JPS641092B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention includes a load detection means, and
Vehicle speed correction amount determining means is provided that repeatedly determines the vehicle speed correction amount at a predetermined cycle based on the detection information of the load detection means, and the vehicle speed is changed by the set correction amount based on the determination information of the vehicle speed correction amount determining means. The present invention relates to a vehicle speed control device for a combine harvester, which is provided with a speed change operation means for operating a traveling speed change device.

In such a vehicle speed control device, it is conceivable to determine the amount of vehicle speed correction at the same cycle both when speed increase was determined in the previous determination and when deceleration was determined in the previous determination.

By determining the amount of vehicle speed correction using the above means, it is possible to accurately satisfy both of the requirements of quickly performing deceleration control when an overload occurs and performing speed increase control slowly to avoid control hunting. It becomes something that cannot be done.

In other words, this type of vehicle speed control is intended to enable harvesting operations that fully utilize the threshing equipment's processing capacity while avoiding, for example, overloading the threshing equipment. Sometimes, in order to quickly avoid this, it is desirable to perform deceleration control quickly. On the other hand, speed increase control is performed when the load is light, and if the speed increase control is performed more quickly than necessary, an overload will be detected due to the speed increase, and deceleration control will be performed again. This results in what is called hunting, which occurs repeatedly.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to enable appropriate deceleration control and speed increase control.

The features of the vehicle speed control device for a combine harvester according to the present invention are as follows: (a) A load detection means is provided, and (b) a vehicle speed correction amount that repeatedly determines the vehicle speed correction amount at a predetermined cycle based on the detection information in (a) above. (c) Based on the discrimination information in (b) above, a speed change operation means is provided for operating the driving transmission to change the vehicle speed by a set correction amount, and the vehicle speed correction amount judgment means The reason for this is that the period from the time when speed increase was determined in the previous determination until the next determination is made is larger than the period from the time when deceleration was determined in the previous determination until the next determination is made. be.

The effects of the above characteristic configuration are as follows.

That is, based on the information from the load detection means, the vehicle speed modification amount determining means determines the amount of vehicle speed modification, and based on the information from the determining means, the speed change is performed from the time when speed increase was determined in the previous determination. The cycle until the next determination is made is made longer than the cycle from when deceleration was determined in the previous determination until the next determination is made, and as a result, deceleration control due to overload is performed quickly. , speed increase control accompanying light loads is performed slowly.

Therefore, the effects of the present invention are as follows.

This system satisfies both the problems of quickly performing deceleration control in response to overload to quickly eliminate the overload, and preventing hunting from occurring due to slow speed increase control associated with light load. It has become possible to perform good vehicle speed control.

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

Figure 1 is an overall side view schematically showing a combine harvester, in which a threshing device 3, an engine 4, a pilot seat 5, and a pilot tower 6 are mounted and connected to a machine platform 2 on which a pair of left and right crawler traveling devices 1 and 1 are mounted. At the same time, a raising device 7 raises the multi-row planted grain culm to a standing position for reaping.
..., a cutting device 8 for cutting the stock base of the raised grain culms, a conveying device 9 for merging the multi-rowed grain culms, and a conveying device 9 for conveying the merged grain culms rearward and upward, and installed along the threshing device 3. A reaping pre-processing section 12 equipped with a conveying device 11 and the like that delivers the feed chain 10 in a sideways posture is connected to the front part of the machine stand 2 so as to be able to swing up and down about a fulcrum P.

The threshing device 3 clamps the base of the grain culm with the feed chain 10, and strikes the granulation part inserted into the handling chamber 13 with the blade 15 of the rotary handling cylinder 14 to perform threshing processing and release processing. The materials are subjected to oscillating sorting through the oscillating sorting sieve 17 in the lower sorting room 16, and are also air-sorted by the wind from the blower 18, and the selected first product (grain) is transferred to the first screw conveyor 19 by the device. The structure is such that the second product (mixed grain and straw waste) is returned to the handling room 13 via the second screw conveyor 20 and thrower 21 for reprocessing. There is. Further, the waste straw after threshing is further transported rearward by a transport device 22 following the feed chain 10, and then shredded by a cutter 23 and discharged onto the ground.

The power from the engine 4 is branched into two systems, and one branched power is transmitted via a threshing clutch 24 to the threshing device 3, the feed chain 10 attached thereto, the waste straw conveying device 22, and the cutter 23. Other branched power sources include a variable displacement hydraulic pump 25 and a fixed displacement hydraulic motor 26, which are capable of switching between forward and reverse directions of pressurized oil discharge and continuously changing the amount of discharged oil.
A part of the speed change rotation output from the transmission 27 is input to the transmission case 28 of the crawler traveling device 1, 1, and a part of the speed change rotation output from the transmission 27 is input to the transmission case 28 of the crawler traveling device 1, 1. A part of the information is transmitted to each device of the pre-reaping processing section 12.

