JP7399073B2 - harvester - Google Patents

Description

The present invention relates to a harvesting machine that includes a conveyance section that pulls out agricultural products from a field and conveys them toward the rear of the machine.

As described in Patent Document 1, a harvester includes a transport device (transport unit) that pulls out crops from a field and transports them toward the rear of the machine. The transport device (transport unit) includes a transport belt that pulls out crops (agricultural products) from the field and transports them toward the rear of the machine. During work, the conveyor belt is driven to convey crops toward the rear of the machine, but it can be driven in reverse to remove crops that are stuck on the conveyor belt.

Japanese Patent Application Publication No. 2019-110855

However, in conventional harvesters, the conveyance speed of the conveyor belt during reverse drive is fixed to a predetermined conveyance speed. On the other hand, when removing agricultural products or the like stuck on the conveyor belt or during maintenance of the conveyor section, it is preferable to be able to adjust the conveyance speed depending on the degree of clogging and the situation.

An object of the present invention is to adjust the conveyance speed during reverse drive when the conveyance section is driven in reverse.

In order to achieve the above object, the harvester according to the present invention includes a conveyance section that harvests and conveys agricultural products in a field, a power source that drives the conveyance section, and an operation for reversing the conveyance direction of the conveyance section. a conveyance direction reversal switch that accepts the reverse conveyance speed; a conveyance speed operation switch that accepts adjustment of the reverse conveyance speed when the conveyance section is driven in the reverse direction; and a conveyance control section that controls the operation of the conveyance section; The conveyance control unit changes the conveyance direction of the conveyance unit from the forward rotation direction, which is the conveyance direction of the conveyance unit when harvesting the agricultural products, to the reverse rotation direction, when receiving the operation of the conveyance direction reversal switch. The transport control unit is configured to control the transport unit so as to reverse the transport speed in the reverse direction, and to adjust the reverse transport speed in the reverse direction in accordance with the operation of the transport speed operation switch. , a vehicle speed synchronization function that automatically adjusts the forward rotation transport speed of the transport section during harvesting according to the traveling vehicle speed of the machine body, and when the vehicle speed synchronization function is being executed, the transport When the direction reversal switch is operated to reverse the conveyance direction, the conveyance control section causes the conveyance direction to be in the reverse direction, stops the vehicle speed synchronization function, and controls the operation of the conveyance speed operation switch. After adjusting the reverse conveyance speed to a corresponding speed, when the operation of reversing the conveyance direction with respect to the conveyance direction reversal switch is completed, the conveyance control section returns the conveyance direction to the normal rotation direction and , restarts the vehicle speed synchronization function.

With this configuration, the conveyance speed can be adjusted when the conveyance direction of the conveyance section is reversed, and it is easy to remove foreign objects such as agricultural products that are stuck in the conveyance section and perform maintenance on the conveyance section. be able to.

Furthermore, even if the conveyance direction is reversed while the vehicle speed synchronization function is being executed, the conveyance speed is separated from the vehicle speed synchronization function and adjusted according to the operation of the conveyance speed operation switch. The conveyance speed can be adjusted appropriately even when the conveyance speed is being driven. Even when the transport direction is returned to the normal rotation direction, the transport section can be driven in the normal rotation direction at an appropriate transport speed using the vehicle speed synchronization function.

Furthermore, when the vehicle speed synchronization function is not being executed, when the transport direction reversal switch is operated to reverse the transport direction, the transport control unit causes the transport direction to be in the reverse direction, and When the conveyance speed is adjusted to a speed corresponding to the operation of the conveyance speed operation switch, and then the operation of reversing the conveyance direction with respect to the conveyance direction reversal switch is completed, the conveyance control section changes the conveyance direction to: At the same time as returning to the normal rotation direction, the conveying operation of the conveying section may be stopped.

With this configuration, even when the vehicle speed synchronization function is not being executed, the conveyance speed is adjusted in accordance with the operation of the conveyance speed operation switch. Since the transport operation is stopped when the transport direction is returned to the normal rotation direction, the sudden reversal of the transport speed to the transport speed corresponding to the operation of the transport speed operation switch is alleviated.

