission 9 with respect to the operation of the transmission lever 13 increases.

  Further, the control execution relationship used at the time of acceleration is such that the state change speed of the continuously variable transmission 9 with respect to the operation speed of the shift lever 13 is faster than the control execution relationship used at the time of deceleration.

  As a result, the response speed of the angle change of the swash plate of the hydraulic pump 9A of the continuously variable transmission 9 when the transmission lever 13 is operated is adjusted according to the amount of harvest stored in the grain storage unit 5. The behavior of the machine body when the shift lever 13 is operated is suppressed from changing according to the amount of harvest stored in the grain storage unit 5, and the acceleration feeling felt by the operator when the shift lever 13 is operated. Thus, the operator does not change so much, and the operator can easily perform the vehicle speed control operation of the fuselage by operating the shift lever 13.

[Indicators near the gear shifting tool]
As shown in FIG. 4, the indicator 15 includes a plurality of lamps 15 </ b> A (for example, LEDs) that can be switched between a lighting state and a light-off state. The indicator 15 is disposed along the operation direction of the speed change lever 13 (the direction in which the guide groove 14 that guides the speed change lever 13 extends).

  For example, in the case where the transmission lever 13 and the continuously variable transmission 9 are mechanically connected, when the state of the continuously variable transmission 9 changes due to some factor, the operation position of the transmission lever 13 also changes. The operation position of the transmission lever 13 and the state of the continuously variable transmission 9 are in a one-to-one correspondence.

  However, as described above, the transmission lever 13 is a system (so-called by-wire system) that is electrically connected to the continuously variable transmission 9 via the control device 17, so that there is some increase in load, etc. Even if the speed change state of the continuously variable transmission 9 (such as the angle of the swash plate) changes based on the factor, the operation position of the speed change lever 13 does not change. For this reason, the correspondence between the operation position of the transmission lever 13 and the state of the continuously variable transmission 9 may be lost.

  For this reason, an indicator 15 for displaying the state of the continuously variable transmission 9 is provided in the vicinity of the transmission lever 13, and the lighting state of the plurality of lamps 15A in the indicator 15 is changed according to the state of the continuously variable transmission 9. Yes. Thereby, the operator compares the operation position of the speed change lever 13 with the display of the indicator 15, so that the operation position of the speed change lever 13 is different from the position indicated by the indicator 15. And the state of the continuously variable transmission 9 can be easily recognized as inconsistent.

[Another embodiment]
Hereinafter, another embodiment in which the above embodiment is modified will be described. The following other embodiments can be applied in combination with the above embodiment as long as no contradiction arises. The scope of the present invention is not limited to the contents shown in each embodiment.

(1) In the above embodiment, the “yield detection sensor” includes the load cell 6 </ b> A that detects the weight as the harvest amount stored in the grain storage unit 5, but is not limited thereto. . For example, as a “yield detection sensor”, a volume sensor capable of detecting, as a “yield detection sensor”, the volume of the harvest in the grain storage unit 5 as the harvest amount stored in the grain storage unit 5 is provided as the “yield detection sensor”. It may be. In this case, the weight of the harvest is calculated using the detection value of the volume sensor and the density data of the harvest.

(2) In the above embodiment, the “continuously variable transmission” is exemplified as a hydrostatic continuously variable transmission (HST), but is not limited thereto. For example, other “continuously variable transmissions” such as a hydraulic mechanical continuously variable transmission (HMT) and a belt type continuously variable transmission (CVT) may be used.

(3) In the above embodiment, the engine 8 is exemplified as the “power source”, but is not limited thereto. For example, the “power source” may be a battery (electric drive system), an engine 8 and a battery (hybrid drive system).

(4) In the above embodiment, the indicator 15 is exemplified by a plurality of lamps, but is not limited thereto. For example, the indicator 15 may be composed of a single liquid crystal display device.

(5) In the above embodiment, the hydraulic motor 9B of the continuously variable transmission 9 is illustrated as the auxiliary transmission, but the invention is not limited to this. For example, the auxiliary transmission may be configured such that a gear mechanism provided in the transmission 10 can be switched to a low speed shift state or a high speed shift state.

  INDUSTRIAL APPLICABILITY The present invention can be used for various harvesting machines such as ordinary combine harvesters, corn harvesting machines, carrot harvesting machines, etc., in addition to self-decomposing combine harvesters.

1: Traveling device 5: Kernel storage unit (harvest storage unit)
6A: Load cell (yield detection sensor)
8: Engine (power source)
9: continuously variable transmission 13: shift lever (shifting operation tool)
18: Potentiometer (operation position detection sensor)
23: Control unit A1: Control execution relationship A2: Control execution relationship B1: State change speed B2: State change speed

Claims (3)

A crop storage section for storing harvested crops;
A yield detection sensor for detecting the amount of harvest stored in the harvest storage unit;
A shift operating tool for setting the speed of the traveling device by human operation;
An operation position detection sensor for detecting an operation position of the speed change operation tool;
A continuously variable transmission that shifts power from a power source based on a detection result of the operation position detection sensor and transmits the power to the traveling device;
Using the control execution relationship that is the relationship between the operation speed of the shift operation tool calculated based on the detection result of the operation position detection sensor and the state change speed of the continuously variable transmission, the continuously variable transmission is A control unit that changes the speed set by the speed change operation tool to a state of appearing; and
The control unit acquires a detection result of the yield detection sensor, corrects the control execution relationship so that the state change speed with respect to the operation speed increases as the harvest amount increases, and A harvesting machine that corrects the control execution relationship so that the state change speed with respect to the operation speed becomes smaller as the quantity decreases.   2. The harvester according to claim 1, wherein the control unit linearly changes the control execution relationship between a state where the harvest amount is zero and a state where the harvest amount is full.   Even if the operation speed is the same, the control unit has different control execution relationships depending on whether the speed change operation tool is operated on the speed increasing side and when the speed change operation tool is operated on the speed reduction side. The harvester according to claim 1 or 2, wherein

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