The transmission device 27 can be operated to change speed manually using a speed change lever 29, and can also be controlled to change speed automatically according to the threshing work load. Next, automatic vehicle speed control will be explained.

The input section of the handling cylinder 14 is provided with a sensor 30 as a load detection means for separately and simultaneously detecting the handling cylinder torque and the handling cylinder rotation speed as pulse signals. is equipped with a vehicle speed sensor 31 that generates a number of pulses proportional to the rotational speed, and each sensor 30,
The outputs from 31 are respectively transmitted to the handling cylinder torque measuring circuit 32,
Handling cylinder rotation speed measurement circuit 33 and vehicle speed measurement circuit 3
4, and the handling cylinder torque T, handling cylinder rotational speed N, and vehicle speed V are measured. In addition, the measured handling cylinder torque T and handling cylinder rotational speed N are comprehensively determined by a handling cylinder load determination circuit 35 that functions as a vehicle speed modification amount determining means, and the vehicle speed modification amount ΔV ₀ is determined. . Based on this determination result, the vehicle speed determining circuit 3
6. The vehicle speed is changed by a speed change operating means consisting of a comparison/discrimination circuit 37 and a forward/reverse speed change motor 38. That is, first, the target vehicle speed V ₀ is determined by the vehicle speed determining circuit 36 based on the current vehicle speed V and the vehicle speed correction amount ΔV ₀ . Then, the detected actual vehicle speed V and the target vehicle speed V ₀ are compared in a comparison/discrimination circuit 37 to determine whether there is a deviation between the two vehicle speeds V and V ₀ , and based on this determination result, the transmission device 27 is The forward/reverse motor 38 for automatically operating the gear shift lever 29 is controlled to convert the actual vehicle speed V to the target vehicle speed.
This brings it closer to V ₀ .

A friction transmission device 39 is interposed between the speed change lever 29 and the motor 38.
8, manual gear shifting can be performed preferentially.

Next, the function of the handling cylinder load determination circuit 35 will be explained.

FIG. 3 is a ranking diagram for determining the handling cylinder load, and shows that the handling cylinder rotational speed fluctuation range is a set amount difference Δn ₁ , based on the no-load rotational speed n ₀ ,
Δn ₂ and Δn ₃ in advance in multiple stages (in the example, 4 stages)
Ranked into A ₁ , A ₂ , etc. (stages),
The handling cylinder torque fluctuation range is ranked in advance into a plurality of stages (4 stages in the embodiment) with differences Δt _{1 and Δt 2 of} set amounts based on a preset value t 0 B ₁ ,
B _{2 .} . . , and the overlapping rank group of both ranks is ranked into multiple stages (7 stages) C ₁ , C _{2 .} . . based on the magnitude of load.

Then, by comparing the handling cylinder rotation speed N and handling cylinder torque T detected as described above with the respective ranks A ₁ ..., B ₁ ..., it is determined which of the handling cylinder load ranks C ₁ ... it belongs to. It is to determine.

Here, among the handling cylinder load ranks C _{1 .} . . , rank C ₃ is such that the rotation speed N of the appropriate rotation speed rank A ₂ is detected, and the torque T of the appropriate torque rank B ₂ is detected.
is detected, ' The rotation speed N of rotation speed rank A ₃ , which is one step lower than the appropriate rotation speed rank A 2, is detected, and the rotation speed N of rotation speed rank A ₃ , which is one step lower than the appropriate rotation speed rank B 2, is detected, and the torque rank B is one step lower than the appropriate torque rank B ₂ . If a torque T of ₁ is detected, and a rotation speed N of a rotation speed rank A ₁ which is one step higher than the appropriate rotation speed rank A ₂ is detected, and if the rotation speed N is one step higher than the appropriate rotation speed rank B ₂ ,
These correspond to the cases in which the torque T of the higher torque rank _B3 is detected, and as an appropriate load rank, there is no need to increase or decrease the vehicle speed, and from this, the lower load ranks _C2 and _C1 are , ) Appropriate rotation speed rank A ₂ rotation speed N is detected,
In addition, when a torque T of a torque rank _B1 lower than the appropriate torque rank _B2 is detected,
)' The rotational speed N of rotational speed rank _A1 , which is higher than the appropriate rotational speed rank _A2 , is detected, and
This corresponds to the case where the torque T of the appropriate torque rank B ₂ and the lower torque rank B ₁ is detected, and the vehicle speed is increased, and the torque of the higher load rank C ₄ , C ₅ , C ₆ , C ₇ are
) This corresponds to when the detected rotational speed N and torque T are not the above), )', )'' and ), )', and the vehicle speed is decreased. Also, each rank C for speed increase ₁ , C ₂ and each rank C ₄ for deceleration,
C ₅ , C ₆ , and C ₇ each have a target vehicle speed correction amount ΔV ₀₁ ,
When ΔV ₀₂ ... is set in advance and the load rank C ₁ ... is determined from the actual detected rotational speed N and torque T, the target vehicle speed correction amount is determined accordingly,
The previous target vehicle speed V ₀ is increased or decreased in the vehicle speed determining circuit 36, and the actual detected vehicle speed V is adjusted with respect to the new target vehicle speed V _0.
are compared.