Further, the power source is a hydraulic motor driven by supplied pressure oil, the hydraulic motor has a valve capable of reversing the supply direction of the pressure oil, and the conveyance control section is configured to control the conveyance direction. When reversing, the supply direction of the pressure oil is reversed by controlling the valve, and when adjusting the conveyance speed, the flow rate of the pressure oil is controlled to control the rotation speed of the hydraulic motor. Also good.

With such a configuration, the conveying direction can be reversed with a simple configuration, and the conveying speed can be adjusted with high accuracy.

Further, a memory storing a control formula indicating a relationship between an operation amount of the conveyance speed operation switch and a control value for controlling the rotation speed of the hydraulic motor when the conveyance direction of the conveyance section is reversed. and a sensor for measuring the rotational speed of the hydraulic motor, and the conveyance control unit determines the control value corresponding to the operation amount of the conveyance speed operation switch based on the control equation. After controlling the conveyance speed, feedback control is performed based on the measured value of the sensor so that the conveyance speed becomes the conveyance speed corresponding to the operation amount of the conveyance speed operation switch, and when the conveyance speed is actually When the speed operation switch is operated, the rotation speed corresponds to the control value obtained from the control formula according to the operation amount, and when the conveyance speed is controlled based on the control value, the sensor A difference from the measured rotational speed may be calculated, and the control formula may be corrected based on the calculated difference in the rotational speed.

With such a configuration, since feedback control is performed, it is possible to adjust the conveyance speed with high accuracy. Furthermore, since the control formula is corrected according to individual differences, it is possible to adjust the conveyance speed with more precision, reduce the time spent on feedback control, and reduce the time required to control the conveyance speed to a predetermined value. can.

Moreover, the conveyance speed operation switch may adjust the conveyance speed of the conveyance section when harvesting the agricultural products.

With this configuration, both the forward and reverse transport speeds can be adjusted using a single transport speed control switch, and the transport speed in the reverse direction can be adjusted with a simpler operation configuration. can do.

It is a left side view showing a carrot harvester. FIG. 3 is a plan view showing the driving section. FIG. 3 is a plan view illustrating the configuration of an operation panel. FIG. 3 is a hydraulic circuit diagram showing a drive system of the conveyance section. It is a figure which illustrates the functional block which reverses the conveyance direction of a conveyance part, and adjusts conveyance speed. It is a figure which illustrates the flow which reverses the conveyance direction of a conveyance part, and adjusts a conveyance speed. It is a figure which illustrates the graph which shows a control formula.

Embodiments of the present invention will be described based on the drawings. In the following explanation, the direction of the arrow F shown in FIGS. 1 and 2 will be referred to as "the front of the aircraft," the direction of the arrow B as "the rear of the aircraft," the direction of the arrow L as "the left of the aircraft," and the arrow Let the direction of R be "to the right of the aircraft."

[Overall configuration of carrot harvesting machine]
First, the overall configuration of the harvester will be explained using FIGS. 1 and 2. In the following description, a carrot harvester, which is one type of harvester, will be used as an example.

1 and 2 show a carrot harvester (corresponding to a "harvester"). The carrot harvesting machine includes a traveling body 1 (corresponding to the "body"), an engine E, a driving section 2 on which a driver rides, and a transport section 3 that pulls out crops (agricultural products) from the field and transports them toward the rear of the machine. , a collection section 4 that collects the harvested crops, a rear transport section 5 that transports the crops transported by the transport section 3 toward the collection section 4, and a main section (harvest target section) and other parts of the crops. (leaves, etc.) and a cutter 6 for cutting.

The traveling body 1 includes a crawler traveling device 7 and a body frame 8 supported by the crawler traveling device 7. A support frame 9 is provided on the traveling body 1. The support frame 9 supports the transport section 3 and the like.

The driving unit 2 is provided at a position offset to the right side of the traveling body 1. The engine E is provided below the operating section 2. The transport section 3 is provided at a position offset to the left side of the traveling body 1. The recovery section 4 is provided at the rear of the driving section 2. The rear conveyance section 5 is provided from below the conveyance section 3 to the collection section 4 . The cutter 6 is provided between the conveyance section 3 and the rear conveyance section 5.

