JPH0595722A - Car speed controller for combine - Google Patents

Abstract

PURPOSE:To enable safe travel with an engine prevented from overloading even in travel at the time other than reaping operation. CONSTITUTION:In a combine equipped with a car speed controller (controlling circuit) (29) for carrying out car speed control based on an increase or a decrease in load on an engine (16), a controlling means, having a grain culm sensor (34) for sensing grain culms fed to a threshing part (4) and automatically controlling the increase and decrease in car speed when sensing the grain culms with the grain culm sensor (34) and a car speed controlling means capable of only automatically reducing and controlling the car speed at the time of sensing no grain culm are installed in the car speed controller (29).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a combine vehicle speed control device for controlling vehicle speed based on an increase / decrease in engine load.

[0002]

2. Description of the Related Art In a combine for performing this kind of vehicle speed control, the vehicle speed control is stopped except during the mowing work.

[0003]

However, even when the mowing operation is not being performed, the engine may be rotated down or stopped when the vehicle is overloaded due to a spin turn or a sharp turn. As a result, there is an inconvenience that the safe traveling of the aircraft cannot be performed.

[0004]

SUMMARY OF THE INVENTION Therefore, the present invention provides a combine with a vehicle speed control device for controlling the vehicle speed based on an increase / decrease in engine load, and includes a grain culm sensor for detecting a grain culm supplied to a threshing section. A load control means for automatically increasing or decreasing the vehicle speed at the time of grain culm detection by the grain culm sensor,
By providing the vehicle speed control device with the vehicle speed control means for automatically controlling only the vehicle speed when the grain culm is not detected, the grain culm sensor does not detect the grain culm. The vehicle speed is reduced to a proper turning speed without the need for a shift operation, and it is possible to always perform safe and good combine work.

[0005]

An embodiment of the present invention will be described in detail below with reference to the drawings. FIG. 1 is a vehicle speed control circuit diagram, FIG. 2 is an overall side view of the combine, and FIG. 3 is a plan view thereof. In the figure, (1) is a truck frame equipped with a traveling crawler (2), and (3) is the truck. A machine stand installed on the frame (1), (4) a threshing section in which the feed chain (5) is stretched on the left side and the handling cylinder (6) and the processing cylinder (7) are incorporated, and (8) is mowing A reaper having a blade and a culm transport mechanism, (9) is a straw chain (1
0) (11) A straw processing unit facing the end, (12) a driver's cab provided with a driver's seat (13) and a driving operation unit (14),
(15) is an engine part in which the engine (16) is installed,
(17) is a grain tank which is arranged in front of the engine section (15) and stores the grain from the threshing section (4) through a lifting cylinder (18), and (19) is the grain tank (17) It is an upper discharge auger that takes out the inner grain to the outside and continuously mows
It is configured to perform threshing work.

As shown in FIG. 4, the shift of the vehicle speed of this combine is performed by a variable displacement hydraulic pump (21) and a hydraulic motor (22) which constitute a continuously variable transmission mechanism (20) which is an HST. The input shaft (21a) of the hydraulic pump (21) is interlockingly connected to the output shaft (16a) of (16) through the belt and gear transmission mechanism (23) to connect the drive sprocket (24) of the traveling crawler (2). While the output shaft (22a) of the hydraulic motor (22) is interlockingly connected to the transmission case (25), the handling cylinder (6)
The handle cylinder input shaft (6a) of the belt and gear transmission mechanism (2
6) via an output shaft (16a) of the engine (16).

Further, the engine (16) has an electronic governor (27) for controlling the fuel injection amount of the fuel injection pump by an injection amount adjusting rack to keep the rated rotation speed (N) constant, and the hydraulic pressure is also provided. The pump (21) has a DC servo motor (2 which controls the swash plate angle to adjust the hydraulic discharge amount.
8), and is configured to perform forward / backward drive of the motor (28) to increase / decrease the vehicle speed.

As shown in FIG. 1, a vehicle speed control circuit (29), which is a fuzzy vehicle speed control device for driving and controlling the servo motor (28) based on fuzzy inference, has an automatic switch (30) for automatically controlling the vehicle speed. And a vehicle speed sensor (31) for detecting the vehicle speed, and an HST oil pressure sensor (32) are input and connected, and a threshing section is provided from a grain culm which is provided by being provided in the vertical transport device (33) of the reaping section (8). A grain culm sensor (34) for detecting grain culm sent to (4), and a work switch (3) which is a work clutch switch for detecting the culm work clutch lever (35a) when the cutting operation is performed.
5) and a shift lever (40a) for manually controlling the vehicle speed
Shift lever position sensor (4
0) is connected to the control circuit (29).
Then, a governor control circuit (3) which is an engine output characteristic changing means for driving and controlling the rack position adjusting mechanism (36) of the electronic governor (27) for adjusting the injection amount of the fuel injection pump.
7) Input an engine rotation sensor (38) that detects the rotation of the engine (16) and a governor rack position sensor (39) that detects the position of the injection amount adjustment rack of the governor (27). Connect the control circuit (29)
(37) are connected by communication, and each of these sensors (31)
On the basis of the detections of (32), (34), (38) and (39), the constant engine speed control and the vehicle speed control based on fuzzy inference are performed.

