JPS6342284B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic control device that automatically controls the working speed of agricultural machinery such as combine harvesters, tractors, and rice transplanters. The purpose is to enable use in a wide range of agricultural machinery and to reduce the manufacturing cost of automatic control devices.

In recent years, a large number of agricultural machinery equipped with automatic control devices have begun to appear in order to improve the work efficiency and accuracy of agricultural machinery.

However, fixed storage devices for automatic control devices have different contents depending on the model of agricultural machinery and the specifications of the same model, so they are manufactured separately for each type of machine.

For this reason, there is a limit to reducing the manufacturing cost of automatic control devices.

Therefore, in order to further reduce manufacturing costs, the inventor of the present invention considered combining the fixed storage devices of multiple models into one.

That is, the present invention provides fixed storage areas for multiple models independently of each other in one integrated circuit (IC) used as these fixed storage devices, and also allows specific storage areas to be set independently when installed in an automatic control device. This allows for selection.

DESCRIPTION OF THE PREFERRED EMBODIMENTS As an embodiment of the present invention, an automatic working speed control device for a combine harvester will be described below with reference to the drawings.

FIG. 1 is an overall perspective view of a two-row harvester, and FIG. 2 is a schematic longitudinal sectional side view of the main parts.

This combine 1 includes a reaping pretreatment device 3 and a control section 4 in front of a vehicle body that runs on a crawler traveling device 2.
are arranged side by side on the left and right, and a threshing device 5 is fixed to the rear.

The reaping pretreatment device 3 is composed of a pair of left and right pulling devices 6, 6, a clipper-type reaping device 7, and an auxiliary conveyance device 8. Grain culms planted in the field are pulled up by the pulling devices 6. The root of the grain is cut by a reaping device 7, and the two grain culms on the left and right are merged into the center by an auxiliary conveyance device 8. The harvested grain stalks are then transported rearward and upwardly by a conveying device 9 consisting of an ear locking conveyance mechanism 9a and a stalk clamping conveyance mechanism 9b, and when supplied to the threshing device 5, the stalks are attached to the threshing shaft. The grain culms are transported by the eed chain 10 and are placed in a sideways posture.

As shown in FIG. 2, the conveying device 9 has a hydraulic cylinder 11 at its front end centered on a fulcrum P on the conveying end side.
The threshing feed chain 1
The clamping position of the grain culm delivered to the threshing device 5 is changed so that the insertion length of the grain culm into the threshing device 5, that is, the handling depth can be adjusted.

The threshing device 5 is provided with a wind sorting room 16 equipped with a winnowing machine 14 and a swinging sorting plate 15 at the lower part of a handling chamber 13 in which a handling barrel 12 is pivotally supported, and the fine grains are collected in the first collecting section 17 and collected. The second item is taken out by the No. 1 screw 18, and the second item is collected by the No. 2 collection section 19 and returned to the handling room 13 by the No. 2 screw 20 and thrower 21 for reprocessing. The straw waste on the sorting plate 15 is discharged outside the machine from the rear dust outlet 22, and the waste straw after threshing is transferred from the feed chain 10 to the straw removal chain 23, and then transferred to the waste straw cutter 24.
The structure is such that the straw can be shredded and discharged into the field, or it can be discharged as long straw without passing through the cutter 24.

The above-mentioned devices 3, 9, 5, crawler traveling device 2, etc. are then driven by the engine 25.
That is, as shown in FIG. 3, the threshing device 5 is connected to the output shaft 25a of the engine 25 via the bevel gear 26.
However, the reaping pre-processing device 3 and the conveying device 9 are connected via the hydraulic continuously variable transmission 27, and further to the speed reduction device 28.
The traveling devices 2 are interlocked with each other via.

The hydraulic continuously variable transmission device 27 is configured to change the amount and direction of oil discharged from an internal variable displacement pump and drive the motor that receives pressure oil from this pump in the forward and reverse directions at an arbitrary speed. , the gear shift operating arm 29 can be operated either manually or automatically.

In the manual mode, when the manual gear shift lever 30 is operated, the gear shift operating arm 29 of the continuously variable transmission 27 is moved via a link mechanism, and as it is tilted forward from the neutral position N, the forward speed is increased.
The more you push it backwards B, the faster it goes backwards.

The bell crank 31 in the link mechanism includes a friction transmission mechanism 32 using a pair of friction plates and a speed reduction device 33.
The transmission arm 29 is connected to an electric motor 34 for automatic transmission via the motor 34, and by rotating the motor 34 in the forward and reverse directions, the transmission operation arm 29 is automatically operated. is set smaller than the manual operation force, so manual operation has priority over automatic operation of the shift lever 30.
This motor 34 is controlled by a vehicle speed control device (automatic control device) M, which will be described below.

The handling barrel pulley section 35 and input pulley section 36 of the threshing device 5 and the output shaft 25a of the engine 25 are each provided with a workload measuring device T that measures the load torque as a workload, and a deceleration device for the crawler traveling device 2. The input section 28 is provided with a vehicle speed detection device R that detects the vehicle speed as a shaft rotation speed. The detection signal of the detection device R and the measurement signal of each measuring device T are input to an input interface 38 to a central processing unit (CPU) 37 of a vehicle speed control device (microcomputer) M, as shown in FIG.
A control signal is inputted via the output interface 39 to the drive circuit 40 of the motor 34 after being subjected to preprogrammed processing. This drive circuit 40, the motor 34, and the continuously variable transmission 27 make up the vehicle speed adjustment device C.
The handling cylinder load measuring device 41 provided in the handling cylinder pulley section 35 also serves as a threshing load detection device.

The central processing unit 37 performs the following processing.