The transport unit 3 is driven to transport by a hydraulic motor 40 (see FIG. 4). Moreover, the conveyance section 3 is provided in a state of being inclined downward toward the front. The transport section 3 is configured to be able to swing up and down around a swing axis X1 extending along the left-right direction of the machine body. The transport unit 3 is provided at the front end of the transport unit 3 and includes a soil-breaking blade 10 that loosens the soil around the crops in the field, and a transport belt 11 that pulls out the crops from the field and transports them toward the rear of the machine. .

According to such a configuration, as the traveling body 1 moves forward, the soil-breaking blade 10 vibrates while being penetrated into the field, and the soil around the crops is loosened by the soil-breaking blade 10. The crops are pulled out of the field by the conveyor belt 11 and conveyed toward the rear of the machine. After the crop is cut into parts to be harvested (hereinafter also simply referred to as "crops") and leaves, etc. by the cutter 6, the parts to be harvested are supplied to the rear transport section 5, and the leaves, etc. are transported. It is discharged from the rear end of section 3 and falls onto the field. Then, in the rear conveyance section 5, the parts to be harvested are conveyed to the collection section 4, and are sorted by an assistant. Finally, in the collection section 4, the parts to be harvested are collected into a storage container 20 such as a collection bag (flexible container bag).

As shown in FIG. 2, the driver section 2 is provided with a driver's seat 13, a front panel 14, and a side panel 15. The front panel 14 is provided with a meter panel 16, an operating lever 17, and the like. The meter panel 16 is configured to display various information such as engine speed, vehicle speed, and remaining fuel amount. The operating lever 17 is used to steer the traveling body 1 and to raise and lower the transport section 3 . The operating lever 17 is arranged at the right end of the front panel 14. That is, the operating lever 17 is arranged on the right side with respect to the driver's seat 13.

The side panel 15 is provided with a main shift lever 18, an operation panel 19, and the like. The main shift lever 18 is used to shift a main transmission device (not shown) that shifts the driving force transmitted from the engine E. The operation panel 19 is provided with various switches for adjusting the transport direction and transport speed of the transport section 3. The main shift lever 18 and the operation panel 19 are arranged on the left side with respect to the driver's seat 13.

〔control panel〕
Next, a configuration example of the operation panel 19 will be described using FIG. 3 while referring to FIG. 1.

The operation panel 19 includes an operation switch 45 related to the operation of the crane 12 used when discharging the storage container 20 to the field, a display 46 that displays the status, and a display 46 that is operated when synchronizing the conveyance speed of the conveyance section 3 with the traveling vehicle speed. The vehicle speed synchronization switch 47 includes a vehicle speed synchronization switch 47, a conveyance direction reversal switch 48 that performs an operation for reversing the conveyance direction of the conveyance section 3, and the like.

The conveyance unit 3 conveys the harvested crops toward the rear of the traveling body 1 using the conveyance belt 11 during work traveling. In this case, the conveying direction of the conveying section 3, in other words, the conveying direction of the conveying belt 11 is referred to as a normal rotation direction. The conveyance direction in which the conveyance direction is reversed with respect to the normal rotation direction is referred to as a reverse direction.

The carrot harvester according to this embodiment can reverse the conveying direction and can adjust the conveying speed in the reverse direction. The conveyance direction can be reversed by the conveyance direction reversal switch 48. When the conveyance direction reversal switch 48 is pressed when the conveyance direction is in the forward direction, the conveyance direction is reversed from the forward direction to the reverse direction. While the conveyance direction reversal switch 48 is pressed, the conveyance direction is reversed, and when the conveyance direction reversal switch 48 is finished being pressed (released), the conveyance direction is returned from the reverse direction to the normal rotation direction.

Furthermore, the conveyance direction reversal switch 48 is a dial switch, and can reverse the conveyance direction and adjust the conveyance speed in the reverse direction by rotating the dial. Note that the conveyance speed may be adjusted not only in the reverse direction but also in the forward direction using the dial of the conveyance direction reversal switch 48, and the conveyance speed may be adjusted by different switches in the forward and reverse directions. Also good.