This embodiment is constructed as described above, and the maximum output map data diagram of the engine shown in FIG.
This vehicle speed control will be described with reference to the maximum output horsepower diagram of the engine of FIG. 6 and the flowcharts of FIGS.

The electronic governor (2
When the rack position data corresponding to the engine load (fuel injection amount) is input from 7), the maximum output map data (RMAX) as shown in FIG. 5, which represents the relationship between the rack position and the engine speed by the maximum load curve, is input. The target vehicle speed is deduced based on the target vehicle speed and the rate of change of the vehicle speed and the vehicle speed deviation of how much to increase or decrease from the current vehicle speed are fuzzy inferred,
The drive pulse, which is the shift amount of the servo motor (28) that shift-drives the speed change mechanism (20), is determined. Specifically, the actual output data (rack position) is A, and the engine speed at that time. When the control maximum injection amount output from the control circuit (46) which is the governor controller by the constant control of B is B, the rack deviation value RE (= AC) calculated from the target rack value C and the maximum target value D The maximum target deviation value RM (= C−D) and the rate of change (RD) of the rack deviation value (RE) for a certain period of time are input as the input values of the fuzzy inference, and the target vehicle speed deviation (the output value) from the current vehicle speed ( Fuzzy control for outputting Ve) is performed.

That is, as shown in the main routine of FIG.
In this vehicle speed control, the control mode is selected from the vehicle speed mode, the load mode, and the manual mode, and the output of the maximum output map data (RMAX) is the normal mode (H) or the horsepower up mode. When any one of the outputs (L) dedicated to the load is selected, fuzzy control of the vehicle speed is performed. As shown in the mode selection routine of FIG. 8, the automatic switch (30) and the work switch (35) are turned on. When the grain culm sensor (34) is in the grain culm detection state, it is in the load control mode in which the vehicle speed is controlled to increase or decrease, and when the switches (30) (35) are turned on, the sensor (34) is turned off. That is, the acceleration / deceleration control is performed manually when the vehicle speed control mode is only the deceleration control in which the acceleration control is prohibited and when any of the switches (30) and (35) is off. It is automatically selected in the dynamic control mode.

Further, as shown in the map switching routine of FIG. 9, in the load control mode, when the manual priority flag (FH) for performing automatic control of only deceleration is off, the maximum output map data (RMAX) is set. Load dedicated output (L)
And the normal output (H) when the vehicle speed control mode other than the load control mode, the manual control mode, or the manual priority flag (FH) is turned on during the load control mode.

When the mode setting and the map switching are completed, the control for each mode is performed.
As shown in, when the servo motor (28) is shift-driven to the shift amount calculated by the above-mentioned fuzzy reasoning in the load control mode, the manual priority flag (FH), which is determined to be an artificial operation in the middle, is turned on. When the flag (FH) is set, the manual priority mode control, which is the automatic control only for deceleration in which acceleration is prohibited, is performed, and the manual priority flag ( When (FH) is off, the automatic mode control, which is the normal automatic acceleration / deceleration control, is resumed.

Next, the operation when the manual priority flag (FH) is turned on (set) or turned off (reset) will be described with reference to the manual priority flag routine shown in FIG. Even if the speed is not increased, the manual priority flag (FH) is turned on. When the speed-up signal is output, this speed-up signal is output to measure the speed-up output time. At the same time, when the actual shift position is moving to the deceleration side (including the case where it does not move) despite the output of the speed-up signal, and the moving amount is also larger than the set value, or the moving amount is set. If the speed-up signal is within the value but continues to be turned on for a set time or longer, it is determined that an artificial manual priority operation has been applied, and the priority flag (FH) is turned on.

On the other hand, when the speed-up signal is output, the shift position also moves to the speed-up side, and when the amount of movement is also the set value or more, it is determined that the speed has been increased by an artificial operation, and manual priority is given. When the flag (FH) is on (deceleration only allowed) and the speed-up signal continues to be on for a set time or longer, it is determined that this automatic speed-up instruction coincides with the speed-up shift operation by the operator, The manual priority flag (FH) is turned off to restore the original acceleration / deceleration enabled state, and in other cases, the timing of the output time for each acceleration signal output is cleared.

