JPH0824446B2 - Rotation control device for harvesting machine - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a turning control device for a harvesting work machine, and in a cutting end portion of a grain culm row during a cutting operation,
It can be used for automatic turning control.

[Conventional technology]

BACKGROUND ART Conventionally, various forms of automation of traveling in a harvesting machine have been developed in the market, and its utilization technology is gradually being established.

As a conventional technique of this type, there is Japanese Patent Laid-Open No. 58-56972. The present invention relates to a traveling device having a super-trust turning device,
And a work vehicle provided with a continuously variable transmission, which is an automatic speed control device that shifts the vehicle speed to a deceleration side at the time of a super turning, and restores the original traveling speed in connection with completion of the turning.

[Problems to be Solved by the Invention] In the above-described conventional technology, the speed is automatically reduced during turning, and the speed is increased to the original traveling speed at the same time when turning is completed,
It is to switch to the normal working speed immediately after turning is completed, and it is done before checking whether or not the aircraft is in a traveling state following the next grain culm. When the aircraft is not following, it is necessary to perform the steering operation for alignment at an increased speed, which is a problem that alignment is difficult.

Therefore, in the present invention, when automating the turning in such a harvesting machine, the cutting vehicle speed of the grain culm row is slowed only during the turning, and the timing of ending the turning and returning to the normal working speed is set to the next row. Attempt to facilitate the follow-up steering to the grain culm row immediately after turning at a slow speed by automatically returning to the original reaping vehicle speed after the lapse of a predetermined time after the grain culm is cut and conveyed for a predetermined distance It is a thing.

[Means for solving problems]

This invention applies to a machine body 2 having a traveling device 6 and a cutting blade device 1
5, a harvesting culm transfer device 17, a threshing device 7 for threshing a harvested culm, and a harvesting work machine provided with a grain culm sensor 18 arranged opposite to the transfer path of the transporting device 17, and the traveling device. 6, a traveling transmission 5 for changing the traveling speed, and a grain culm 1
The automatic turning control means for automatically controlling the turning operation at the mowing terminal end A, and the turning vehicle speed a during the turning control of the automatic turning control means is set to be slower than the cutting vehicle speed b of the grain row 1. After completion of the turning control by the turning speed setting means and the automatic turning control means, the grain culms cut and transferred by the cutting blade device 15 after the rotation are detected by the grain culm sensor 18. In connection with this, the rotation control device for the harvesting work machine comprises an automatic traveling speed return control means for automatically changing the speed from the turning vehicle speed a to the original cutting vehicle speed b.

[Operation of the invention]

At the cutting end portion A of the grain culm row 1, the machine has reached the cutting end portion A of the grain culm row 1 for a turning operation for changing the traveling direction of the machine body of the harvesting machine in order to mow the next grain culm row. At this point, for example, the speed is slower than the mowing vehicle speed b for cutting the grain culm row 1 at a normal speed by arranging it at an arbitrary position on the machine and operating a control device that automatically controls the rotation of the machine. The vehicle speed is switched to the turning vehicle speed and automatic turning is performed.

Then, when the turning is completed, the next row of grain culms is mowed by the cutting blade device 15, and the grain culm sensor 18 detects that the cultivated grain culm is being transferred to the threshing device 7, and this is related to this. Then, the slow turning vehicle speed a is automatically returned to the original fast cutting vehicle speed b.

〔The invention's effect〕

Thus, at the cutting end portion A of the grain culm row 1, the fast reaping vehicle speed (b) is switched to the turning vehicle speed (b) slower than the reaping vehicle speed (b) to end the turning, and then the next grain culm row is cut by the cutting blade device. 15
When the grain culm sensor 18 detects that the harvested grain culm has been transferred to the threshing device, in connection with this, the slow turning vehicle speed a is automatically returned to the original fast reaping vehicle speed b. As a result, there is no need to worry about a runaway when a malfunction occurs, as in the case of turning while keeping the mowing vehicle speed at the same time. It is possible to perform the automatic turning properly and smoothly without being bothered by the operation of returning and resetting the vehicle speed.

