JPH0110996Y2 - - Google Patents

Description

[Detailed description of the invention] (a) Industrial application field The present invention is an invention related to an automatic load control device for a combine harvester.

(b) Prior art Conventionally, in a control device for a ground-based work equipment attached to a tractor, the engine Techniques are known that provide a mechanism for modifying the detection signal according to the rate of change of the rotational speed signal at each point in time.

For example, Japanese Patent Application Laid-Open No. 53-69110.

However, a combine is different from a tractor;
Since this is a harvester that combines a reaping transport device and a threshing device, each device has a different processing capacity. This can clog the threshing equipment.

Particularly in combine harvesters, the threshing equipment is particularly prone to clogging, and is the part of the equipment that has the smallest processing capacity.

It is difficult for the operator to manage the load on the threshing equipment at any given time and it often gets clogged.
The number of rotations of the handling drum 6 of the threshing device is detected by a sensor, and based on an abnormality in the number of rotations of the handling drum, an alarm is issued, the handling depth is adjusted, and the traveling speed is changed. It was.

(c) Problems to be solved by the invention However, the conventional handling cylinder rotation speed detection device does not perform control when the handling cylinder load torque exceeds a certain value or when the handling cylinder rotation speed exceeds a certain value. Setting area
It was performing ON-OFF control.

Such control based on the setting range of the rotation speed of the handling cylinder itself was often inaccurate.

For example, in reality, the stickiness of an engine changes depending on various load conditions, so it is not possible to set the limit load torque and limit rotation speed individually.

There were problems in which the engine would sound the alarm even though it was not under much stress, or conversely, the warning and control would be delayed and an abnormal load would be applied, causing the engine speed to become irrecoverable. be.

In order to eliminate this problem, the above-mentioned JP-A-53
- In the automatic load control of the tractor in Publication No. 69110, a correction mechanism is provided to determine the rate of change in engine rotational speed, correct the engine rotation based on the rate of change, and perform set range control based on the corrected engine rotation. be.

Therefore, in the present invention, the rotation speed that changes over time is measured back and forth, the two measured rotation speeds are compared, and the difference between the two rotation speeds is regarded as the rate of change, which is the rate of decrease or increase over a certain period of time. Instead of obtaining a corrected rotational speed of the handling cylinder based on the rate of change, the rate of change itself is compared with a set rate of change to control the running speed, etc., and change the load on the handling cylinder.

(d) Means for solving the problem The purpose of the present invention is as described above. Next, the configuration for achieving the purpose will be explained.

The rotation speed of the handling barrel of the combine harvester is detected at regular intervals, and the difference between the rotation speed R _A for the previous measurement for a certain time and the rotation speed R _B for the current measurement for a certain time R _C = R _B
−R _A is calculated, and if R _C is positive, compare it with the set increase rate △ _2. If the difference R _C > set increase rate △ ₂ , increase the traveling speed, and if the difference R _C is negative, then is configured to calculate the positive conversion value R _CC , compare the positive conversion value R _CC with the set reduction rate △ ₁ , and slow down the traveling speed if the positive conversion value R _CC set reduction rate △ ₁ . be.

(E) Embodiment The purpose and structure of the present invention are as described above. Next, the structure of the embodiment shown in the attached drawings will be explained.

FIG. 1 is an overall side view of the combine harvester, and FIG. 2 is a side sectional view of the threshing device 3.

The combine harvester has a pulling device 2, a reaping device 8, a threshing device 3, etc. mounted on a crawler-type traveling device 1, and performs the action of reaping and threshing grain culms while traveling.

The crawler type traveling device is shifted to three forward speeds and one reverse speed by a hydraulic clutch type transmission, and each speed is further changed to several speeds by a gear sliding type auxiliary transmission.

The hydraulic clutch type transmission includes manual shift push button switches 19, 20, 21, 22,
By pressing 23, the speed is automatically changed while being controlled by a microcomputer.

When the key switch 34 is operated to turn on, the neutral manual shift button switch 22 is automatically turned on.
becomes.

Even if you press the manual shift button directly from neutral to forward 2nd or 3rd gear, the microcomputer is controlled to gradually shift from neutral to 1st forward gear and then 2nd forward gear.

In the case of deceleration, there may be a sudden deceleration, so if you press the manual shift button directly from the third forward speed to the neutral position, the speed will be decelerated accordingly.

In addition to the vehicle speed control in the manual mode, the present invention also performs vehicle speed control in the automatic mode. When automatically controlling the vehicle speed, a constant time decrease rate and a constant time increase rate, which are the rate of change in the rotational speed of the handling cylinder, are used as control signals.

If the rate of decrease for a certain period of time is large, the vehicle speed is slowed down from 3rd forward speed to 2nd forward speed, and then to 1st forward speed. speed, and further to third forward speed.

