JPS61265003A - Apparatus for steering working machine - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention provides a pair of left and right electromagnetically operated steering clutches so that they can be disengaged by energizing them, and the energizing time to each of the two steering clutches is adjusted. The present invention relates to a steering device for a working machine configured to control the amount of steering by adjusting the steering amount.

[Conventional technology]

This type of steering device is installed, for example, in a working machine equipped with a traveling device such as a crawler traveling device, such as a reaping harvester or various civil engineering work machines. In other words, the transmission of driving force to the pair of left and right traveling devices can be separately operated by electromagnetically operated steering clutches for steering.
Then, the amount of steering is controlled by adjusting the energization time to both steering clutches.

Incidentally, conventionally, the steering clutch on the side to be disengaged is energized for the target steering energization time, regardless of the magnitude of the target steering energization time.

[Problem that the invention seeks to solve]

However, in general, when the electromagnetically operated steering clutch described above shortens its energization time, the proportional relationship between the energization time and the time when it is actually disconnected becomes unstable, and if the energization is shorter than a certain time, it will not work as desired. It has the property of not working. Therefore, it has been difficult to perform delicate steering operations such as correcting the orientation of the aircraft with a very small steering operation.

For example, when a self-propelled reaping harvester is operated automatically along the rows of reaped culms, the left and right steering clutches are turned off for a predetermined period of time to correct the deviation from the culms. It will be controlled. In order to prevent overcontrol, the amount of steering operation per time, that is, the energization time, is
The steering clutch is controlled so that the minimum energization time is sufficient for operation, but if the ground conditions at the work site are poor and slips are likely to occur, the clutch may be disengaged too much even if the clutch is disengaged at the minimum energization time mentioned above. In that case, the result will be an over-controlled state. However, even if the clutch is disengaged in a short period of time less than the above minimum energization time, the steering clutch may not operate or its operation may become unstable, making it impossible to maintain an appropriate amount of steering. Met. still,
The above-mentioned disadvantages similarly occur when the steering clutch is manually disengaged.

The present invention has been made in view of the above-mentioned circumstances, and its object is to provide a steering device equipped with an electromagnetically operated steering clutch with an energizing time during which the steering clutch is disengaged as a target steering amount. However, even if the steering clutch does not operate or becomes unstable for a short period of time, the purpose is to quantitatively and reliably perform the steering clutch operation.

[Means for solving problems]

The features of the steering device for a working machine according to the present invention are as follows:
means for determining whether the steering target energization time is longer than the minimum energization time during which the steering clutch can be disengaged and operated;
when the target steering energization time is longer than the minimum energization time, a first energization time control means that energizes the steering clutch on the side that performs the target energization time cutting operation; and a steering target imm waiting time. , a second energization time control means for simultaneously energizing both the left and right steering clutches for at least the minimum energization time after the steering clutch on the side to be disengaged is energized for the target energization time i1N when the energization time is equal to or less than the minimum energization time; The functions and effects are as follows.

[For production]

That is, when the target steering energization time is less than the minimum energization time for which the steering and direction clutches can be operated, the steering clutch on the side to be disengaged is energized for the target energization time and then the steering clutch is disengaged. Both the steering clutch on the left side and the steering clutch on the side that is not to be disengaged are energized simultaneously for the minimum energization time or more, and the left and right steering clutches are disengaged. In other words, while both the left and right steering clutches are being disengaged, the state is the same as not actually being operated, so the actual amount of steering is determined by the actual energization time to the steering clutches. Regardless of the above, it corresponds to the target energization time. On the other hand, if the target energization time is longer than the minimum energization time, only the steering clutch on the side to be cut is energized for the target energization time to perform the cut operation.

〔Effect of the invention〕

Therefore, the target energization time as the target value of the steering operation amount is
Even for a short time when the steering clutch cannot actually be disengaged, the steering clutch can be disengaged quantitatively and reliably to maintain a proportional relationship to the target energization time. Became.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Fig. 6, the planted stems of rice, wheat, etc. in the field are raised and harvested, and while the harvested stems are transported, the posture is changed to a sideways posture, and the feed IJ-chain (1)
The reaping section (2) that the feed chain (1
A threshing device (3) that threshes the stem culms that are pinched and conveyed by the wheels (3) and sorts and collects the grains is combined with a pair of left and right crawler traveling devices (4).
), (4) is mounted on a machine (V) equipped with the above, to constitute a self-propelled combine harvester as a working machine.

As shown in FIG. 1, there is a contact at the bottom of the reaping section (2) that outputs an 0N10FF signal by coming into contact with the base of the stem culm (11) introduced into the reaping section (2) from the front. A stock sensor (S0) constituted by a type switch is provided, and constitutes a work state detection means for detecting whether or not reaping work is in progress.

