JPS6317416B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a combine harvester with a running speed control mechanism configured to automatically change the running speed based on the deviation between the detected threshing load and the set value in order to maintain the threshing load at the set value.

In a combine harvester equipped with the above control mechanism, the amount of stem culm reaped per unit time is increased or decreased by changing the traveling speed, and as a result, the amount of stem culm supplied to the threshing device is changed, thereby overloading the threshing device. This makes it possible to perform efficient work by fully utilizing the processing capacity of the threshing equipment while preventing damage to the equipment, but conventionally, when the threshing load decreases or increases from a set value, the threshing load decreases. So-called ON - which continuously increases or decelerates the speed until it returns to the set value.
Since it was a device that performed OFF control, it was prone to the so-called hunting phenomenon, in which the speed increased or decelerated too much and the gears were repeatedly changed to correct this, making it difficult to perform stable control. .

The present invention aims to solve the above problem, and the first invention includes a device for detecting an actual threshing load, a setting device for setting an appropriate value of the threshing load,
a calculation means for comparing the threshing load values of the detection device and the setting device and calculating the amount of deviation from the appropriate value;
Based on the calculation result of the deviation amount calculation means, a shift control amount corresponding to the deviation amount is determined based on a preset control relationship, and the control is performed such that the smaller the deviation amount, the smaller the achievement rate of the shift control. The present invention is characterized in that it includes a determining means for correcting the amount, and a control mechanism that automatically changes the traveling speed based on the corrected control amount.

That is, focusing on the fact that the smaller the deviation amount between the actual detected threshing load and the set value is, the more likely it is that control overrun will occur, and the shift control amount according to the deviation amount is set as follows:
It makes a judgment based on a preset control relationship and makes a correction so that the smaller the deviation amount, the smaller the achievement rate of shift control becomes. Therefore, it is possible to avoid increasing or decelerating the traveling speed too much. As a result, stable speed control can be achieved.

The second invention provides a device for detecting an actual threshing load, a setting device for setting an appropriate value of the threshing load, and comparing the threshing load values of these detection device and setting device,
A calculating means for calculating the amount of deviation from the appropriate value, an increasing/decreasing tendency calculating means for calculating an increasing/decreasing tendency of the deviation amount from the calculating result of the deviation amount calculating means, A shift control amount corresponding to the deviation amount is determined based on the set control relationship, and the smaller the deviation amount is, and the more the tendency of increase/decrease in the deviation amount is decreasing, the smaller the achievement rate of the shift control is. The present invention is characterized in that it includes a determining means for correcting the control amount, and a control mechanism for automatically changing the traveling speed based on the corrected control amount.

That is, it is preferable that the achievement rate of the speed change control according to the deviation amount between the actual detected threshing load and the set value is changed not only by the magnitude of the deviation amount but also by the tendency of increase or decrease of the deviation amount. In other words, when comparing when the amount of deviation tends to decrease, when it does not increase or decrease, and when it tends to increase, the amount of decrease in deviation when changing gears by a unit amount tends to be larger in the former than in the latter. Therefore, the second invention focuses on the fact that it is better to reduce the achievement rate of shift control when the deviation amount tends to decrease, thereby preventing excessive shifting, and the shift control amount for the deviation amount is set as follows: Since the determination is made based on the magnitude of the deviation amount and the tendency of increase/decrease in the deviation amount, it has become possible to perform more stable control.

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

FIG. 1 shows the side of the combine harvester, and the front part of the machine, which consists of a crawler traveling device 1, a threshing device 2, etc., is equipped with a hoisting device 3, a reaping device 4, an auxiliary conveying device 5, a rear conveying device 6, etc. A reaping pre-processing section consisting of is connected and equipped. Then, as it progresses, the planted stem culms are pulled up and harvested, and the cut stem culms are sequentially supplied to the threshing device 2 for handling and threshing.

The threshing device 2 includes a feed chain 7 installed on one side of the husk to grip and convey the stem culms, and a rotary handling cylinder 8 to handle the stalks, sort the processed material, and extract fine grains. The structure is such that the fine grains are carried out of the apparatus and subjected to bagging processing.

Next, the traveling speed control mechanism will be explained based on the block diagram of FIG.