In this way, by being able to adjust the conveyance speed in the reverse direction, it is possible to appropriately adjust the conveyance speed in the reverse direction depending on the degree of clogging of crops, etc. and the situation of the conveyance section 3. It becomes possible to easily remove foreign substances such as the like, and to easily perform maintenance of the transport section 3.

Here, the conveyance section 3 holds the carrot leaves between the conveyor belts 11 while the traveling body 1 is running, and as the conveyor belt 11 moves in the forward rotation direction, transfers the carrots to the traveling body 1. Convey at the rear and upwards. That is, the carrots are harvested by being conveyed while being held between the conveyor belts 11 in a diagonally backward manner. At this time, if the traveling vehicle speed of the traveling body 1 and the horizontal conveyance speed of the conveyor belt 11 match, the carrots will be pulled out directly upward, and harvesting will be performed appropriately. On the other hand, if the traveling speed and the conveying speed in the horizontal direction do not match, the carrots will be pulled diagonally forward or diagonally backward, and the carrots may not be harvested properly. Therefore, it is preferable to automatically adjust the conveyance speed of the conveyance section 3 (conveyor belt 11) in accordance with the traveling speed, thereby performing vehicle speed synchronization in which the traveling speed and the conveying speed in the horizontal direction are matched.

Such a vehicle speed tuning function is executed by operating the vehicle speed tuning switch 47. Further, by using a dial switch as the vehicle speed tuning switch 47, the conveyance speed may be finely adjusted.

[Transportation transmission system]
Next, with reference to FIG. 1 and FIG. 4, a conveyance transmission system that drives the conveyance unit 3 will be described.

Power from the engine E is transmitted from the output shaft 33 of the engine E to the hydrostatic continuously variable transmission 21 via a transmission belt 36 (travel transmission system).

The power changed by the hydrostatic continuously variable transmission 21 is transmitted to the crawler traveling device 7, and the traveling body 1 moves forward and backward. By manually operating the main shift lever 18 provided in the driving section 2 by an operator, the hydrostatic continuously variable transmission 21 can be operated to the forward and reverse sides.

The power of the engine E is transmitted from the output shaft 33 of the engine E to the hydraulic pump 39 via the transmission belt 24 (conveyance transmission system), and the hydraulic pump 39 is driven. In the conveyance section 3, a hydraulic motor 40 that rotationally drives the conveyance belt 11 is provided.

Hydraulic oil (pressure oil) from the hydraulic pump 39 is supplied to the hydraulic motor 40, and the conveyor belt 11 is rotationally driven by the hydraulic motor 40. The rotation speed of the hydraulic motor 40 is controlled by the flow rate of hydraulic oil supplied from the hydraulic pump 39.

As described above, the traveling transmission system that transmits power to the crawler traveling device 7 and the conveying transmission system that transmits power to the conveying section 3 are branched in parallel from the engine E, and the traveling transmission system and the conveying transmission system are branched in parallel from the engine E. The system has an independent relationship with each other.

As shown in FIG. 4, the hydraulic oil in the tank 43 is supplied to the hydraulic pump 39 via the strainer 44, and the hydraulic oil in the hydraulic pump 39 is supplied to the control valve unit 50.

The control valve unit 50 is equipped with a control valve 51 (corresponding to a "valve"), and the hydraulic oil of the hydraulic pump 39 is supplied to the control valve 51 through an oil path 56. Hydraulic oil returning from the control valve 51 is supplied to the filter 58 from the oil path 57 and returned to the tank 43 from the filter 58 . The oil passage 52 is connected to the oil passage 56 and the oil passage 57, and a relief valve 53 for protecting the control valve 51 is provided in the oil passage 52.