The weeding parts (5a) and (5b) at both left and right ends provided at the tip of the cutting part (2) are attached to the frame (6),
(6) Each of them is biased toward the front side of the body (V) and comes into contact with the base of the stem culm (+1) introduced into the reaping section (2), at an angle corresponding to the contact position. The sensor bar (7) that rotates toward the rear of the aircraft (v) and its sensor bar (7)
A tracing sensor (Sl), (S2) consisting of a potentiometer (R) for detecting the rotation angle of the stem culm 01 is provided.
) to detect the amount of lateral deviation (β) of the aircraft (V). In addition, the stem culm (I()) planted in the field
However, since the potentiometer (R) contacts the sensor bar (7) intermittently, the output signal of the potentiometer (R) changes intermittently. Therefore, in order to detect the lateral deviation amount (β), the potentiometer (R
) signal processing such as averaging the output signals and detecting the maximum value per unit time.

In addition, the absolute orientation is determined by sensing geomagnetic changes at the upper part of the aircraft (V), which corresponds to the turning center position of the aircraft (V), that is, the intersection of the diagonal lines connecting the front and rear ends of both left and right crawler running devices (4), (4). An azimuth sensor (8), which is an integral unit of a geomagnetic sensor that detects a geomagnetic sensor and a signal processing section that processes a detection signal thereof, is provided as an azimuth detection means that detects the orientation of the aircraft (v).

Further, the output from the engine (E) is configured to be transmitted to a traveling transmission section (10) via a hydraulic continuously variable transmission (9), and an input shaft to the transmission section (10) is configured. A distance sensor (11) is provided which detects the running speed and distance by detecting the rotational speed of the vehicle (]Oa).

From the mission section (10) to the left and right crawler devices (4)
, (4), a steering clutch (12L), (121?) that separately disconnects power transmission to (4), and this steering clutch (
12L).

Hydraulic cylinders (13L) and (13R) act as actuators that turn off (12R) and electromagnetic valves (14L) that actuate these hydraulic cylinders (13L) and (131').

(14R), which constitutes an electromagnetically operated steering clutch, and by energizing these electromagnetic valves (L4L) and (14R), the steering clutches (12L) and (12R)
It should be operated by cutting.

To explain the determination of the detection results of the left and right scanning sensors (Sl) and (5g), as shown in FIG. 7, the deviation amount (β) is divided into three zones (i).

The method is to divide it into (ii) and (iii) for discrimination.

In other words, from the state where the sensor bar (7) returns to the front side of the body (V) to the state where it rotates backward by a predetermined angle, the body (V) moves away from the stem culm (H). A shallow tracing zone (i) is defined as a state where the deviation occurs, and a dead zone zone is defined as a state in which the culm (H) is along the stem culm (H) up to a state where the shallow tracing zone (i) is rotated further backward by a predetermined angle. (ii), and the state in which the dead zone (ii) is further rotated to the rear side is defined as a deep tracing zone (Y) in which the dead zone (II) is moved too far into the stem culm (II).

Hereinafter, a control device that automatically causes the body (V) to travel while following the stem culm (H) will be described in detail.

First, to explain the outline of steering control, when performing reaping work by manually steering the outermost part of the reaping work range in advance, the stock sensor (SO) changes from ONL to ONL.
The azimuth (θ) detected by the azimuth sensor (8) until FF is repeatedly sampled, and the average azimuth (θm) is calculated as the reference azimuth (θa), (θb), (
In addition to teaching the outer circumference as θC) and (θd), check whether the stem culm planting form (F) on each side is a planting form in which the stem culms (1■) are arranged in rows along the aircraft traveling direction. Whether the planting form is such that the stem culms (H) are arranged irregularly along the aircraft traveling direction is stored in the control device (15) in relation to the reference direction (θa to θd) of each side. It is. In addition, in order to memorize the planting shape g (F), the planting shape arranged in rows is compared to the row mowing style (F), which is the reaping style for it.
・0), and the irregularly arranged planting pattern is stored as horizontal cutting (F=1), which is the cutting pattern for it. In other words, for example, if the steering control mode in the first stroke is set to row cutting (F. It is automatically set as cutting (F=1), and the following settings are made in the same manner. On the other hand, if the first steering control mode is set as horizontal cutting (F・1), the next stem culm planting mode (F) is set as row cutting (F・0), and the same is set thereafter. . Also, if you set up individual sowing and reaping,
All stem culm planting forms (F) are memorized as horizontal cutting (F.1). Further, this reaping work for memorization will be referred to as outer circumference teaching below.

After that, when the steering control is activated, the first steering control means (hereinafter referred to as row cutting mode) for performing row cutting (F=O) and the first steering control means for performing horizontal cutting (F・1) are used. The second steering control means (hereinafter referred to as horizontal cutting mode) is automatically selected in accordance with each work stroke along each side, and each time one work stroke is completed, the second steering control means (hereinafter referred to as horizontal cutting mode) is The vehicle will run automatically while making the turn.