Further, in the vehicle speed control mode when the grain culm sensor (34) is off, as shown in FIG. 11, the data of the speed-up shift amount among the shift amounts calculated by the fuzzy inference is cleared and the deceleration is performed. The automatic control of only the side allows safe driving when turning the machine during non-mowing work.

As described above, based on the turning on / off of the grain culm sensor (34), either a load control mode for automatically controlling both acceleration and deceleration or a vehicle speed control mode for automatically controlling only deceleration is set. In addition to the manual deceleration operation in which the manual priority flag (FH) is off in the load control mode, automatic load control is performed in the automatic mode based on the high horsepower engine output characteristic by selecting the map selection output as the load dedicated output (L). If the speed is not increased in spite of the speed-up instruction during automatic load control, only the deceleration is automatically controlled in the manual priority mode by turning on the manual priority flag (FH). When the speed-up instruction from the side and the speed-up shift operation by the operator match, the manual priority flag (F
H) is turned off and the normal automatic load control is resumed. During vehicle speed control other than during mowing work, when the vehicle becomes overloaded due to a sudden turn or spin turn, control should be performed only on the deceleration side. As a result, it is possible to perform safe driving by preventing the engine from going down or stalling and reducing the vehicle speed to an appropriate turning speed.

Further, at the time of load control during normal mowing work, the engine (1) is changed by changing the engine output characteristic to a load-dedicated output (L) larger than the normal output (H).
While driving 6) to a state where maximum horsepower (PS ₁ ) is output at the rated speed (N), combine work can be performed with maximum efficiency of the engine (16) without engine trouble such as engine stall. , Normal horsepower (PS ₂ ) (PS ₂ <PS ₁ ) less than maximum horsepower (PS ₁ ) with maximum horsepower during manual priority vehicle speed control during turning of the aircraft other than during harvesting and during harvesting As an output characteristic of the engine, it is possible to perform comfortable work without engine trouble such as engine stall in which the adaptability to sudden changes in load and operation delay in these works is expanded.

Further, during automatic load control, in a manual priority mode state such as when a worker decelerates during fall culm mowing,
By controlling only the deceleration side in order to rapidly turn the machine body or to rapidly increase the threshing load, engine troubles such as engine down (16) rotation down and engine stall can be prevented. Further, in this manual priority mode state, when the speed increasing signal is output from the control circuit (29) and the worker performs the speed increasing shift operation, the operation automatically returns to the automatic load control mode to improve operability and work. The efficiency can be improved.

In the above-described embodiment, the configuration in which the servomotor (28) is driven to control the vehicle speed even when the manual shift lever (40) is operated is shown.
0) may be directly linked to the continuously variable transmission mechanism (20) separately from the servo motor (28), and the vehicle speed may be controlled by the servo motor (28) only in the automatic mode.

[0021]

As is apparent from the embodiments described above, the present invention provides a threshing section (4) in a combine equipped with a vehicle speed control device (29) for controlling the vehicle speed based on the increase or decrease of the load of the engine (16). A grain culm sensor (34) for detecting the supplied grain culm is provided, and load control means for automatically increasing / decreasing the vehicle velocity when the grain culm is detected by the grain culm sensor (34) and a vehicle speed when the grain culm is not detected are automatic. Since the vehicle speed control means (29) for deceleration control only is provided in the vehicle speed control device (29), when turning the machine body at the end of the mowing process where the grain culm sensor (34) does not detect grain culm, The vehicle speed is automatically reduced to an appropriate turning speed without the need for a shift operation, and a remarkable effect such as always being safe and performing a good combine work is achieved.

[Brief description of drawings]

FIG. 1 is a vehicle speed control circuit diagram.

FIG. 2 is an overall side view of the combine.

FIG. 3 is an overall plan view of the combine.

FIG. 4 is an explanatory diagram of an engine drive system.

FIG. 5 is an explanatory diagram showing maximum output map data of an engine.

FIG. 6 is an engine maximum output horsepower diagram.

FIG. 7 is a main flowchart.

FIG. 8 is a flowchart of mode setting.

FIG. 9 is a flowchart of map switching.

FIG. 10 is a flowchart of load control.

FIG. 11 is a flowchart of vehicle speed control.

FIG. 12 is a flowchart of a manual priority flag.

[Explanation of symbols]

 (16) Engine (29) Vehicle speed control circuit (vehicle speed control device) (34) Grain sensor

Claims (1)

[Claims] 1. A combine equipped with a vehicle speed control device for controlling a vehicle speed based on an increase / decrease in engine load, comprising a grain culm sensor for detecting a grain culm supplied to a threshing section, and detecting the grain culm by the grain culm sensor. A combine vehicle speed control device comprising a load control means for automatically increasing / decreasing a vehicle speed, and a vehicle speed control means for automatically reducing a vehicle speed when a grain culm is not detected.