The control valve 51 has three positions: a neutral position 51N, a normal rotation position 51A, and a reverse rotation position 51B, and is configured to be an electromagnetically operated type. The hydraulic motor 40 can be switched between normal rotation drive and reverse rotation drive, and an oil passage 56 is connected to a pair of oil passages 54 via a control valve 51, and the oil passage 54 is connected to the hydraulic motor 40. An oil passage 55 connected to a relief valve 40a built into the hydraulic motor 40 is connected to a filter 58. By operating the control valve 51 to the normal rotation position 51A, hydraulic oil is supplied to the hydraulic motor 40 through one oil passage 54, and from the hydraulic motor 40 through the other oil passage 54 via the control valve 51. The hydraulic oil is returned to the oil passage 57, and the hydraulic motor 40 is driven in the normal rotation direction. When the control valve 51 is operated to the reverse rotation position 51B, hydraulic oil flows in the opposite direction through the oil passage 54, and the hydraulic motor 40 is driven in the reverse direction. By rotating the hydraulic motor 40 in the reverse direction, the conveying section 3 is rotated in the reverse direction.

Furthermore, by controlling the rotation speed of the engine E, the flow rate of the hydraulic oil supplied by the hydraulic pump 39 is adjusted. By adjusting the flow rate of the hydraulic oil supplied by the hydraulic pump 39, the rotation speed of the hydraulic motor 40 is controlled. Since the conveyance section 3 is driven by the hydraulic motor 40, by controlling the rotation speed of the engine E, the conveyance speed of the conveyance section 3 (conveyance belt 11) is adjusted.

[Transport control]
Next, an example of a control configuration for reversing the conveying direction of the conveying section 3 and adjusting the conveying speed will be described using FIGS. 5 to 7 while referring to FIGS. 1 and 4.

The transport control unit 63 performs control to reverse the transport direction of the transport unit 3 (transport belt 11) and adjust the transport speed. The reversal of the conveyance direction and the adjustment of the conveyance speed are performed under the control of the conveyance control section 63 when the conveyance control section 63 receives that the conveyance direction reversal switch 48 has been operated. Here, the conveyance speed may be adjusted by the conveyance direction reversal switch 48, but may also be performed by a conveyance speed operation switch 60 provided separately from the conveyance direction reversal switch 48. In the following description, a configuration in which a transport speed operation switch 60 is provided separately from the transport direction reversal switch 48 will be described as an example.

As shown in FIG. 5, the transport control unit 63 receives the operation of the vehicle speed tuning switch 47 and controls the vehicle speed tuning function described above. When the vehicle speed tuning function is turned on by the vehicle speed tuning switch 47, the conveyance control section 63 controls the conveyance speed in the normal rotation direction according to the traveling vehicle speed.

The conveyance control section 63 reverses the conveyance direction of the conveyance section 3 (conveyance belt 11) in response to the operation of the conveyance direction reversal switch 48. Specifically, the conveyance control unit 63 switches the control valve 51 from the forward rotation position 51A to the reverse rotation position 51B when the conveyance direction reversal switch 48 is operated, and when the operation of the conveyance direction reversal switch 48 is completed (released). ), the reverse rotation position 51B is switched to the normal rotation position 51A. Thereby, the conveyance direction of the conveyance unit 3 (conveyor belt 11) is switched from the normal rotation direction to the reverse rotation direction, or from the reverse rotation direction to the normal rotation direction.

The conveyance speed operation switch 60 instructs the rotation speed of the hydraulic motor 40 corresponding to the conveyance speed according to the operation position (operation amount). That is, the conveyance speed operation switch 60 transmits the rotation speed of the hydraulic motor 40 to the conveyance control section 63 as an instruction value to the conveyance control section 63 according to the operating position.

The transport control section 63 includes a storage section 64 . The storage unit 64 stores a control formula 65 for controlling the conveyance speed. The control equation 65 is a predetermined equation that indicates the relationship between the rotation speed of the hydraulic motor 40, which is the instruction value inputted from the transport speed operation switch 60 by the transport control unit 63, and the control value of the hydraulic pump 39. be. In the control formula 65, the rotation speed of the hydraulic motor 40 and the control value have a proportional relationship.