Also, rather than immediately returning to the original fast reaping vehicle speed b after the turning has been completed, the grain culm in the next grain culm is mowed with the cutting blade device 15, and then transferred to the threshing device 7. In connection with the detection of the rotation, it is possible to switch at a certain timing from the end of turning, so it will be switched when the traveling is stable after confirming the following traveling to the grain culm row after the direction change. The work efficiency can be improved while facilitating the alignment with the culm.

〔Example〕

 Embodiments of the present invention shown in the drawings will be described below.

On the lower side of the machine body 2 such as a combine, a traveling device 6 in which a pair of left and right crawlers 4, 4 traveling on the mowing soil surface 3 is interlocked with a traveling transmission device 5 for changing the speed by hydraulic pressure or the like is provided. Further, on the upper side of the machine body 2, a threshing device 7 for threshing the cut culms, and an operating device 8 located on the right side in plan view on the front side of the threshing device 7 and for operating the machine body 2 The operator's seat 9, the prime mover 10 located below the operator's seat 9 to supply power to the respective working devices of the machine body 2, and the pruning culm located in front of the threshing device 7 for mowing Device 11 and
They are arranged separately.

The harvesting device 11 is configured as follows.
A front end part is provided with a grass body 12 for weeding a napped culm, and a raising device 13 for raising the culm culled by this grass body 12,
The rear part of the grass body 12 is tilted rearward upward and extended for an arbitrary length, and a scraping device 14 for scraping the pulled grain culm behind the lower part of the pulling device 13 is provided. On the lower side, a cutting blade device 15 for cutting up napped culms is provided. Further, the transfer of transferring the grain culm scraped by the scraping device 14 to the grain culm supplying device 16 between the scraping device 14 and the grain culm supplying device 16 of the threshing device 7. A device 17 is provided,
A grain culm sensor 18 for detecting the presence or absence of grain culm is provided on the entrance side of the transfer device 17.

Further, as shown in FIG. 2, on the left side surface of the top panel portion 19 of the operating device 8, an automatic turning switch 20 that is operated when the machine body 2 is automatically rotated, and the machine body 2
And a speed change lever 21 for performing forward / backward traveling speed change control.

As shown in FIG. 3, the speed change lever 21 and a rotation control arm 22 for controlling the output speed of the traveling speed change device 5 are connected via a wire 23.

Also, the output rotation speed of the transmission 5 is adjusted by the rotation of the control arm 22, and the traveling speed of the machine body 2 is detected by the pivotal support portion of the control arm 22 based on the rotation of the control arm 22. A speed sensor 24 is provided. By the detection signal of the speed sensor 24, the piston portion of the hydraulic reciprocating cylinder 25 for displacing the control arm 22 is connected to the control arm 22, and the cylinder 25 and the electromagnetic valve 26 can be hydraulically controlled. Connect to.

Further, a torque sensor 27 for detecting the output torque of the prime mover 10 is provided, and the torque sensor 27, the speed sensor 24,
The grain culm sensor 18 and the automatic turning switch 20 are respectively inputted to the CPU 28 through the A / D conversion circuit 29 and the input interface 30, and the cylinder 25
It is used for reciprocating movements and for storing the traveling speed. Further, the electromagnetic valves 26, 26 are connected to the CPU 28 via an output interface 31, and a control device 32 constituted by these is provided inside the operating device 8.

When the prime mover 10 is started, power is transmitted to each device section, and the gear shift lever 21 located on the operating device 8 is operated to displace the rotation control arm 22 of the traveling transmission device 5 through the wire 23, whereby the traveling gear shifting is performed. The crawlers 4, 4 are driven via the device 5 to drive the machine body 2 toward the grain culm row 1 of the napped grain culms.

Then, by this traveling, the grass bodies 12 of the cutting device 11 are brought into sliding contact with the cutting soil surface 3, the grain culms of the grain culm row 1 are diverted, and the culled grain culms are raised by the raising device 13. Then, at the same time when the raised grain culm is scraped by the scraping device 14, at the same time, it is mowed by the cutting blade device 15, and the harvested grain culm is taken over from the scraping device 14 to the transfer device 17, and further transferred.
It transfers from 17 to the grain culm supply device 16 of the threshing device 7, and threshing is performed by the threshing device 7.

