JPH05168339A - Car speed controller for combine harvester - Google Patents

Abstract

PURPOSE:To avoid occurrence of a hunting phenomenon with the upper limit car speed as a center in car speed control based on a load of an engine and minimize undesirable influences of sudden deceleration exerted on threshing and grading performances. CONSTITUTION:In a car speed controller for a combine harvester equipped with a car speed controlling means 19 for operating the speed change of an infinite variable speed device 16 for travel at a prescribed speed so that a load of an engine (E) sensed by a load sensing means 26 may be maintained within the target load range and the car speed sensed by a car speed sensing means S6 may not exceed the upper limit car speed set by the upper limit car speed setting means 24 within the target load range, the car speed controlling means 19 reduces the speed at which the operation to change the speed of the infinite variable speed device 16 is performed with decreasing upper limit car speed in acceleration and further reduces the speed at which the operation to change the speed of the infinite variable speed device 16 is carried out with increasing upper limit car speed in deceleration.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention sets a vehicle speed detected by a vehicle speed detecting means by an upper limit vehicle speed setting means so that an engine load detected by a load detecting means is maintained within a target load range. Further, the present invention relates to a combine vehicle speed control device provided with a vehicle speed control means for shifting a continuously variable transmission for traveling at a predetermined speed so as not to exceed an upper limit vehicle speed.

[0002]

2. Description of the Related Art Conventionally, a vehicle speed is automatically controlled so that the engine capacity is maximized in accordance with the load applied to a combine during a mowing operation. In other words, if the engine load is smaller than the target load range, the vehicle speed is increased to increase the amount of material to be cut (threshed) per unit time. If the engine load is larger than the target load range, the vehicle speed is reduced to Reduce the amount of mowed (threshing) products.

However, there is a case where the maximum vehicle speed (upper limit vehicle speed) should be limited due to other conditions such as muddy conditions in the field even if the engine has a sufficient capacity. Therefore, an upper limit vehicle speed setting means (for example, a variable resistor) for setting the upper limit vehicle speed
Is provided, and vehicle speed control is performed so as not to exceed the set upper limit vehicle speed.

The change of the vehicle speed is performed by a continuously variable transmission using a hydraulic transmission, for example. Then, the speed at which the continuously variable transmission is operated to change gears is changed according to the deviation between the current load and the target load, so that the current load is controlled to settle quickly and smoothly within the target load range.

[0005]

As described above, conventionally, the speed at which the continuously variable transmission is operated to shift is controlled according to the deviation between the present load and the target load. If the deviation between the current load and the target load is large, the gear shifting operation is performed quickly even if the upper limit vehicle speed is set low. Therefore, the current vehicle speed may reach the upper limit vehicle speed immediately, the overshoot may further increase, and so-called hunting of the vehicle speed may occur. In addition, the rapid deceleration causes a temporary decrease in the material to be cut (threshed), which adversely affects the threshing / sorting performance.

The present invention has been made in view of the above circumstances, and its object is to avoid occurrence of hunting around the upper limit vehicle speed in the vehicle speed control based on the engine load, and to make a sudden change. The purpose is to minimize the negative impact of slow deceleration on threshing and sorting performance.

[0007]

SUMMARY OF THE INVENTION A vehicle speed control device for a combine according to the present invention is a vehicle speed detected by the vehicle speed detecting means such that an engine load detected by the load detecting means is maintained in a target load range. Is provided with vehicle speed control means for shifting the traveling continuously variable transmission at a predetermined speed so that the vehicle speed does not exceed the upper limit vehicle speed set by the upper limit vehicle speed setting means. The vehicle speed control means is configured such that, when the vehicle speed is increased, the speed at which the continuously variable transmission is operated to shift becomes slower as the upper limit vehicle speed becomes slower. A second characteristic configuration is that the vehicle speed control means is configured to reduce the speed at which the continuously variable transmission is gear-shifted as the upper limit vehicle speed is increased during deceleration.

[0008]

According to the first characteristic configuration, the speed at which the continuously variable transmission is shifted to the speed increasing side is determined according to the upper limit vehicle speed set by the upper limit vehicle speed setting means. Since the operating speed is also slowed down, overshoot of the current vehicle speed with respect to the upper limit vehicle speed is suppressed, and hunting is less likely to occur. Further, the decrease of the processed matter due to the deceleration tends to be more rapid as the upper limit vehicle speed is faster, but according to the second characteristic configuration,
When performing gear shifting operation to the deceleration side, the faster the upper limit vehicle speed, the slower the gear shifting operation. In other words, the deceleration is slowed down and the effect is alleviated so that a rapid decrease in the amount of processed material that adversely affects the threshing / sorting performance is likely to occur.