The conveyance control unit 63 determines a control value according to the input instruction value based on the control formula 65, and controls the engine E according to the control value. The conveyance control unit 63 controls the flow rate of the working oil supplied from the hydraulic pump 39 by controlling the rotation speed of the engine E using the control value. Thereby, the flow rate of the hydraulic oil supplied from the hydraulic pump 39 to the hydraulic motor 40 is adjusted, and the rotation speed of the hydraulic motor 40 is controlled. As a result, the conveyance speed of the conveyance section 3 (conveyance belt 11) is adjusted according to the operation amount of the conveyance speed operation switch 60.

Next, an example of adjusting the conveyance speed will be described using FIG. 6.
First, when the conveyance direction reversal switch 48 is operated while the conveyance section 3 is being driven in the normal rotation direction (#1), the conveyance direction is reversed to the reverse direction (#3).

At this time, if the vehicle speed tuning function is being executed, the vehicle speed tuning function is stopped. Then, regardless of whether the vehicle speed synchronization function is executed or not, the conveyance speed in the reverse direction is adjusted to a speed corresponding to the operation position of the conveyance speed operation switch 60 (#4). By reversing the conveyance direction, foreign objects such as crops that are stuck in the conveyance section 3 can be removed or maintenance of the conveyance section 3 can be performed.

Thereafter, when the conveyance direction reversal switch 48 is released while the conveyance section 3 is being driven in the reverse direction (#5), the conveyance speed is changed depending on whether or not the vehicle speed synchronization function is being executed (#6). The transport direction is returned to the normal rotation direction while being controlled.

If the vehicle speed synchronization function is executed (#6 Yes), the transport direction is reversed to the forward direction (#7), the vehicle speed synchronization function is restarted, and the transport speed in the forward direction is determined according to the traveling vehicle speed. (#8).

If the vehicle speed synchronization function is not executed (#6 No), the conveyance direction is reversed to the normal rotation direction (#9), and the conveyance section 3 is temporarily stopped (#10). After the conveyance is once stopped, the conveyance section 3 is gradually driven to a conveyance speed corresponding to the operation position of the conveyance speed operation switch 60 (#11). When the conveyance speed is set to a high speed, when the conveyance direction is reversed, the conveyance section 3 suddenly moves in the opposite direction. By temporarily stopping the conveyance when the conveyance direction is reversed, sudden changes in the operation of the conveyance section 3 are alleviated.

In addition, after the conveyance section 3 is temporarily stopped, the conveyance speed operation switch 60 is returned to the conveyance speed position of 0, and then the conveyance speed operation switch 60 is adjusted again, so that driving in the normal rotation direction is resumed. It is also possible to have a configuration where In this manner, when the conveyance speed operation switch 60 is operated to the 0 position while the conveyance section 3 is stopped, the conveyance control section 63 enters a state in which conveyance is restarted. Subsequently, when the conveyance speed operation switch 60 is operated to an arbitrary position, the conveyance control section 63 drives the conveyance section 3 at a conveyance speed corresponding to the operation position of the conveyance speed operation switch 60. Such a configuration also alleviates sudden changes in the operation of the transport section 3.

Next, the control of the conveyance speed using the control formula 65 will be specifically explained using FIG. 7.

As described above, the control formula 65 is a hydraulic pressure determined according to the control value outputted by the conveyance control unit 63 to the engine E according to the operating position of the conveyance speed operation switch 60 and the flow rate of hydraulic oil supplied by the hydraulic pump 39. This is a proportional equation in which the relationship with the rotation speed of the motor 40 is defined. The conveyance control unit 63 controls the conveyance speed determined by the rotation speed of the hydraulic motor 40 by controlling the engine E according to the operation position of the conveyance speed operation switch 60 based on the control formula 65.

On the other hand, the carrot harvester includes a sensor 66 that measures the rotation speed of the hydraulic motor 40. When controlling the conveyance speed based on the control formula 65, the rotation speed of the hydraulic motor 40 is controlled by inputting a control value corresponding to the operation position of the conveyance speed operation switch 60 to the engine E based on the control formula 65. The conveyance speed is adjusted accordingly. In this state, the rotation speed of the hydraulic motor 40 corresponding to the control value of the control formula 65 is compared with the rotation speed measured by the sensor 66, and the conveyance control unit 63 performs control so that the difference in rotation speed is reduced. Feedback control of values. Thereby, the conveyance speed is precisely controlled to an appropriate speed according to the operation position of the conveyance speed operation switch 60.