Next, the operation of the control device (15) will be explained in detail.

As shown in Figures 1 and 2, the operating state of the work mode selection switch (sh.), which sets whether to perform outer circumference teaching or automatic travel, is checked, and this switch (!J0) is in the ON state. If so, a routine for outer circumference teaching is executed. When the steering control start switch (SW I) is turned on while the work mode selection switch (SW.) is in the OFF state, the stock sensor (S
O) status is checked.

Then, when the machine body (v) is manually operated to start reaping work, the stock sensor (s0) becomes ON state M, and travel control is started.

That is, when the stock sensor (SO) is turned on, the current detected orientation (θ) by the orientation sensor (8) and the stored reference orientation (8m) m = a + b +
c + d, the reaping format stored corresponding to the reference orientation closest to the detected orientation (θ) is selected, and steering control based on the selected reaping format is started.

When the stock sensor (S, ) is turned off at the end of one work stroke, the turning control sequence of the 90 degree direction change is started, the direction is automatically turned in the direction of the next stroke, and the detected direction (θ) after turning is activated. ), the steering control mode corresponding to the reaping type in the next stroke is selected.

In addition, as the turning control for the 90 degree direction change, for example,
From the time when the stock sensor (SO) is turned off, the vehicle turns toward the next stroke direction by a predetermined angle (an angle smaller than 90 degrees), then stops once, and then makes a predetermined turn based on the steering distance detected by the distance sensor (11). This can be done by executing a series of preset sequences, such as moving straight back a distance and then turning in the next stroke direction by the remaining angle obtained by subtracting the predetermined angle from 90 degrees. Also, during this turning, the change in turning angle when the aircraft (V) turns is checked by the azimuth sensor (8), and the azimuth sensor ( 8)
Steering control is performed based on the detected orientation (θ).

Furthermore, the control operation of each part will be specifically explained.

Hereinafter, the first steering control means when the culm planting mode (F) is row cutting (F.0) will be explained based on the flowchart shown in FIG. 3.・In other words, the detected deviation amount (β) of the right scanning sensor (S,) on the cut side of the left and right scanning sensors (Sl), (Sl) is the same as that of the three zones (i), ( ii).

After determining which zone of (iii) it is in, the zone of the detected deviation amount (β) of the uncut side scanning sensor (Sl) on the opposite side is determined.

The detected deviation position (β) of the mown side scanning sensor (Sl) is in the dead zone zone (ii), and the detected deviation amount (β) of the uncut side scanning sensor (S2) is in the dead zone zone (ii).
Or, if it is in the deep scanning zone (iii), the direction detected by the direction sensor (8) is within a predetermined tolerance with respect to the reference direction (θm) (m=a+b+c+d) for that stroke. In addition, azimuth control for steering is performed based on the detected azimuth (θ).

Amount of deviation (β) detected by the mown side scanning sensor (Sl)
is in the deep scanning zone (iii), and the deviation amount (β) detected by the mown side scanning sensor (Sl) is in the shallow scanning zone (i), and the detected deviation amount (β) by the uncut side scanning sensor (S2) is When the detected deviation amount (β) is in the deep tracing zone (iii), the steering clutch (12L) on the corresponding side is activated so that the orientation of the aircraft (V) immediately returns to the direction of the culm (11).
, so that (12R) is turned off for a predetermined time (T),
Turning control is performed by energizing one of the electromagnetic valves (14L) and (14R) for a predetermined period of time (T) to turn the vehicle to the right or to the left.

The amount of deviation Q (β) detected by the mown side scanning sensor (S,) is in the shallow scanning zone (i) or the dead zone zone (ii).
) and the detected deviation (β) of the uncut side scanning sensor (S2) is in the shallow scanning zone (i), check the change in the detected direction (θ) by the direction sensor (8). At the same time, constant angle turning control is performed to turn the aircraft (v) in the culm (H) direction (rightward) by a predetermined angle (θr).

To explain the constant angle turning control in detail, as shown in the flowchart of FIG. The steering control amount (set as the disengagement time (T) of the steering clutches (12L) and (12R)) in angle turning control is calculated based on the formula shown below, and the solenoid valves (14L) and ( 141
? ) is automatically corrected so that the actual turning angle matches the target control amount.

However, T - next energization time (target steering control amount) Ts - previous energization time θ, - detection azimuth θ2 before energization - detection azimuth θr after energization - target turning angle change is a constant number.

In other words, if the actual turning angle (θ1 - θ2), which is the difference between the detected azimuth (θl) before energization and the detected azimuth (θ2) after energization, does not match the target turning angle (θr), the steering The previous energization time (Ts) as a control variable is automatically corrected based on the above formula, and in subsequent steering operations, until the actual turning angle (θ1-θ2) matches the target turning angle (θr), The energization time (T) as the target control amount is automatically corrected.

