JPS6345172Y2 - - Google Patents

Description

[Detailed description of the invention] <Industrial application field> This invention is designed to respond to changes in the planting density of grain culms, threshing resistance, etc. when harvesting and threshing grain culms planted in a field with a combine harvester. The present invention relates to an automatic combine harvester working speed control device that automatically adjusts the combine harvester's working speed and maintains the threshing workload at a predetermined target value to improve threshing accuracy and work efficiency.

<Prior Art> As a basic structure of the present invention, as shown in FIGS. 1 and 4, for example, the threshing torque of the threshing device 5 of the combine harvester 1 can be detected by the threshing torque detection device 41, and the threshing torque detection device Based on the threshing torque detection signal 41, the vehicle speed control device M is controlled to operate the vehicle speed adjustment device C to shift the speed, and the traveling speed of the traveling device 2 of the combine 1 can be automatically controlled. When the value of is high, the traveling speed is controlled to be low, and when it is low, the traveling speed is controlled to be high.
The present invention relates to an automatic work travel speed control device for a combine harvester configured to bring the threshing workload close to a threshing workload target value set in a vehicle speed control device M.

In the automatic work traveling speed control device having this structure, there is a conventional method for setting the amount of threshing work shown in Japanese Patent Laid-Open No. 53-92223.

In other words, the vehicle speed control device is set in advance so that the relationship between the handling trunk torque (threshing torque) and the traveling speed is inversely proportional. The target value of , which is the amount of work and is a value expressed as the product of the handling cylinder torque and the traveling speed, is fixed constant.

<Problems that the idea attempts to solve> However, the above structure has the following problems.

The above-mentioned threshing work target value is set to be small at the time of shipment of the combine harvester in order to adapt it to a wide range of fields. For this reason, in the case of dried grain culms with good shedding properties, the processing speed could not be further increased, resulting in low work efficiency. In addition, in the case of grain culms that have poor shedding properties, there is a drawback that a large amount of straw waste is generated, which clogs the secondary collection device and sorting device.

In other words, a well-matured or well-dried grain culm has good shedding properties, and the straw waste generated during threshing is
Since the amount generated is small and it is soft and light, it can be easily sent to secondary collection equipment and sorting equipment. For this reason, there is almost no clogging in the secondary collection device, etc.
Even if a large amount of grain culm is supplied to the threshing device quickly and the threshing processing speed is increased, the grain can be threshed smoothly. However, conventionally, the target value of threshing work is constant;
The traveling speed cannot be increased beyond a value controlled in an inversely proportional relationship based on the actually measured handling cylinder torque.
For this reason, the threshing processing speed could not be increased beyond a predetermined speed, and working efficiency could not be sufficiently increased.

On the contrary, grain culms that have not fully matured have poor threshing properties, and the straw waste generated during threshing is large in quantity and hard and heavy, so it is sent to a second collection device or sorting device. It is difficult to get rid of, and it is easy to get stuck.
It also tends to stagnate when the grain culm is wet. However, in the conventional method, threshing work is continued at a fixed amount of work, so straw waste quickly accumulates in the second collection device and clogs it, making it impossible to work.

This invention automatically sets the target value of threshing work, which is set in the vehicle speed control device, to a value that is suitable for the grain culm's maturity level, dryness and humidity, etc., thereby ensuring that the threshing work is always smooth and highly efficient. The challenge is to make it possible to do so.

<Means for Solving the Problems> In order to solve the above problems, the present invention provides, for example, a threshing device 5 as shown in FIGS. 1 to 4.
The rate of change in threshing torque at the start of the work is configured to be detectable by a torque change rate detection device, and the traveling speed of the traveling device 2 at this time is configured to be detectable by a traveling speed detection device R, and the rate of change in torque is detected. The threshing work target value of the vehicle speed control device M can be set based on the detection signal of the threshing torque change rate at the start of threshing of the device and the detected value of the traveling speed of the traveling speed detecting device R at this time. The larger the value of the torque change rate detection signal is, the lower the threshing work target value is, and the smaller the value is, the higher the threshing work target value is.
The larger the detected value of the traveling speed, the higher the target value of threshing work, and the smaller the detected value, the lower the threshing work target value.

<Example> Embodiments of the present invention 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, an auxiliary conveyance device 8, and a conveyance device 9. caused by 6,
The plant base is cut by a reaping device 7, and the two grain culms on the left and right sides 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.
The clamping position of the grain culm delivered to the threshing feed chain 10 can be changed by vertically changing the clamping start position of the harvested grain culm by the stock clamping and conveying mechanism 9b. has been 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 winnower 14 and a swing sorting plate 15 at the lower part of a handling room 13 in which a handling barrel 12 is pivotally supported. Fine grains are collected in the first collection section 17 and transported out by the first screw 18, and second grains are collected in the second collection section 19 and returned to the handling room by the second screw 20 and thrower 21 for reprocessing. However, the dust blown away by the sorting wind and the straw waste on the swinging sorting plate 15 are discharged to the outside of the machine from the dust outlet 22 at the rear. After the threshing process, the waste straw is transferred from the feed chain 10 to the waste straw 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, and the reaping pretreatment device 3 and the conveyance device 9 are connected to the output shaft 25a of the engine 25 via the hydraulic continuously variable transmission 27. , and the traveling device 2 are interlocked and connected via a reduction gear 28.