[0009]

Therefore, according to the first characteristic configuration, the occurrence of vehicle speed hunting can be suppressed, and according to the second characteristic configuration, the adverse effect of the rapid deceleration on the threshing / sorting performance can be reduced. It became possible.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. First, FIG. 8 shows a side view of the entire combine. A cockpit 2, a threshing device 3 and the like are mounted on a machine body V including a pair of left and right crawler traveling devices 1, and a cutting device 4 is provided in front of the machine body V so as to be vertically movable. The mowing device 4 includes a weeding tool 5, a scraping device 6, a mowing blade 7, an auger 8 for collecting the crops collected in the lateral center of the machine body, and a conveyor 9 for conveying the collected crops to the threshing device 3. ing.

The threshing device 3 includes a threshing section (hereinafter referred to as a handling room) A provided with a handling barrel 10 and a receiving net 11 which rotate around the longitudinal axis of the machine body V, and a leakage process from the handling room A. It consists of a sorting unit B that sorts and collects grains from the object. Sorting section B
Although details are not shown, a swinging sorting plate for separating and sorting grains and straw waste, a thyme for generating a wind that blows off straw waste, a collection device for collecting the sorted grain, etc. are provided. Has been.

Crop (grain culm) such as rice, wheat, soybean, etc., which is mowed by the mowing device 4 and conveyed to the threshing device 3 by the auger 8 and the conveyor 9, is supplied to the handling room A and is rotated by the handling drum 10. Threshed. At the front of the handling room A, a grain culm detection switch S1 for detecting whether or not grain culm is supplied.
Is provided. The grain culm detection switch S1 is attached inside the ceiling cover 12 of the handling room A, as shown in FIG.
It consists of a contact piece that oscillates downward in the direction of rotation of the handling cylinder 10, and a switch that turns on when the contact piece swings due to contact with the grain stem. Therefore, the grain culm detection switch S1 is turned off when the grain culm is not supplied to the handling room A, and is turned on when the grain culm is supplied.

The grain culm (processed material) in the handling room A is transferred to the rear of the machine while threshing by the handling teeth spirally provided around the handling barrel 10 and transferred from the rear end of the receiving net 11 to the sorting section. B
Fall to. Then, after the dust particles and the like are collected by the swing selection plate, the straw waste is discharged to the outside of the machine. The dust transfer valve 13 for adjusting the residence time in the treatment chamber of the treatment chamber by facilitating or suppressing the rearward transfer of the treatment substance in the handling chamber and thus optimizing the threshing condition is provided in the ceiling of the treatment chamber. It is provided on the inner surface of the cover 12.

As shown in FIGS. 6 and 7, a plurality of plate-shaped dust-sending valves 13 are arranged at predetermined intervals in the direction of the axis of rotation of the handling cylinder. Each dust-sending valve 13 is pivotally attached to the ceiling cover 12 so as to be rotatable about a vertical axis, and all the dust-sending valves 1 are provided by link mechanisms 14 and 15 provided outside the ceiling cover 12.
3 is configured to rotate simultaneously while maintaining the parallel state.

That is, a link 14 which rotates together with each dust feed valve 13 is pivotally connected by a single link 15, and the rotation angle (opening) of each dust feed valve 13 is simultaneously controlled by a motor M within a predetermined range. It is configured to be modifiable. This motor M
Is driven in the forward and reverse directions by the control means H described later.
Further, a potentiometer type dust delivery valve opening sensor S2 for detecting the rotation angle (opening) of the dust delivery valve 13 is provided.

Rotation range of the dust delivery valve 13 (opening adjustment range)
Is restricted from the position (+ 20 °) indicated by the broken line in FIG. 7 to the position (−10 °) indicated by the alternate long and two short dashes line. The position indicated by the broken line is the fully opened state, and in this state, the backward transfer of the processed material is most promoted. On the contrary, in the fully closed state indicated by the chain double-dashed line, the backward transfer of the processed material is most suppressed.

Next, the vehicle speed control will be described. As shown in FIG. 1, the power of the engine E is transmitted to the traveling continuously variable transmission 16 by a transmission system including a belt and a pulley.
Further, the crawler traveling device 1 is transmitted via the mechanical mission 17.
Have been transmitted to. The continuously variable transmission 16 is a hydrostatic transmission that includes a variable displacement hydraulic pump and a constant displacement hydraulic motor, and changes the discharge amount and the direction by changing the angle of the variable swash plate in the hydraulic pump. Change the rotation speed and rotation direction of the motor output shaft.

The variable swash plate in the hydraulic pump is driven by the electric motor 18 for changing the vehicle speed and changes its angle. The electric motor 18 is driven in the forward / reverse direction by the control means H composed of a microcomputer. Therefore, the vehicle speed control means 19 provided in the control means H operates the continuously variable transmission 16 via the electric motor 18.