First, before starting work, the operator operates the vehicle speed selection switch 44 in the control section 4, and
The initial traveling speed, that is, the initial threshing load target value is set within 7. This is compared with the actual traveling speed of the combine harvester 1 measured by the vehicle speed detection device R,
If the actual traveling speed is faster than the target value, a deceleration command is issued, and if it is slower, a speeding up command is issued, and the vehicle speed adjustment device C adjusts the traveling speed so that the actual traveling speed becomes the target value. Feedback controlled.

The above initial threshing load target value is changed depending on the condition of the grain culm to be harvested. That is, the handling cylinder load and traveling speed are set in advance to have a predetermined relationship, and the target value of the handling cylinder load with respect to the initial traveling speed and the handling cylinder load during actual work measured by the handling cylinder load measuring device 41 are set in advance. The load is compared. If the handling barrel load is measured to be high, the threshing load target value is set smaller than the current target value, and if it is measured to be lower, it is reset to a larger value.

Next, the load of the entire threshing device 5 is measured by the threshing device load measuring device 42 when the handling barrel load is appropriate, and the load of the engine 25 is measured by the engine load measuring device 42 when the overall load of the threshing device 5 is appropriate. 43. Then, when each measured value is large, the target value is set small, and when it is small, it is set large, and the amount of grain culm supplied to the threshing device 5 is adjusted by changing the traveling speed, Work can be carried out smoothly without clogging the second recovery section 19 or causing engine stall.

The processing programs carried out in the central processing unit 37, the appropriate handling trunk load value, the threshing device 5, etc.
Values unique to this combine 1, such as the appropriate full load value and the relationship between handling trunk load and traveling speed, are stored in the fixed storage device 4 of the storage device 45 of the vehicle speed control device M.
It is contained in 5a. 45b is a variable storage device for storing measurement values obtained by each measuring device.

An integrated circuit (IC) is used for the fixed storage device 45a, and its interior is divided as shown in FIG. A is the minimum program area necessary to operate the central processing unit, G is a program area for automatically controlling the traveling speed as described above, and E1 is specific to the two-row combine harvester described in this embodiment. E2, E3, and E4 are dedicated program areas (fixed storage areas) for setting each value, respectively.

This single fixed storage device 45a is incorporated into the vehicle speed control device M, but the selection of each setting and dedicated program area E1, E2, E3, E4 is provided outside the vehicle speed control device M. It is determined by each switch S1, S2, S3, and S4. That is, when the switch S1 is turned on, the CPU 3 is output via the input interface 38.
A command is input to 7, and the program in program area A connects area E1 to CPU 37.
The E2 area of the switch S2 is connected to the CPU 37, the E3 area of the switch S3 is connected to the E4 area, and the E4 area of the switch S4 is connected to the CPU 37. Note that each area A and G is always connected to the CPU 37.

These switches S1, S2, S3, S4 are
After the vehicle speed control device M is mounted on the combine harvester 1, it is desirable to fix it so that it cannot be operated.
This is to prevent malfunction.

When the fixed storage device 45a is configured in this way,
For example, if the entire fixed storage device 45a has 2000 steps and the control target is a combine harvester, each setting and dedicated program area E1, E2, E3,
Since each E4 has about 20 to 40 steps, a slight increase in the number of steps makes it possible to use one fixed storage device 45a for four models, thereby reducing the cost of the fixed storage device 45a through mass production. I can do it.

In the above embodiment, only the traveling speed is controlled by the central processing unit 37, but the hydraulic cylinder 11 is controlled to control the handling depth, which controls the handling depth according to the culm length, and to control the unevenness of the field. Depending on the situation, a plurality of automatic controls such as cutting height control to maintain the pre-reaping treatment device 3 at a constant height and direction control to make the vehicle run along the plants may be performed.

Since the present invention is constructed as described above, it has the following effects.

In other words, since programs and setting values for multiple types of agricultural machinery are stored in the fixed storage device of the automatic control device, the fixed storage devices of the automatic control devices of multiple types of agricultural machinery can be made common to each other. be able to. As a result, it is possible to mass-produce one fixed storage device and reduce the cost, thereby reducing the manufacturing cost of the automatic control device.

In addition, when producing and maintaining agricultural machinery with automatic control devices, only one common fixed memory device is required, which not only simplifies inventory management of fixed memory devices but also reduces the chance of replacing the fixed memory device incorrectly. can be prevented.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, in which Fig. 1 is an overall perspective view of the combine, Fig. 2 is a schematic longitudinal sectional side view of the main parts, Fig. 3 is a schematic configuration diagram of the drive structure, and Fig. 4 is an automatic running speed control. The block diagram of the apparatus, FIG. 5, is an internal schematic diagram of the fixed storage device in the automatic control apparatus. 1... Agricultural machine (combine harvester), M... Automatic control device (vehicle speed control device), 45a... Fixed storage device, E1, E2, E3, E4... Fixed storage area,
G...Common automatic control program area, S1, S
2, S3, S4...Switch.

Claims (1)

[Claims] 1. In an automatic control device for agricultural machinery that has a central processing unit 37 and a fixed storage device 45a that stores its programs, the fixed storage device 45a has a program area B for common automatic control of multiple types of agricultural machinery and a Specific program areas E1, E2, E3, E4... for each model are provided independently, and the specific program areas E1, E2, E3, E4... are set in the central processing unit 37 by switches S1, S2, S3, S4, respectively. By connecting via... and turning on one of these switches S1, S2, S3, S4..., one type of the specific program areas E1, E2, E3, E4... is selected and central processing is performed. An automatic control device for agricultural machinery, characterized in that it is connected to the device 37 and is configured to operate the central processing unit 37 using the selected kind of unique program area and the common automatic control program area B.