JPS6322768B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides automatic traveling speed control that brings the traveling speed closer to a target speed, automatic steering control that causes the machine to follow the grain culm row based on position detection of the planted grain culms, and a reaping pre-processing section. For harvest processing such as automatic cutting height control that maintains the pre-processing section at a constant height above ground based on ground height detection, and automatic handling depth control that maintains the threshing depth at a set value based on culm length detection. A combine harvester configured to perform multiple types of automatic control, automatic load control that determines the target traveling speed based on load detection, and abnormality processing control that stops traveling based on abnormality detection in threshing processing. The automatic control for harvesting of multiple types is configured to time-share processing in one control circuit, and the entire control mechanism is made more compact compared to a configuration in which each control is processed in a separate control circuit.
In addition to simplifying wiring and assembly, in the event of an overload or clogging of the processing material that would impede the continuation of harvest processing, overload avoidance and travel stop processing will be given priority during the control loop, which is sequentially processed in a time-sharing manner. By configuring the system to interrupt the harvesting process, the system is designed to enable safe harvesting operations.

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

1 and 2 are a schematic side view and a plan view showing the overall structure of a combine harvester, in which a machine frame 2 equipped with a pair of left and right traveling crawlers 1, 1, a threshing device 3, an engine 4, and a driver's seat 5 are installed. A reaping pre-processing section 10 is mounted on the front part of the machine stand 2 and is equipped with a pulling device 6 .
are connected so that they can move up and down. In addition, the threshing device 3 includes a feed chain 11 and a straw removal chain 1.
2, and a straw removal straw 13 are equipped.

The power from the engine 4 is branched into two systems, and one branched power is used to drive the threshing device 3 and its accompanying feed chain 11 and waste straw chain 1.
2. The waste straw cutter 13 is being driven. The other branched power of the engine power is input to a hydraulic continuously variable transmission HST 14 capable of forward and reverse transmission, and a part of the output from this transmission 14 is transmitted to the traveling crawler 1, via the traveling transmission case 15. 1, and another part of the output from the transmission 14 is also transmitted to each device of the reaping pre-processing section 10.

The combine harvester with the above configuration includes the following automatic control mechanism.

(A) Mowing height control AHC (see Fig. 6) The reaping pre-processing section 10 is configured to be movable up and down by a hydraulic cylinder 16, and a position electromagnetic control valve 17 that controls the hydraulic cylinder 16 is configured to
An automatic cutting height control mechanism operates based on a detection result from a ground height detection sensor 18 installed at the lower part of the pre-processing section 10 and maintains the height above the ground of the cutting pre-processing section 10 within a set range. It is configured.

Further, a variable resistor 19 for mowing height detection is installed at the swing fulcrum X of the reaping pre-processing section 10, and a variable resistor 20 for mowing height setting is provided near the operator's seat 5. The variable resistor 20 is configured to perform so-called position control in which the cutting height is raised or lowered to an arbitrarily selected value.
The automatic cutting height control mode and the cutting height position control mode can be selected using a separate switch 21. In addition, in the automatic mowing height control mode, when one stroke of mowing is completed and the machine reaches the headland, it is automatically controlled to rise to the set height, and after turning the machine on the headland, the next A manual stop switch 22 is provided to issue a command to arbitrarily lower the pretreatment section 10 before proceeding to the reaping process. Note that the determination as to whether or not the reaping operation is in progress is based on a grain culm presence/absence detection switch 25 provided at the lower part of the lifting device 6.

(B) Handling Depth Control AFC [See Figure 7] The rear conveyance device 9 that supplies the reaped grain culm to the starting end of the feed chain 11 is configured to be able to swing up and down about its rear fulcrum Y to control the handling depth. It is provided with a function as a height adjustment device and is driven to swing by a hydraulic cylinder 23. A three-position electromagnetic control valve 24 that controls the hydraulic cylinder 23 is operated based on the detection results from a plurality of culm length detection switches 25a, 25b, and 25c installed along the pulling device 6, and the detected culm length is The rear transport device 9 is configured to be swung up and down to a preset position depending on the location. The swinging position of the rear transport device 9 itself is detected by a variable resistor (potentiometer) 26 provided at the swing fulcrum Y of the transport device 9. Further, the handling depth can be adjusted to some extent by adjusting the variable resistor 27.