A torque detection device 9 detects the driving torque of the handling cylinder 8 as a threshing load, a setting device 10 sets an appropriate value of the threshing load, and an actual value is determined based on the signal from the torque detection device 9 and the signal from the setting device 10. A calculation means 11 for calculating the deviation amount between the detected threshing load and the appropriate setting value, an increase/decrease tendency calculation means 12 for calculating the increase/decrease tendency of the deviation amount by differentiating the signal from the deviation calculation means 11, and a control relationship set in advance. Based on the deviation amount, the shift control amount is determined according to the deviation amount, and the shift control achievement rate becomes smaller as the deviation amount becomes smaller and as the increase/decrease tendency of the deviation amount decreases. A determining means 13 for correcting the amount, a device 14 for detecting the actual traveling speed, a hydraulic continuously variable transmission 15 for continuously variable traveling speed, an electric motor 16 capable of forward and reverse rotation for forcibly operating the transmission 15, Based on the signal from the speed change control determining means 13 and the signal from the travel speed detection device 14, the speed increase control of the motor 16 is performed until the travel speed reaches a value obtained by adjusting or subtracting the speed change control amount from the current travel speed. A determination circuit 18 is provided that operates the reversing circuit 17a or the reversing circuit 17b for deceleration.

The system is configured to automatically change the running speed based on the threshing load detection result to maintain the threshing load at the set value, and as the threshing load approaches the appropriate set value, the speed change control amount is sequentially reduced to zero. Control is performed when the vehicle is approaching, and excessive acceleration or deceleration is prevented as much as possible.

In carrying out the present invention, the deviation amount may be detected in a plurality of stages and the shift control amount may be determined in a stepwise manner, or the deviation amount may be detected in a stepless manner and the shift control amount may be determined in a stepless manner. The amount may be determined.

Further, as in the embodiment, when the tendency of increase/decrease in the amount of deviation is also taken into account, if the tendency of increase/decrease in the amount of deviation is in a decreasing trend, the shift control amount is determined to be zero before the amount of deviation becomes zero. It may also be carried out.

Further, in carrying out the present invention, it is preferable to configure the control relationship so that it can be changed and adjusted at will, so that it can be changed and adjusted as needed according to crop conditions such as the wetness of the stem culm and the planting density.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of a combine harvester with a traveling speed control mechanism according to the present invention, and FIG. 1 is a side view of the combine harvester, and FIG. 2 is a block diagram. 9... Threshing load detection device, 10... Setting device, 11...
Deviation amount calculation means, 12... Increase/decrease trend calculation means, 13
...discrimination means.

Claims (1)

[Claims] 1. In a combine harvester with a running speed control mechanism configured to automatically change the running speed based on the deviation between the detected threshing load and the set value in order to maintain the threshing load at the set value, the actual threshing load a device 9 for detecting the threshing load, and a setting device 10 for setting the appropriate value for the threshing load.
and a calculation means 11 that compares the threshing load values of the detection device 9 and the setting device 10 and calculates the amount of deviation from the appropriate value, and from the calculation result of the deviation amount calculation means 11, a preset control relationship is established. a determining means 13 for determining a shift control amount according to the deviation amount based on the deviation amount and correcting the control amount so that the smaller the deviation amount is, the smaller the shift control achievement rate is; A combine harvester with a traveling speed control mechanism, characterized in that it is provided with a control mechanism that automatically changes the traveling speed based on the following. 2. The combine harvester with a travel speed control mechanism according to claim 1, wherein the control relationship is configured to be changeable and adjustable. 3. In a combine harvester with a running speed control mechanism configured to automatically change the running speed based on the deviation between the detected threshing load and the set value in order to maintain the threshing load at the set value, a device 9 for detecting the actual threshing load; , a setting device 10 for setting an appropriate value of threshing load.
and a calculation means 11 that compares the threshing load values of the detection device 9 and the setting device 10 and calculates the amount of deviation from the appropriate value, and calculates an increase/decrease trend in the amount of deviation from the calculation result of the deviation amount calculation means 11. Based on the calculation results of the increase/decrease tendency calculation means 12, the deviation amount calculation means 11, and the increase/decrease tendency calculation means 12, the shift control amount corresponding to the deviation amount is determined based on a preset control relationship, and the shift control amount is determined according to the deviation amount. The smaller it gets, and
a determining means 13 for correcting the control amount so that the achievement rate of the speed change control becomes smaller as the increase/decrease tendency of the deviation amount decreases; and control for automatically changing the traveling speed based on the corrected control amount. A combine harvester with a traveling speed control mechanism, characterized by being provided with a mechanism. 4. The combine harvester with a traveling speed control mechanism according to claim 3, wherein the control relationship is configured to be changeable and adjustable.