JPH06133629A - Car speed controller for combine harvester or the like - Google Patents

Abstract

PURPOSE:To reduce the range and frequency of fluctuation in travel speed by maintaining the speed of an engine at the constant set value according to the throttle control and controlling the speed change of the car speed increase while holding the allowance in the opening degree relatively to the full opening of the throttle. CONSTITUTION:The speed of an engine is maintained at the constant set value according to the throttle control. The speed change control of the car speed increase with an HST is outputted on condition that the allowance in the constant opening degree relatively to the full opening of the throttle is held. Thereby, the fatigue of an operator can be reduced.

Description

Detailed Description of the Invention

[0001]

The present invention relates to a self-propelled combine harvester,
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic traveling work machine such as a riding tractor that performs various kinds of work while traveling, and to an improvement of a vehicle speed control device thereof.

[0002]

2. Description of the Related Art Japanese Patent Laid-Open No. 4-37686 discloses a combine for driving a traveling unit and a threshing unit with a single engine, a vehicle speed control mechanism having a fuel supply unit and a vehicle speed changing unit, and a current engine speed. And a rotation speed control means for determining the operation of the fuel supply means so that the rotation speed is set according to the cutting conditions, and based on the difference between the fuel supply quantity for obtaining the maximum output and the supply quantity at the time of controlling the fuel supply means. Then, there is disclosed a technique in which a vehicle speed changing means for controlling the operation of the vehicle speed changing means is provided in order to adjust the load so that the engine output can produce the maximum output at the set rotation speed.

[0003]

When an automatic traveling machine such as a combine harvester operates at a traveling speed that generates a load corresponding to the maximum output, the harvesting section and the threshing section are suddenly operated due to the fall of the grain culm and the like. When the load increases and the engine load increases, the output becomes insufficient, and the engine speed decreases.

The engine load control mechanism that detects this is
Since the engine is in the maximum output state and the fuel supply amount has already reached the maximum value, the vehicle speed changing means is activated to reduce the vehicle speed and reduce the engine load, but the engine speed is regulated until this adjustment is completed. Not restored to value. Especially when working at a running speed that corresponds to the maximum output, if the engine speed decreases as the engine load increases, the engine output decreases, which further increases the output shortage, and the engine speed becomes The rotation speed is significantly lower than the rotation speed, and the time required to recover the rotation speed also increases.

When the load variation with respect to the engine output is large or when the engine load variation frequency is high, there are many cases where the work speed shifts to the hunting state by the next shift until the vehicle speed with respect to the load stabilizes. The drive rotation speed of the working unit deviates from an appropriate value for a long period of time, leading to instability in work processing such as threshing work, and frequent fluctuations in traveling speed to increase worker fatigue.

[0006]

SUMMARY OF THE INVENTION The present invention provides a vehicle speed control device for controlling the throttle so as to maintain the engine speed at a constant set value, provided that there is a certain opening margin with respect to the full opening of the throttle. As a configuration, a vehicle speed control device such as a combine is configured to output a shift control output for increasing the vehicle speed.

[0007]

If the opening of the throttle for supplying fuel to the engine exceeds the specified opening with a margin for full opening, the vehicle speed increasing means is not operated even if the engine load is reduced. Since it is regulated by the regulations, there is always room for the throttle opening while working. That is, the engine output has a margin even at the maximum working speed. Therefore, when the engine load increases and the engine speed decreases, this is detected and the engine load control immediately opens the throttle to increase the fuel injection amount,
Since the reduced rotation speed is recovered, the decrease in the rotation speed during the recovery of the rotation speed is small and the time required for the recovery is extremely short.

Even when the load change frequency is high, the load change on the engine 1 can be absorbed by adjusting the throttle first, and the vehicle speed is often not changed, and the vehicle speed is unlikely to fall into hunting. . Therefore, the range in which the rotation speed of the working unit deviates from the appropriate value due to the fluctuation of the engine load is narrow, and the time becomes short,
The work unit can perform stable processing, reduce the fluctuation range of the work traveling speed, and reduce the number of fluctuations, so that the worker can enjoy comfortable work traveling and fatigue can be reduced.