The vehicle speed control means 19 drives the electric motor 18 in the forward / reverse direction to operate the continuously variable transmission 16 to the speed increasing side or the decelerating side, and changes the drive duty ratio to thereby continuously drive the continuously variable transmission 16. You can change the speed at which you operate. Further, the continuously variable transmission 16 is configured so that it can also be manually operated to change gears by the gearshift lever 20 provided in the cockpit 2.
8 is linked via a friction type transmission mechanism 21.
Therefore, when the electric motor 18 is operated, the shift lever 2
0 moves.

The power of the engine E is also transmitted to the threshing device 3 and the reaping device 4 by a transmission system including a belt and a pulley. A belt tension type threshing clutch 22 and a reaping clutch 23 are provided on the respective transmission paths, and the respective operating levers 22a and 23a are provided with a threshing clutch switch S3 which is turned on when the clutch is in an operating state, and a reaper. A clutch switch S4 is provided. The detection information of both the clutch switches S3 and S4 is input to the control means H together with the grain culm detection switch S1 and the dust sending valve opening sensor S2 described above.

In addition, an electromagnetic pickup S5 for generating a sine wave having a frequency proportional to the engine speed, and a signal having a pulse number proportional to the engine speed of the drive wheels of the crawler traveling device 1 provided in the mission section are generated. A vehicle speed detection means (hereinafter referred to as a vehicle speed sensor) S6 and a speed change lever upper limit switch S7 which is turned on when the speed change lever 20 reaches a limit position on the forward speed increasing side are provided, and the detection information thereof is also input to the control means H. Has been done.

In the cockpit 2, an upper limit vehicle speed setting means 24 for setting an upper limit vehicle speed and a vehicle speed auto switch 25.
Is provided, and these setting information are also input to the control means H. The upper limit vehicle speed setting means 24 is a variable resistor for adjusting the upper limit vehicle speed (maximum vehicle speed) according to the field conditions and the like, and the upper limit vehicle speed is 0.3 m / in proportion to the rotation angle of the knob.
It is set in the range of s to 2.0 m / s. The vehicle speed auto switch 25 is an illuminated push button switch for switching whether or not to execute the (automatic) vehicle speed control described below.

The control means H (vehicle speed control means 19) controls the vehicle speed by driving the electric motor 18 for changing the vehicle speed in the forward / reverse direction at a predetermined duty ratio based on the input information as described above. Hereinafter, description will be given based on the flowcharts of FIGS. 2 and 3. First, in process (a), the starting condition for vehicle speed control is checked. That is, the vehicle speed auto switch 25, the threshing clutch switch S3, the harvesting clutch switch S4,
If the grain culm sensing switch S1 is on, the back switch is off, and the vehicle speed is 0.1 m / s or more, the starting condition is satisfied and the process (b) proceeds to the following process, but either condition must be satisfied. If so, the process branches to acceleration / deceleration stop processing. Although not shown in FIG. 1, the back switch is a switch that is turned off in the forward movement region and turned on in the reverse movement region, although not shown in FIG.

In the process (b), the load of the engine E is detected from the decrease in the rotation speed of the engine E during the cutting and threshing work. That is, in another processing routine, the maximum value of the engine speed when the cutting clutch switch S4 is on and the vehicle speed is less than 0.1 m / s is stored as the reference speed (R), and in this processing, , The difference between the reference rotation speed (R) and the current rotation speed (r) is calculated as the load L. Therefore, the load detecting means 26 is configured inside the control means H.

Next, in the process (c), the acceleration / deceleration mode is set from the table of FIG. 4 based on the opening of the dust sending valve and the upper limit vehicle speed. The dust delivery valve opening is determined by the dust delivery valve opening sensor S2 described above.
Opening degree fed back by (-10 ° to 20
°). The opening of the dust delivery valve is displayed on the panel provided in the cockpit 2 as a number from 1 to 5. However, for example, at the intermediate level between 2 and 3, the display of 2 and the display of 3 appear alternately. Therefore, there are nine display levels.

The upper limit vehicle speed is a value (0.3 m / s to 2.0 m / s) set by the upper limit vehicle speed setting means 24, and the corresponding VR position (1 to 5) indicates the turning angle of the knob. It corresponds to five stages. Acceleration / deceleration mode is 1
Values in four stages of 4 are set. As shown in FIG. 4, the smaller the opening of the dust delivery valve and the slower the upper limit vehicle speed, the smaller the acceleration / deceleration mode is set.

In the following process (d), the acceleration / deceleration output is set from the table of FIG. 5 based on the acceleration / deceleration mode and the load L obtained as described above. The acceleration / deceleration output is a rotation direction and a duty ratio when driving the electric motor 18 for changing the vehicle speed described above. The output is accelerated or decelerated depending on the rotation direction, and the duty ratio is represented by an on time and an off time. Has been done. However, the on time is constant (4
0 ms) to change the off time. Therefore,
The longer the off-time, the slower the speed of the gear shifting operation.