Let me explain this by returning to Figure 1.

After the combine harvester separates the grass with the weed cutting board, the lodging grain culm is raised with the raising device 2, and is transported to the feed chain 4 of the threshing device 3 with the reaping and conveying device 8.

The grain is threshed while the tip of the grain is brought into contact with the handling cylinder 6, and the grains are sorted by a sorting device.

In the present invention, the rotation speed of the handling cylinder 6 is detected within the drive bevel gear box 7 of the handling cylinder 6. 9 is a control column, and 5 is a speed change operation panel.

On the shift operation panel 5, manual shift push button switches 19, 20, 21, 22, 23, shift position display lamps 29, 30, 31, 32, 33, automatic return switch 15, automatic switch 16, automatic lamp 24 are provided.
etc. are arranged.

FIG. 3 is an electrical circuit diagram of the main parts of the handling trunk load control device of the present invention.

The control center of this invention is a microcomputer, which includes a CPU (central processing unit) 11, an input/output interface 10, a ROM (read-only memory) 12 that stores control programs, etc., and a temporary storage area for calculation data. RAM used for
(Random access memory) 13 and the like.

Although this microcomputer is also used for automatic steering of the combine harvester and other automatic controls of this harvester, only vehicle speed or handling barrel rotation speed control will be explained below.

First, input/output interface 1 to CPU 11.
Let's start with the input system that provides data via 0.

19, 20, 21, 22, 23 are third forward speed;
This is a push-button switch for manual shifting of second forward speed, first forward speed, neutral, and reverse speed, and is closed by a push-in operation and remains in that state until the power to the hold coil is cut off.

each manual gear shift pushbutton switch 19;
By closing circuits 20, 21, 22, and 23, a high level signal is applied to each of the input ports.

These manual shift pushbutton switches 19,2
When any one of 0, 21, 22, and 23 is pressed, the respective input ports are set to high level, and the microcomputer is notified that the respective push operation has been performed.

In addition, between the positive electrode of the battery 50 and the input/output interface 10, there is a push-button automatic return switch 15 that must be pressed when returning from manual operation to automatic operation, and grain culms flowing into the handling barrel. L sensor 1 detects and closes the contact.
4. Threshing switch 18 linked to the threshing clutch lever, reaping switch 17 linked to the reaping clutch lever, threshing switch 18 and reaping switch 17
An automatic selection switch 16 is interposed in series with the automatic selection switch 16.

By closing each switch, the input port of the input/output interface is set to high level, and the signal is sent to the microcomputer. Furthermore, the input system is provided with a handling cylinder rotation detection sensor A, which will be explained with reference to FIG.

The output port of the input/output interface 10 includes a third forward speed solenoid 25, a second forward speed solenoid 26, a first forward speed solenoid 27,
and a switch circuit for a reverse solenoid 28 are connected, and by setting each output port to a high level, each switch circuit is turned on and the solenoid is energized.

Similarly, pilot lamp 24 for automatic operation
and the switch circuit, the shift position indicator lamp 29 for the third forward speed and its switch circuit, the shift position indicator lamp 30 and the switch circuit for the second forward gear, the first forward gear
Shift position indicator lamp 31 for speed and switch circuit,
A neutral position indicator lamp 32 and a switch circuit, and a reverse shift position indicator lamp 33 and a switch circuit are provided to turn on when each gear is entered.

FIG. 4 is a flowchart of the program of the control device of the present invention stored in the RAM (Random Access Memory) 13 of FIG.

FIG. 5 is a flowchart of the vehicle speed control subroutine 42 in the flowchart of FIG. 4.

When the power key switch 34 is turned on, the handling depth sensor becomes in a state where there is no grain culm, and the vehicle speed becomes a neutral position.

LC is a flag for handling depth sensor, LC=
1 means there is no grain culm, and LC=0 means there is grain culm.

Next, press the automatic return switch 15 and turn on the threshing clutch/reaping switch.
8. Reaping switch 17 is turned on.

Next, when the automatic return switch 16 is pressed, the vehicle speed control subroutine 36 begins to operate.

In phase 35 of FIG. 4, when a gear is first selected using manual shift pushbutton switches 19, 20, 21, 22, and 23, phase 36 indicates that the manual pushbutton switch has been pressed for a sufficient time to hold it. subroutines 37, 38, 39, 40, 41 for each gear.
Accordingly, the hydraulic clutch type transmission automatically shifts into gear.

If you press the automatic return button switch 15,
Automatic control starts automatically.

In FIG. 5, at phase 43, it is determined whether or not the rotation speed detected last time is detected in the rotation speed flag RPF, and if it has already been stored, the process moves to phase 46 to count the next rotation speed.