In addition, when starting the reaping work, manually operate the speed change lever 29 to select an arbitrary vehicle speed, and then the actual vehicle speed at the time when the vehicle speed control is activated is set as the initial target vehicle speed, and as the load is detected, The target vehicle speed will be updated.

Further, when setting the ranking for determining the handling cylinder load, the following processing is performed at the same time.

The appropriate handling drum rotation speed changes depending on the type of crop (rice, wheat) (depending on the speed change of the handling drum drive system), and the handling drum rotation speed rank is adjusted accordingly.
It is necessary to change and set the no-load rotation speed n ₀ , which is the reference for A ₁ .... Therefore, in the present invention, the following three conditions are set as conditions for no load.

Vehicle speed V must be virtually zero (0.1m/s or less) Handling cylinder torque T must be below the set value (0.75Kgm) Handling cylinder rotational speed N must be at least the specified value (370rpm) And threshing When the clutch 24 is engaged (displacement of the clutch lever is detected by the limit switch), if the above three conditions are met, it is determined that there is no load, and the handling cylinder rotation speed at this point is automatically set to the reference rotation. Speed n is stored as ₀ and rank A _{is 1}
...is determined.

The vehicle speed control explained above is an automatic pilot control that causes the machine to follow the planted crops.
handling depth control to maintain a constant grain culm insertion length, alarm based on detection of a decrease in rotational speed due to clogging of the No. 2 screw conveyor 20 in the threshing device 3, and detection of clogging in the waste straw conveyance path. Automatic alarm control to issue a warning based on the system, automatic engine stop control based on detection of clogged waste straw or opening of the cutter 4 cover during operation, etc. are processed using one control circuit CPU. ,
As shown in FIG. 4, various controls are sequentially processed in a time-division manner within a control main loop that circulates at regular intervals.

The measurement of the vehicle speed V is carried out intermittently at a sufficiently long cycle with respect to the main loop cycle, and the processing of determining the amount of correction by the handling trunk load discriminating circuit 35, that is, the process of correcting and updating the target vehicle speed V ₀ is also carried out. It is performed intermittently at a set period. However, in the modification amount determination process, the period T ₁ from when the previous determination determined speed increase or no modification until the next determination is made is when deceleration was determined in the previous determination. It is set to be larger than the cycle T ₂ from 1 to 2 until the next determination is made. This results in
Deceleration control associated with overload is performed quickly, and speed increase control associated with light load is performed slowly.

[Brief explanation of the drawing]

The drawings illustrate an embodiment of the vehicle speed control device for a combine harvester according to the present invention, in which FIG. 1 is an overall side view of the combine, FIG. 2 is a configuration diagram of the vehicle speed control mechanism, and FIG. 3 is a diagram showing the handling trunk load determination. FIG. 4 is a flowchart of the entire automatic control. 27... Traveling transmission, 30... Load detection means,
35...Vehicle speed correction amount determination means, 36, 37, 38...
Speed change operation means, T ₁ , T ₂ ...cycle.

Claims (1)

[Scope of Claims] 1 (a) A load detection means 30 is provided, and (b) a vehicle speed correction amount determining means 35 that repeatedly determines the vehicle speed correction amount ΔV ₀ at a predetermined cycle based on the detection information of (a) above. (c) A speed change operation means 36, 37, 38 is provided for operating the traveling transmission 27 to change the vehicle speed by a set correction amount based on the discrimination information in (b) above, and the vehicle speed The correction amount determining means 35 determines that the period T 2 from the time when speed increase was determined in the previous determination until the next determination is made is the period T ₂ from the time when deceleration was determined in the previous determination until the next determination is made _. A combine harvester vehicle speed control device that is larger than the .