As can be seen from FIG. 5, when the load L is within the predetermined range (target load range), the output is neutral and the on-time of the electric motor 18 is zero. That is, neither acceleration nor deceleration is performed. If the load L is smaller than the target load range, the output is a speed-up output, and the further away from the target load range, the faster the speed change operation. On the contrary, if the load L is larger than the target load range, the output is a deceleration output, and the further the distance from the target load range, the faster the speed change operation. The target load range is set to a smaller value as the value of the acceleration / deceleration mode is smaller, that is, as the opening of the dust delivery valve is smaller or the upper limit vehicle speed is slower.

The acceleration output for the same load range is slower as the value of the acceleration / deceleration mode is smaller. That is, the speed of the gear shifting operation is set to be slower as the opening of the dust delivery valve is smaller and as the upper limit vehicle speed is slower. On the contrary, the deceleration output is slower as the value of the acceleration / deceleration mode is larger for the same load range. That is, the larger the opening of the dust delivery valve and the faster the upper limit vehicle speed, the slower the speed of the gear shifting operation is set. Incidentally, the deceleration output generally makes the speed of the shift operation slower than the speed-up output.

Next, after the deviation between the upper limit vehicle speed and the current vehicle speed is obtained in the processing (e), the process branches depending on whether the acceleration / deceleration output set in FIG. 5 is an acceleration output, a neutral output or a deceleration output. . If it is neutral, the acceleration / deceleration stop, that is, the energization stop of the electric motor 18 is executed, and if it is the deceleration output, the deceleration output set in FIG. 5 is executed. However, if the current vehicle speed is 0.3 m / s or less, the flow branches to acceleration / deceleration stop.

When the acceleration / deceleration output set in FIG. 5 is the acceleration output, it is first checked whether or not the above-described shift lever upper limit switch S7 is turned on. If it is off, the process branches according to the deviation between the upper limit vehicle speed obtained in the process (e) and the current vehicle speed. If the deviation is 0.1 m / s or more, that is, the current vehicle speed is 0.1 m / s above the upper limit vehicle speed.
If it is slower than s, the speed-up output set in FIG. 5 is executed, and if the deviation is 0.02 m / s to 0.1 m / s, the speed-up output is executed at rank +1 in FIG.

Deviation is -0.02 m / s to 0.02 m / s
In case of, the neutral output (acceleration / deceleration stop) is executed as a dead zone. When the deviation is −0.1 m / s to −0.02 m / s, the deceleration output is executed at rank-1 in FIG. 5, and when it is −0.1 m / s or less, the deceleration output is executed at rank-3 in FIG. , The current vehicle speed does not exceed the upper limit vehicle speed (steadily).

Other examples will be listed below. In the above embodiment, the engine load is configured to be detected from the reduction of the engine speed during the cutting and threshing work. However, for example, a torque sensor is provided in the transmission path from the engine to the threshing device, and the load detection means For, various configurations are conceivable.

The continuously variable transmission is not limited to the hydrostatic transmission of the embodiment, and various continuously variable transmissions can be used, and the method of changing the speed of the gear shifting operation is not limited to the method of controlling the duty of the electric motor. Various methods such as duty control of the electromagnetic solenoid can be used.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a block diagram of a vehicle speed control device for a threshing device according to an embodiment of the present invention.

[Fig. 2] Flow chart of vehicle speed control

[Fig. 3] Flow chart of vehicle speed control

FIG. 4 is a table for setting an acceleration / deceleration mode.

FIG. 5 is a table for setting an acceleration / deceleration output (direction and speed of gear shift operation)

FIG. 6 is a partial sectional view of a threshing device.

FIG. 7 is a plan view of a threshing device showing a dust delivery valve.

FIG. 8 is a side view of the combine.

[Explanation of symbols]

 16 continuously variable transmission 19 vehicle speed control means 24 upper limit vehicle speed setting means 26 load detection means E engine S6 vehicle speed detection means

Claims (2)

[Claims] 1. A vehicle speed detected by a vehicle speed detecting means (S6) so that a load of an engine (E) detected by a load detecting means (26) is maintained within a target load range, and an upper limit vehicle speed setting means. A combine vehicle speed control device provided with a vehicle speed control means (19) for shifting the traveling continuously variable transmission (16) at a predetermined speed so as not to exceed the upper limit vehicle speed set in (24). Therefore, the vehicle speed control means (19), when the speed is increased, the slower the upper limit vehicle speed,
A combine vehicle speed control device configured to reduce the speed at which the continuously variable transmission (16) is operated to shift. 2. The vehicle speed control means (19), when decelerating, the higher the upper limit vehicle speed, the more the continuously variable transmission (1).
The vehicle speed control device for a combine according to claim 1, wherein the speed of gear shifting operation of (6) is slowed.