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.
It is interlocked and connected to an automatic speed change electric motor 34 via a gear shift control arm 29, and by rotating this motor 34 in the forward and reverse directions, the speed change operation arm 29 is automatically operated. Since the transmission force of the friction transmission mechanism 32 is set to be smaller than the manual operation force, manual operation has priority over automatic operation of the shift lever 30.
This motor 34 is controlled by a vehicle speed control device M, which will be described below.

Work load measuring devices T for measuring the work load as torque are provided on the handling barrel pulley section 35 and input pulley section 36 of the threshing device 5, and on the output shaft 25a of the engine 25, respectively, and a deceleration device 28 for the crawler traveling device 2 is provided. A traveling speed detecting device R is provided at the input section of the traveling device 2 to detect the traveling speed of the traveling device 2 as a shaft rotation speed.

The handling cylinder torque measuring device 41 provided on the handling cylinder pulley 35 also serves as a threshing torque detecting device.

The detection signal of the detection device R and the measurement signal of each measurement 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.
The control signal is inputted via the output interface 39 to the drive circuit 40 of the motor 34 after being subjected to preprogrammed processing.

The central processing unit 37 performs the following processing.

First, at the start of work, the operator arbitrarily operates the manual speed change lever 30 to start running the combine harvester 1 at an arbitrary running speed, and drives the combine harvester 1 from the headland to the planted grain culm. At this time, the reaping pre-processing device 3 and the threshing device 5 are being driven, and when the planted grain culm begins to be harvested and threshed, the handling barrel torque (threshing torque) changes from an almost no-load state to an operating torque. become. This change in threshing torque is input from the handling cylinder torque measuring device 41 to the central processing unit 37 at regular intervals, and the rate of change is calculated. In this case, a combination of the handling barrel torque measuring device 41 and the central processing unit 37 serves as the device for detecting the change rate of the threshing torque.

Then, the target value of the threshing work is set by a combination of two factors: the rate of change of the threshing torque and the detected value of the traveling speed by the traveling speed detection device R.

That is, as shown in graph a in Fig. 5, when the rate of change in threshing torque is large, the threshing resistance of the grain culm is large, and the grain culm is immature or wet, making it easy to cause No. 2 clogging. Therefore, the threshing work target value is set to the lower side in the central processing unit 37 of the vehicle speed control device M to prevent No. 2 clogging. On the other hand, as shown in graph b in Figure 5, if the rate of change in threshing torque is small, this indicates that the grain culm is well matured and dry, making it difficult for second blockage to occur. Therefore, the target value of the threshing workload is set on the high side to increase the work speed.

At the same time, even if the rate of change in threshing torque is the same, the larger the detected traveling speed, the lower the threshing resistance per unit amount of grain culm, indicating that the grain culm is well matured and dry. Therefore, the target value of threshing work is set on the high side. Conversely, the smaller the detection value of the traveling device, the greater the threshing resistance per unit amount of grain culm, indicating that the grain culm is immature or wet, so the threshing work target value is set on the lower side.

In this way, after the target value of threshing work is set at the start of work, the handling cylinder torque (threshing torque) value measured by the handling cylinder torque measuring device 41 is assumed to be representative of the actually measured threshing work. The traveling speed of the traveling device 2 is controlled so as to match the threshing work target value. As a result, even if the planting density of grain culms is uneven, the amount of threshing work is maintained almost in line with the target value, and the grain is harvested smoothly.

That is, the value of the handling cylinder torque actually measured by the handling cylinder torque measuring device 41 is compared with the threshing work target value in the central processing unit 37 as a representative value of the actually measured threshing work, and based on the difference, the vehicle speed control device C is controlled to control the traveling speed of the traveling device 2.

Note that the load on the entire threshing device 5 is measured by the threshing device load measuring device 42 when the handling cylinder torque is appropriate. Then, if the measured value is large, the threshing work target value is set to be small, and if it is small, it is reset to be large. This means that even though the handling cylinder torque is appropriate, if the other parts of the threshing device 5, especially the second collecting section 19, are clogged and the second screw 20 is under load, the threshing work will be reduced. This is to reduce the grain culm supplied to the threshing device 5 by lowering the target value. When the load on the threshing device 5 is light, there is surplus power, so the target value of threshing work is increased.