During such harvesting work, when the grain culm row 1 is reaped by setting a normal reaping vehicle speed b, at the time T1 when the grain culm row 1 arrives at the mowing terminal end A of the grain culm row 1, the automatic turning switch 20 is turned on. When turned on, this signal is sent to the control device 32, and the control device 32 performs an arithmetic operation to store the reaping vehicle speed b at this time. Then, via the electromagnetic valves 26, 26,
The cylinder 25 is reciprocated to rotationally displace the rotation control arm 22 to a position where the speed detected by the speed sensor 24 becomes the set reference speed, and then, the speed is lower than the mowing vehicle speed b, for example, 80% of the mowing vehicle speed b. The degree of the turning vehicle speed is set to be slow, and turning is automatically performed according to the turning pattern registered in the control device 32.

Then, with the completion of this turning, start the mowing of the next grain culm row, while transferring the mowed grain culm by the scraping device 14 and the transfer device 17, at the time point T2 detected by the grain culm sensor 18. , The control device 32 from the slow turning vehicle speed a by this detection signal.
The vehicle automatically returns to the fast reaping vehicle speed b stored in the above.

Further, when the grain culm row 1 is mowed by the normal mowing vehicle speed b, the prime mover 10 by the torque sensor 27 is used.
The load detection signal is sent to the control device 32 by performing load detection, and by the calculation of the control device 32,
The cylinder 25 is reciprocated via the electromagnetic valves 26, 26, the control arm 22 is rotationally displaced to a position where the detection speed of the speed sensor 24 becomes a set reference speed, and the transmission 5 causes In the automatic load control that automatically controls the load by adjusting the cutting vehicle speed b to the maximum vehicle speed c, when performing the automatic turning as described above, at the return time T2 after the end of this turning, the set maximum vehicle speed is set. While returning to (c), the cutting vehicle speed (b) at the time of load control at the time point T1 when reaching the cutting terminal portion A of the grain culm row 1 is automatically restored.

Also, when the speed of the turning vehicle is automatically returned to the original speed of the reaping vehicle by automatic turning, the operation of the speed change lever 21 is performed, or control is performed on the deceleration side by automatic load control. If the gear shift lever 21 is operated, the vehicle speed at the time T3 when this operation is completed is set as the vehicle speed after turning, and the load control of the load control is stopped. In this case, as shown in FIG. 7, the vehicle speed e at the time point T4 at which the deceleration control of the load control is finished is set to the vehicle speed after turning, so that the automatic return during turning can be interrupted promptly as necessary. You may comprise.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention. FIG. 1 is a side view,
FIG. 2 is a partial plan view, FIG. 3 is an action mechanism diagram, FIG. 4 is a reaping work diagram, FIG. 5, FIG. 6, and FIG.
FIG. 8 is a block diagram of an electric circuit. In the figure, reference numeral 1 is a grain culm row, 2 is a machine, 6 is a traveling device, 7 is a threshing device, 15 is a cutting blade device, 17 is a transfer device, 18 is a grain culm sensor, A is a cutting end portion, and a is a rotation. The heading speed and B indicate the cutting vehicle speed.

Claims (1)

[Claims] 1. A cutting blade device (15) for a machine body (2) having a traveling device (6),
Transfer device 17 for harvested culm, threshing device 7 for threshing harvested culm
And a harvesting work machine provided with a grain culm sensor 18 arranged opposite to the transfer path of the transfer device 17, a traveling transmission 5 for changing the traveling speed of the traveling device 6, and a harvesting of the grain culm 1. An automatic turning control means for automatically controlling a turning operation at the terminal end portion A, and a turning speed for setting the turning vehicle speed (i) during the turning control of the automatic turning control means slower than the reaping vehicle speed b of the grain row 1. Directional speed setting means, and after completion of the turning control by the automatic turning control means, to detect the grain culms cut and transferred by the cutting blade device 15 after the rotation by the grain culm sensor 18. Relatedly, a rotation control device for a harvesting work machine, comprising: automatic traveling speed return control means for automatically changing the speed from the turning vehicle speed a to the original reaping vehicle speed b.