Next, it is determined whether the corrected energization time (T) is longer than the minimum energization time (T0) in which the electromagnetic valves (14L) and (14R) can operate.

Then, the energization time (T) is set to the electromagnetic valve (14).
L), (14R) can operate at the minimum energizing time (T0
) ↓ b If the value is larger than that, first energization time control is performed in which only the electromagnetic valve on the side to be operated is energized for the energization time (T) for steering.

On the other hand, if the corrected energization time (T) is less than or equal to the minimum energization time (T0) in which the electromagnetic valves (14L) and (14R) can operate, the electromagnetic valve on the side to be turned off is energize for the specified energization time (T),
Start disengaging one of the steering clutches, and after the energization time (T) has elapsed, the left and right solenoid valves (14L), (1
4R) for the minimum energization time (T0) or more at the same time, and left and right steering clutches (12L).

(12R) are controlled to be disengaged at the same time, resulting in the same state as when the steering clutch on the side to be disengaged is disengaged for an energization time (T) that is less than the minimum energization time (TO). Performs second energization time control to ensure that

Next, the second steering control means when the culm planting mode (F) is horizontal cutting (F=1) will be explained based on the flowchart shown in FIG. 4.

First, the direction (θ) detected by the direction sensor (8) is the reference direction (θm) (m=a, b+
It is determined whether or not it is within a predetermined tolerance (α) for C + d), and only if it is within the tolerance, the detected deviation amount (β) of the already-cut side scanning sensor (Sl) is determined. If the check is made and the position is in the shallow scanning zone (i) or deep scanning zone (iii), constant angle turning control to the left or right is performed using the same means as the constant angle turning control described above. In addition, if the detected orientation (θ) is outside the tolerance (α), the detected orientation (θ) and the reference orientation ( θm) (
Turning control is performed to turn until m=a, b, c, d) match.

By the way, in the case of rose sowing and reaping, the above-mentioned horizontal mowing (F=1
) The same steering control as in the case of the above configuration will be performed.

[Another example]

In the above embodiment, the steering clutches (12L), (12
R), hydraulic cylinder (13L),
(13R) and its operation is controlled by a solenoid valve (1/IL).
, is configured to do so by (141?), but
A so-called electromagnetic clutch may be used to directly disengage and operate the steering clutch by energizing the clutch.

In addition, in the above embodiment, the energization time (T) to the solenoid valve (LIL) (14R) during constant angle rotation control is as follows:
This electromagnetic valve (14L), (lit?) is configured to perform second energization time control that corrects the energization time when it is less than the minimum energization time (TO) that can be operated, but other turning It may also be performed during control. Similarly, the electromagnetic valve (14L), (1
41? ) and the steering clutch (12L).

(12R) is also turned off, the energization time (T
), the actual energization time may be controlled.

Further, in the above embodiment, the first and second steering control means are configured to perform steering control while also using direction detection information.
) The specific configuration can be changed in various ways, such as controlling the steering based only on the detected information.

In addition, in the above embodiment, the reference direction (θm) m=a, b, c, d and the stem and culm planting form (
Although the case where F) is stored while being set is illustrated, it may also be set manually.

[Brief explanation of the drawing]

The drawings show an embodiment of a steering device for a working machine according to the present invention,
Fig. 1 is a block diagram showing the overall configuration of the control system, Fig. 2 is a flow chart showing the operation of the control device, Fig. 3 is a flow chart showing steering control during row mowing, and Fig. 4 is a flow chart showing the steering control during horizontal mowing. FIG. 5 is a flowchart showing constant angle turning control, FIG. 6 is a schematic side view of the combine harvester, and FIG. 7 is an explanatory diagram of the detection deviation zone of the scanning sensor. (12L), (12R)... Steering clutch, (14L), (141'l)... Actuator, (T)... Energization time, (T0)...・
...Minimum energization time.

Claims (1)

[Claims] A pair of left and right electromagnetically operated steering clutches (12L), (12
R) is provided so that it can be turned off by energization, and the steering amount is controlled by adjusting the energization time (T) to both the steering clutches (12L) and (12R), respectively. A steering device, which has a steering target energization time (
means for determining whether or not T) is greater than a minimum energization time (T_0) in which the steering clutches (12L) and (12R) can be disconnected; the target steering energization time (T);
If the target energization time (T_0) is greater than the minimum energization time (T_0), the target energization time (T) is a first energization time control means that energizes the steering clutch on the side that is operated to turn off the target energization time (T); is less than the minimum energization time (T_0), after the steering clutch on the side to be disengaged is energized for the target energization time (T), both the left and right steering clutches (12L) and (12R) are Energization time (T_0
) A steering device for a working machine, which is provided with second energization time control means that energize at the same time.