Even if the conveyance speed is adjusted according to the operation position of the conveyance speed operation switch 60 based on the control formula 65, an error may occur in the conveyance speed due to individual differences in the conveyance speed operation switch 60 and the conveyance unit 3. Even with feedback control, it may take time to adjust the conveyance speed, or it may be difficult to adjust the conveyance speed accurately. Therefore, the control equation 65 may be corrected.

Therefore, during production of the carrot harvester in the factory or at the time of shipment, the sensor 66 measures the rotation speed of the hydraulic motor 40 when the conveyance speed is adjusted according to the operation position of the predetermined conveyance speed operation switch 60. . Then, based on the rotation speed of the hydraulic motor 40 actually measured by the sensor 66 and the control formula 65, the hydraulic motor 40 is adjusted to correspond to the control value input to the engine E according to the operation position of the conveyance speed operation switch 60. The rotational speed is compared, and if there is a difference between the two rotational speeds, the control formula 65 is corrected based on the difference in the rotational speed.

For example, it is assumed that the rotation speed of the hydraulic motor 40 corresponding to the operation position of the predetermined transport speed operation switch 60 is R1. In control formula 65, the control value output to engine E corresponding to this rotation speed R1 is C1. When the engine E is controlled with the control value C1 based on the control formula 65, if the rotation speed of the hydraulic motor 40 measured by the sensor 66 is R1, there is no problem with the control formula 65. When the engine E is controlled with the control value C1 based on the control formula 65, if the rotation speed of the hydraulic motor 40 measured by the sensor 66 is R2, which is different from R1, the control formula 65 is not appropriate. Specifically, when the difference r between the rotation speed R1 and the rotation speed R2 is equal to or greater than a predetermined rotation speed, the control formula 65 is determined to be inappropriate, and the control formula 65 is corrected. The corrected control equation 67 has the same slope as the control equation 65, and the control equation 65 is translated in parallel so that the value of the intercept on the rotation speed side is corrected by the difference r.

In this way, the rotation speed of the hydraulic motor 40 based on the control formula 65 and the rotation speed of the hydraulic motor 40 actually measured by the sensor 66 are compared, the control formula 65 is corrected according to the difference, and the control formula 67 is is generated. As a result, even if an error occurs in the control formula 65 due to individual differences in the conveyance section 3, hydraulic motor 40, hydraulic pump 39, etc., the individual differences can be corrected and the operating position of the conveyance speed operation switch 60 and the conveyance The number of rotations of the hydraulic motor 40 corresponding to the speed can be made appropriate.

Note that the correction of the control formula 65 is not limited to the time of production or shipping, but may be performed periodically or at any timing.

[Another embodiment]
(1) The vehicle speed synchronization function may be controlled by the transport control section 63, but may also be performed by a vehicle speed synchronization control section provided separately from the transport control section 63. In this case, the transport control section 63 and the vehicle speed synchronization control section cooperate to control the transport section 3 while the vehicle speed synchronization function is being executed.

( 2 ) The power source of the conveyance section 3 that reverses the conveyance direction and adjusts the conveyance speed may be a hydraulic motor 40 supplied with hydraulic oil by a hydraulic pump 39, or an electric motor, which is directly driven by the engine E. It's okay. In that case, the configuration for reversing the conveyance direction and adjusting the conveyance speed can be any configuration.

( 3 ) The conveyance direction reversal switch 48 is not limited to a dial switch, but may be any other structure such as a slide button to reverse the conveyance direction and adjust the conveyance speed.

( 4 ) The transport control unit 63 includes a processor such as a CPU, and may be integrated into the ECU of the harvester, or may be divided into arbitrary functional blocks. The transport control unit 63 may be configured with the above-mentioned hardware, but some or all of its functions may be implemented with software. At this time, the program is stored in a predetermined storage device such as the storage unit 64 and executed by an arbitrary processor included in the transport control unit 63 or the like. Further, the steps of reversing the conveyance direction and adjusting the conveyance speed may be performed by a method executed by an arbitrary functional block.