(C) Steering control ADC (see Fig. 8) The traveling crawlers 1, 1 are equipped with a steering clutch 2 operated by single-acting hydraulic cylinders 28, 28.
9 and 29, the power supply is interrupted for each left and right side, and a three-position electromagnetic control valve 30 that controls the hydraulic cylinders 28 and 28 connects the grains arranged on both sides of the grain culm introduction path on the most cut side. Culm detection sensor 31, 3
1, and is configured to control the steering so as to guide the planted grain culm row between the two sensors 31, 31. The steering clutches 29, 29 are directly linked by wire to steering clutch pedals 32, 32 provided at the foot of the pilot's seat 5, and when steering is performed by operating the pedals,
The operation of the pedals 32, 32 is detected by switches 33, 33, so that the control valve 30 is maintained in a neutral state electrically.

Further, when two or more grain culms are introduced into the grain culm introduction path and both sensors 31, 31 detect the presence of grain culms, it is determined that the cutting is being done from the direction intersecting the grain culm row, so-called horizontal cutting. The vehicle is set to maintain a straight line. In addition, during horizontal cutting, the distance between plants (that is, the distance between rows) in the direction of movement of the machine is relatively large and the sensors 31, 31 will intermittently detect grain culms, so a timer is activated to perform continuous control. It is composed of

(D) Load control ALC (see Figure 5) This is a control that calculates a target traveling speed to keep the load constant. It is determined based on the detection results from the load detector 39 and the rotation speed detector 41 installed on the No. 2 screw shaft 40 of the threshing device 3. That is, in a range where the detected rotational speed n of the second screw shaft 40 is larger than a preset first reference value _n1 , the target running speed is automatically changed to maintain the handling cylinder torque within a certain range, and the detected rotational speed is If the speed n is less than the first reference value _n1 but greater than the second reference value _n2 (dangerous area), the target travel speed is automatically reduced to a preset constant low speed regardless of the handling cylinder torque. Furthermore, when the detected rotational speed n falls into an abnormal range below a second reference value _n2 , abnormality processing control RST2, which will be described later, is executed to stop traveling.

The handling cylinder torque detection mechanism 39 detects the rotation of the handling cylinder shaft and the rotation of the input pulley connected to the shaft via a spring, respectively, using a pulse generating coil, and processes the rotation by calculating the phase difference between the two output pulses. The cylinder torque is configured to be detected.

(E) Traveling speed control AVC (see Fig. 10) The transmission 14 and the shift lever 34 are linked via a link mechanism, and this link mechanism and a forward/reverse electric motor 35 for automatic gear change perform worm deceleration. Device 36 and friction plate type rotation transmission mechanism 3
7, and the transmission mechanism 3
The shift lever 34 can be manually operated as desired against the frictional force of 7, and the shift lever 34 can also be automatically operated by the motor 35 which is controlled in forward and reverse directions.

The control of the traveling speed is performed by completing the measurement of the traveling speed at regular intervals, and compares the measured actual traveling speed with the target traveling speed calculated by the load control ALC, The drive of the motor 35 is controlled based on the comparison result.

Note that the actual traveling speed is configured to be detected by counting signals from a pulse generator 42 attached to the input shaft of the traveling mission case 15.

Further, a shift position detection device 43 is attached to the base of the shift lever 34, and has a contact point a for neutral position detection and a contact point b for backward detection. The traveling speed control described above is possible only in Further, the engine starting motor is allowed to start only when the neutral position N is detected, and furthermore, the warning buzzer 44 is activated in the reverse gear change range R.

(F) Abnormality processing control RST2 (see Fig. 9) At the end of the feed chain 11 and the end of the straw removal chain 12, there are limit switches 45 that sense the backward displacement of the clamping rail beyond a certain level and detect the occurrence of clogging of the removal straw. , 46, and the exhaust straw cutter 13 is also equipped with a limit switch 48 that detects the opening of the rear cover 47, and these switches 45, 46, 48 are operated or the load control ALC is used to control the limit switch 48. When abnormal rotation of the number screw shaft 40 is detected, the alarm buzzer 44 is activated, the speed change lever 34 is automatically operated to the neutral stop position N in priority to the automatic speed control, and the stop control of the engine 4 is performed. It is configured so that

The engine 4 is a diesel engine, and the accelerator lever 49, which is urged back toward the fuel cut position, is configured to be able to be held at any accelerator set position by a friction holding mechanism 50. Function solenoid 51
It is configured so that it can be canceled by When the switches 45 and 46 detect that the exhaust straw is clogged, the solenoid 51 is energized after a short period of time after the travel stop operation.
is stopped, and the cover 4 is stopped by the switch 48.
7 is detected, engine stop control is performed immediately after the travel stop operation.