[0009]

1 to 4 show a self-propelled combine as an example of the self-propelled working machine. FIG. 1 is a power transmission system diagram of a self-propelled combine according to the present invention. An input of a hydraulic continuously variable transmission (hereinafter referred to as HST) 5 via a belt 4 by a pulley 3 attached to an output shaft 2 of an engine 1. Power is transmitted to a pulley 7 provided on the shaft 6.

The output side of the HST 5 is connected to a traveling transmission mechanism 8 having a clutch mechanism, and an output shaft 9 of the traveling transmission mechanism 8 drives a crawler 10 which controls traveling. A pulley 11 provided on an output shaft 2 of the engine 1 drives a pulley 15 provided on an input shaft 14 of a transmission 13 via a belt 12. A pulley 17 is attached to the output shaft 16 of the transmission 13, and the intermediate shaft 19 is driven by a pulley 20 via a belt 18.

The intermediate shaft 19 drives a mowing section 21 and a threshing section 22 which constitute a work processing section 23. FIG. 2 is a block diagram showing an example of the engine load control mechanism. The engine rotation sensor 24 for detecting the rotation speed of the engine 1 and the HST 1
HS for detecting the operation amount of the gear ratio adjusting lever provided in FIG.
The data detected by the T position sensor 25 and the throttle position sensor 26 for detecting the operation amount of the throttle for adjusting the fuel supply amount of the engine are input to a microcomputer 28 including a CPU, a memory and the like through an input interface 27, and a fuzzy logic is input. Inference is performed, and based on the calculated result, the HST is supplied via the output interface 29 to apply an appropriate load to the engine 1.
HST acceleration relay 30 and H that operate 5 to acceleration / deceleration side
It shows that the ST deceleration relay 31, and the throttle opening relay 32 and the throttle closing relay 33 for adjusting the fuel supply amount of the engine 1 are operated.

The fuzzy inference is based on the fact that the detected rotation speed due to the time change of the detected value of the engine rotation speed is large or small of the deviation value obtained with respect to the work proper rotation speed, and the detected rotation speed is with respect to the work proper rotation speed. The HST operation amount and the throttle operation amount are calculated on the basis of the fuzzy control regulation which is determined by a combination of the situation of increasing or decreasing. For example, when the engine speed is slightly higher than the appropriate value and the changing tendency of the engine speed is increasing, the HST operation amount increases faster,
Assuming that the throttle operation amount is slowly closed, the control output time to the HST speed increasing relay and the control output time to the throttle closing relay are calculated based on this.

FIG. 3 shows the process of detection, processing, operation, etc. of the present invention. When the output of each relay is determined based on the operation amount of HST5 and the throttle, when the acceleration of HST5 is required, the throttle position sensor 26 7 is a flowchart in which a determination process is performed so that a shift control output for increasing a vehicle speed is performed only when the opening degree of the throttle shown has a certain marginal opening degree that is set with respect to the operation amount at full opening.

FIG. 4 shows HS only in the HST speed-up possible region where the throttle position sensor value has a necessary margin.
It shows how the speed-up output of T5 is output. Regarding the throttle opening A point C point, when the throttle operation amount is used as a reference, the throttle fully closed point A and the throttle full open point C
It is a point. If the output of the engine 1 is used as a reference, point A may be a throttle opening corresponding to the no-load rated speed, and point C may be an opening corresponding to the rated full-open output.

FIGS. 5 to 7 show an embodiment different from the above example. The difference of this embodiment is that the speed of acceleration is selected according to the amount of output margin with respect to the engine load. However, when the work speed detected by the vehicle speed sensor is higher than the specified speed when performing the speed-up operation of the HST5, the work equipment load and the running load are large, the throttle is opened, and the output margin is small. Since it is in the state, the intermittent HST speed increasing output for operating the gear ratio of the HST 5 to the speed increasing side shortens the output time per one time and reduces the speed increasing amount, so that the engine load increases. The speed of the engine becomes gradual, fluctuation of the engine speed at the time of gear shift becomes small, and the hunting of the engine speed that tends to occur in the high output region of the engine can be suppressed.