The present invention is applicable not only to carrot harvesters and radish harvesters, but also to various harvesters equipped with a conveyance unit that harvests and transports crops.

3 Transport section 40 Hydraulic motor (power source)
48 Conveyance direction reversal switch 51 Control valve (valve)
60 Conveyance speed operation switch 63 Conveyance control section 64 Storage section 65 Control type 66 Sensor R1 Rotation speed R2 Rotation speed

Claims (5)

A transport unit that harvests and transports agricultural products in the field;
a power source that drives the transport section;
a conveyance direction reversal switch that accepts an operation to reverse the conveyance direction of the conveyance unit;
a conveyance speed operation switch that accepts adjustment of the reverse conveyance speed when the conveyance section is driven in the reverse direction;
and a transport control unit that controls the operation of the transport unit,
When receiving an operation of the conveyance direction reversal switch, the conveyance control unit reverses the conveyance direction of the conveyance unit from a normal rotation direction that is the conveyance direction of the conveyance unit when harvesting the agricultural products. and is configured to control the conveyance unit to reverse the direction, and to adjust the reverse conveyance speed in the reverse direction in accordance with the operation of the conveyance speed operation switch,
The conveyance control unit can execute a vehicle speed synchronization function that automatically adjusts the forward rotation conveyance speed of the conveyance unit during harvesting according to the traveling vehicle speed of the machine body,
When the conveyance direction reversal switch is operated to reverse the conveyance direction while the vehicle speed synchronization function is being executed, the conveyance control section causes the conveyance direction to be in the reverse direction, and also controls the vehicle speed synchronization. The function is stopped and the reverse conveyance speed is adjusted to a speed corresponding to the operation of the conveyance speed operation switch, and then, when the operation for reversing the conveyance direction with respect to the conveyance direction reversal switch is completed, the conveyance control The harvester is configured to return the transport direction to the normal rotation direction and restart the vehicle speed synchronization function . When the conveyance direction reversal switch is operated to reverse the conveyance direction while the vehicle speed synchronization function is not being executed, the conveyance control section causes the conveyance direction to be in the reverse direction and changes the conveyance speed. After adjusting the reverse conveyance speed to a speed corresponding to the operation of the operation switch, and then, when the operation of reversing the conveyance direction to the conveyance direction reversal switch is completed, the conveyance control section changes the conveyance direction to the speed corresponding to the operation of the operation switch. The harvesting machine according to claim 1 , wherein the conveyance operation of the conveyance unit is stopped while returning to the normal rotation direction. The power source is a hydraulic motor driven by supplied pressure oil,
The hydraulic motor has a valve capable of reversing the supply direction of the pressure oil,
The conveyance control unit controls the valve to reverse the supply direction of the pressure oil when reversing the conveyance direction, and controls the flow rate of the pressure oil when adjusting the reverse conveyance speed. The harvesting machine according to claim 1 or 2, wherein the rotation speed of the hydraulic motor is controlled by the rotation speed of the hydraulic motor. a storage unit that stores a control formula indicating a relationship between an operation amount of the conveyance speed operation switch and a control value for controlling the rotation speed of the hydraulic motor when the conveyance direction of the conveyance unit is reversed; ,
further comprising a sensor that measures the rotational speed of the hydraulic motor,
The conveyance control section includes:
Based on the control formula, the control value corresponding to the operation amount of the transport speed operation switch is determined to control the reverse transport speed, and then, based on the measured value of the sensor, the reverse transport speed is set to Feedback control is performed so that the transport speed corresponds to the operation amount of the transport speed operation switch, and
When the conveyance speed operation switch is actually operated, the reverse conveyance speed is controlled based on the rotation speed corresponding to the control value obtained from the control formula according to the operation amount and the control value. 4. The harvester according to claim 3, wherein a difference between the rotation speed and the rotation speed measured by the sensor is calculated, and the control formula is corrected based on the calculated difference in the rotation speed. The harvesting machine according to any one of claims 1 to 4 , wherein the conveyance speed operation switch is capable of adjusting the forward rotation conveyance speed of the conveyance section when harvesting the agricultural products.

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