The combine harvester of the present invention is equipped with the above-mentioned automatic control mechanism, and these are connected to one control circuit 52, so that each control is time-divided and sequentially and repeatedly processed in a preset order. The overall flowchart is shown in FIG. 4, and the flowcharts of each control subroutine are shown in FIGS. 5 to 10.

In this case, travel speed control AVC, cutting height control
The main loop is a loop that processes AHC, handling depth control AFC, and steering control ADC in this order.The main loop is a loop that processes AHC, handling depth control AFC, and steering control ADC in this order. )
Since the load control ALC determined according to the load control ALC requires a relatively long cycle, the main loop is interrupted every time a certain distance is traveled, the operation of the main loop is temporarily stopped, and the load control ALC is performed. It is then programmed to return to the original main loop.

In addition, when an abnormal situation such as a clogged No. 2 screw shaft or a clogged waste straw is detected, the above-mentioned abnormality processing control that performs the travel stop and engine stop control immediately interrupts the main loop and the harvesting operation is stopped immediately. It will be done.

Automatic load control ALC and abnormality handling control are
An interrupt detection circuit 53 and an interrupt priority determination circuit 54 are interposed between the detection mechanism and the control circuit 52 so that the abnormality processing control is given top priority and interrupt processing is performed in the main loop.

Although the embodiments have been described above, the feature of the technical means that is the gist of the present invention is that all of a plurality of types of automatic control mechanisms for harvest processing are connected to one control circuit, and the automatic load control and abnormality control mechanisms are connected to one control circuit. A control main loop is set in which multiple types of automatic control for harvesting processing, excluding processing control, are set in advance in a time-sharing manner and activated repeatedly in sequence, and the automatic load control is performed during the main loop every time a certain distance is traveled. The present invention is configured to interrupt the abnormality processing control into the main loop based on the abnormality detection.

The effects obtained by the features of the present invention will be explained. In the present invention, multiple types of automatic control mechanisms are connected to one control circuit and operated repeatedly by time sharing, making the overall control mechanism more compact than when each control is processed by a separate dedicated control circuit. transformation,
Wiring and assembly can be simplified. Furthermore, the automatic load control for determining the target travel speed is inserted into the main loop every time a certain distance is traveled, so the load control, which requires a relatively long cycle, can be used to control mowing height and other functions. The time during which steering control is interrupted can be minimized, and the possibility of trouble caused by interruption of these processes can be reduced.
In addition, in the event of an abnormality such as an overload or clogging of the processing material that hinders the harvesting operation, safety of the operation and the equipment itself can be ensured by interrupting the abnormality processing control into the main loop based on the abnormality detection. became possible.

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 the combine harvester according to the present invention, in which Fig. 1 is a schematic side view of the overall configuration, Fig. 2 is a schematic plan view, Fig. 3 is a control circuit configuration diagram, and Fig. 4 is a schematic flow of the entire control. Chart, Figures 5 to 10
The figure is a flowchart of each control. AVC...Automatic traveling speed control, ADC...Automatic steering control, AHC...Automatic cutting height control, AFC...Automatic handling depth control, ALC...Automatic load control, RST2
...Abnormality processing control.

Claims (1)

[Claims] 1 Automatic travel speed control AVC that brings the travel speed closer to the target speed, automatic steering control ADC that makes the aircraft follow the grain culm row based on position detection of the planted grain culms, ground control of the reaping pre-processing section automatic mowing height control AHC that maintains the pre-processing section at a constant height above the ground based on height detection;
Automatic handling depth control that maintains the threshing depth at a set value based on culm length detection Multiple types of automatic controls for harvest processing such as AFC, and automatic load control that determines the target traveling speed based on load detection The combine harvester is configured to perform ALC and an abnormality processing control RST2 that stops traveling based on the detection of an abnormality in the threshing process, and all of these automatic control mechanisms are connected to one control circuit, and the automatic load control A control main loop is set in which multiple types of automatic controls for harvest processing other than the ALC and the abnormality processing control RST2 are set in advance in a time-sharing manner, and are sequentially and repeatedly activated. A combine harvester with an automatic control mechanism, characterized in that the automatic load control ALC is interrupted during a loop, and the abnormality processing control RST2 is interrupted during a main loop based on the abnormality detection. 2 The abnormality processing control RST2 is automatic load control
The combine according to claim 1, wherein the combiner is configured to be interruptible with priority over ALC.