Further, even if the load on the threshing device 5 is appropriate, if the load on the pre-harvesting device 3, the transport device 9, and the traveling device 2 increases and the measured value of the engine load measuring device 43 is large, the threshing work target The value is lowered and lowered if it is smaller.

In this way, the threshing work target value is changed comprehensively depending on the handling cylinder torque, the threshing device load, and the engine load. This change is made at regular intervals, and the above-mentioned traveling speed feedback control is performed on the newly set threshing work target value.

Further, although the rate of change in threshing torque is detected within the central processing unit 37 of the vehicle speed control device M, it is also possible to use a separate device and input only the value of the rate of change to the central processing unit 37.

Furthermore, the central processing unit 37 not only controls the travel speed but also controls the hydraulic cylinder 11 to control the handling depth according to the culm length, and the pre-reaping treatment device 3 according to the unevenness of the field. A plurality of automatic controls such as cutting height control to maintain a constant height and direction control to make the vehicle run along the plants may be performed in a concentrated manner.

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

In other words, the threshing work target value set in the vehicle speed control device is automatically changed to an appropriate value based on the relationship between the rate of change of threshing torque and the detected value of traveling speed, depending on the condition of the grain culm to be harvested. Therefore, if the grain culm is immature or wet, the target amount of threshing work can be lowered to ensure smooth harvesting without clogging the second collection device with paddy. When the grain culm is mature and dry, the target value of threshing work is lowered and the work speed is increased, allowing smooth and efficient harvesting in any case.

Furthermore, since the target value of threshing work is set based on the rate of change of the threshing torque actually applied to the threshing device at the start of work and the detected value of the traveling speed of the traveling device, Compared to the case where the operator inputs the appropriate input using a selection switch, it is possible to accurately and automatically set the optimum value for the grain culm to be harvested.

Furthermore, when the combine harvester starts working, the operator can visually check the condition of the grain culm and roughly judge the target value of threshing work, and the operator can run the combine harvester at a speed commensurate with the target value of threshing work determined in this way. By starting the combine harvester and starting the work, you can quickly correct the traveling speed to the correct threshing workload target value obtained by actually detecting the rate of change in threshing torque and the detected value of the traveling speed. After starting work, it can be put into full operation immediately to increase work efficiency.

In some cases, it can also be used to increase the maneuverability of the combine by starting to run it at a speed appropriate to the operating conditions at the start of the operation.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention; Fig. 1 is an overall perspective view of the combine harvester, 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 a graph of changes in handling cylinder torque with respect to time. DESCRIPTION OF SYMBOLS 1... Combine harvester, 2... Traveling device, 5... Threshing device, 35... Handling cylinder pulley section, 41... Handling cylinder torque measuring device (threshing torque detecting device), C... Vehicle speed adjustment device, R... Traveling speed detection device, M...Vehicle speed control device (torque change rate detection device).

Claims (1)

[Claims for Utility Model Registration] 1. The threshing torque of the threshing device 5 of the combine harvester 1 can be detected by the threshing torque detection device 41, and the vehicle speed control device M is controlled and operated based on the threshing torque detection signal of the threshing torque detection device 41. Then, the vehicle speed adjusting device C is operated to change the speed, and the traveling speed of the traveling device 2 of the combine 1 is automatically controlled. When the value of the torque detection signal is high, the traveling speed is controlled to be low, and when it is low, the traveling speed is controlled to be high. In the combine harvester work traveling speed automatic control device configured to bring the threshing workload close to the threshing workload target value set in the vehicle speed control device M, the threshing device 5
The rate of change in threshing torque at the start of the work is configured to be detectable by a torque rate of change detection device, and the traveling speed of the traveling device 2 at this time is configured to be detectable by a traveling speed detection device R, and the rate of change in torque is detected. Based on the detection signal of the threshing torque change rate at the start of threshing of the device and the detected value of the traveling speed of the traveling speed detecting device R at this time, the vehicle speed control device M
The threshing work target value can be set, and the larger the value of the detection signal of the threshing torque change rate is, the lower the threshing work target value is, and the smaller the value is, the higher the threshing work target value is. An automatic work speed control device for a combine harvester, characterized in that the target value of threshing work is set higher as the target value is larger, and lower as the target value is smaller. 2. Scope of Utility Model Registration Claims In the automatic working speed control device for a combine harvester described in paragraph 1, the detector of the torque change rate detection device is a handling drum torque measuring device attached to the handling drum pulley portion 35 of the threshing device 5. Something that is 41. 3. In the automatic working speed control device for a combine harvester described in claim 1 or 2 of the utility model registration claim, the torque change rate detection device for detecting the change rate of threshing torque and the vehicle speed control device M are combined into one device. The one that made me cum.