When the speed is lower than the predetermined speed, the throttle opening is relatively small and the engine output has a margin. Therefore, the HST 5 is intermittently operated to increase the gear ratio to an intermittent speed. For the output, the output time per operation was lengthened to increase the speed increase amount, and the work speed was quickly reached to a predetermined work speed to improve work efficiency. FIG. 7 shows a part of a flow chart when the work traveling speed is divided into three speed ranges of high speed, medium speed and low speed, the acceleration output is divided into three stages, and further detailed correspondence is made according to the margin of the engine output. .

It is also possible to provide a sensor for detecting the output value in the engine 1, calculate the margin of the detected output with respect to the rated full-open output, and determine the output time per operation according to the size of the margin. 8 to 10 are different from the above example in the vehicle speed control combine when the engine output is at the throttle lever opening such that the work cannot be continued while performing the vehicle speed control, the engine speed fluctuates,
In combine harvesters, the processing unit such as the threshing unit informs the operator to quickly remove the situation where proper processing cannot be performed.When the engine speed is the rated speed, the value detected by the throttle position sensor indicates the rated maximum output of the engine. A configuration is shown in which when a predetermined time elapses, the throttle position is detected to be abnormal and a warning is issued when the opening is not within a predetermined fixed range with the opening degree as the upper limit.

11 to 13 is different from the above example in the case where the HST position sensor value does not change when the vehicle speed detected by the vehicle speed sensor rises above a certain speed from the stop in the vehicle speed control combine. As an abnormality detection of the HST position sensor, the operator is informed that the vehicle speed cannot be controlled and the engine speed cannot be maintained at a proper work speed.

14 to 16 are different from the above example in that a vehicle speed control device such as a combine is equipped with an HST lever 37 that can be operated by an HST acceleration / deceleration motor 36 via a friction clutch 38. When the operation of the HST lever 37 is detected by the HST position sensor 25, the HST lever 3 in the opposite direction remains in the opposite direction for a certain period of time after the detection.
When the operation of 7 is not detected and the hand is released after the manual operation of the HST lever 37, the HST position sensor 2 is operated in response to the bending due to the operation remaining in the operating force transmission system such as the friction clutch.
The value of 5 changes to the direction opposite to the operation direction, as if it were HST
It is erroneously detected that the lever 37 is operated in the opposite direction again. This is prevented when the vehicle speed control is set to the upper limit speed of the control, since it is mistaken that the HST lever 37 is operated in the opposite direction. Therefore, the intention of the operator is correctly detected without reading the value of the HST position sensor 25 due to the reaction of the flexure that occurs immediately after the manual operation.

[Brief description of drawings]

FIG. 1 is a conduction mechanism diagram of a combine.

FIG. 2 is a block diagram.

FIG. 3 is a flowchart.

FIG. 4 is an explanatory diagram showing a relationship between a throttle opening and an HST acceleration output.

FIG. 5 is a flowchart of another embodiment.

FIG. 6 is an explanatory diagram showing a relationship between working speed and HST acceleration output.

FIG. 7 is a flowchart (partial) of an example in which the speed is divided into three areas.

FIG. 8 is a perspective view of a throttle lever-related mechanism of another embodiment.

FIG. 9 is a block diagram.

FIG. 10 is a flowchart.

FIG. 11 is a side view of an HST lever according to another embodiment.

FIG. 12 is a block diagram.

FIG. 13 is a flowchart.

FIG. 14 is a front view of an HST lever according to another embodiment.

FIG. 15 is a block diagram.

FIG. 16 is a flowchart.

[Explanation of symbols]

 1 Engine 5 Hydraulic Transmission (HST) 10 Crawler 21 Mowing Section 22 Threshing Section 24 Engine Rotation Sensor 25 HST Position Sensor 26 Throttle Position Sensor 28 Microcomputer 30 HST Speed-up Relay 31 HST Deceleration Relay 32 Throttle Opening Relay 33 Throttle Closed Relay

Claims (1)

[Claims] 1. A vehicle speed control device for controlling a throttle to maintain an engine speed at a constant set value,
A vehicle speed control device such as a combine, characterized in that a speed change control output for increasing a vehicle speed is provided on condition that a certain opening is provided with respect to a fully opened throttle.