If it has not been memorized yet, count the number of revolutions in 44 phases. If the count time T ₁ is extremely short, accurate rotation speed cannot be obtained, so
If T is less than ₁ , count again. and,
Let R _A be the rotation speed for a certain period of time measured last time. Similarly, the number of revolutions after a certain period of time is reported by pulse,
Let R _B be the rotation speed for a certain period of time during the current measurement.

The difference between both rotational speeds is determined in phase 47 by R _C = R _B - R _A. If the difference R _C is positive, the rotational speed has increased, so go to the route of shifting up the gear, and if R _C is negative, then Since the number of rotations is decreasing, the gear shift is downshifted.

Determine the set increase rate △ ₂ and set decrease rate △ ₁ to be compared, and compare those values with a comparator. If R _C is greater than the set increase rate △ ₂ , shift up the gear and use the R _C inverter. The program is programmed to downshift when the positive conversion value R _CC is greater than the set reduction rate △ ₁ .

Then, when R _A and R _B become the same value, the program returns and repeats the subroutine from the beginning.

Setting increase rate △ ₂ and setting decrease rate △ ₁ are percentages, and the difference
Since R _C is the number of rotations, the units seem to be different, but the number of rotations of the handling drum is determined by the crop, such as rice and wheat, so the number of rotations is the denominator when calculating the rate of change. are almost the same, and the setting increase rate △ ₂・
The set reduction rate _Δ1 is also set in units of rotational speed and compared.

In this way, if an emergency occurs or the end of the field is reached during work under automatic control, when the manual shift pushbutton switch is pressed in phase 35 of FIG. 4, manual transmission takes priority, and from then on, the mode is set to manual mode. To return to this manual mode, press the start return button 15 or press the automatic return button 15 in the following two cases.
It will return automatically without pressing .

If you switch to manual mode at the center of the cutting row, press the automatic return button to return to automatic mode, but when you reach the edge of the field, you do not need to press automatic return to return to automatic mode.

That is, when the combine harvester reaches the edge of the field and changes direction and starts cutting the grain culm again, the gear is often changed to manual, so in this case, the automatic return button 15 is pressed when driving into the grain culm again. Because it is troublesome, the handling depth sensor automatically detects if the grain culms have been washed away at the edge of the field and the grain culms have disappeared and are in the OFF state, and if new grain culms have entered the rows and started flowing again. A flowchart has been constructed to ensure a successful recovery.

Or similarly, since the harvesting and threshing clutches are turned off when going around at the edge of the field, the threshing clutch can be turned off once from the ON state, and then turned on again when plunging into a new row. In order to automatically return to automatic vehicle speed control, the flowchart shown in FIG. 4 is used.

(f) Effects of the invention The present invention is constructed as described above and has the following effects.

First, it is possible to avoid misjudgments that occur when the conventional method of generating control signals by limiting the dangerous range of load torque and rotation speed and determining whether the engine is in or out of the set range. It is possible to quickly sense changes and perform well-balanced control.

Second, we compare the decrease in control convergence due to excessive control that occurs in control with a dangerous range, and the decrease in hunting caused by periodic increases and decreases in speed, with changes in a large number such as the rotational speed of the handling cylinder itself. Instead, it can be avoided by controlling using small numbers with large rates of change, such as a fixed time increase rate and a fixed time decrease rate.

[Brief explanation of the drawing]

Figure 1 is an overall side view of the combine harvester, Figure 2 is a side sectional view of the threshing device of the combine, Figure 3 is an electrical circuit diagram of the main parts of the handling barrel load control device of the present invention, and Figure 4 is a micro FIG. 5 is a flowchart of the program stored in the computer, and FIG. 5 is a flowchart of a subroutine of the vehicle speed control unit in FIG. 1... Handling cylinder rotation detection sensor, 6... Handling cylinder,
R _A , R _B ... Number of rotations of the handling cylinder, R _C ... Rate of increase in number of rotations,
R _CC ……Reduction rate of rotation speed.

Claims (1)

[Scope of utility model registration request] The rotation speed of the handling barrel of the combine harvester is detected at regular intervals, and the difference between the rotation speed R _A for the previous measurement for a certain time and the rotation speed R _B for the current measurement for a certain time R _C = R _B
−R _A is calculated, and if the difference R _C is positive, set increase rate △ ₂
If the difference R _C > set increase rate △ ₂ , the traveling speed will be increased, and if the difference R _C is negative, the positive conversion value R _CC will be increased.
and compares the positive conversion value R _CC with a set reduction rate △ ₁ , and if the positive conversion value R _CC > set reduction rate △ ₁ , the combine harvester is configured to reduce the running speed. Torso load control device.