WO2015046186A1

WO2015046186A1 - Series hybrid combine

Info

Publication number: WO2015046186A1
Application number: PCT/JP2014/075165
Authority: WO
Inventors: 山中　之史; 仲島　鉄弥; 友希藏前
Original assignee: 株式会社クボタ
Priority date: 2013-09-27
Filing date: 2014-09-24
Publication date: 2015-04-02
Also published as: JP2015065895A; JP6104119B2

Abstract

[Problem] To improve energy consumption in a hybrid combine wherein a traveling device is driven by a motor. [Solution] The series hybrid combine is provided with: a traveling device (1) that makes a vehicle travel by rotary power from a motor (82) driven by electric power from a generator (81) driven by the output of an engine (80); a cutting and processing unit driven by the rotary power from the motor (82); and an electrical machinery control unit (85) that controls the generator (81) and the motor (82). There is also provided a motor rotational speed setting unit (12c) that uses a first relationship or a second relationship, selected on the basis of an operation performed on a second operating tool (57), to assign a motor command rotational speed for the motor (82) to an operating position of a first operating tool (66) that regulates drive speed for the traveling device (1). The first relationship assigns a motor command rotational speed that is faster than that for the second relationship.

Description

Series hybrid combine

The present invention includes an engine, a generator driven by the output of the engine, a motor (electric motor) driven by electric power from the generator, a traveling device that causes the vehicle to travel by rotational power from the motor, The present invention relates to a hybrid combine that includes a reaping device that is driven by rotational power from a motor and performs a crop harvesting operation as the vehicle travels, and an electric motor control unit that controls the generator and the motor.

An engine for transmitting power to the traveling device, an electric motor, a generator for generating electric power by driving the engine, a battery for storing electric power generated by the generator for driving the electric motor, and the electric motor or the internal combustion engine or its A hybrid combine comprising a working device driven by both is known from US Pat. This hybrid combine selects either a charging mode in which the electric power generated by the generator is stored in the battery or an assist mode in which at least a part of the electric power stored in the battery is used as power for the work device. Can drive. In such a hybrid combine, since the electric motor driven by the electric power from the battery charged when the engine has sufficient capacity can supplement the engine output, a smaller engine can be used. As a result, reduction of combustion exhaust gas emissions and engine noise can be realized. However, a large-capacity battery required for accumulating engine surplus power as electric power and a control device for feeding / charging control of the battery increase a cost burden.

An electric motor for driving and harvesting that drives a traveling device and a harvesting processing device that harvests and conveys the crops backward, an electric motor for threshing that drives a threshing device that threshs the harvested crops, and power generation driven by an engine A hybrid combine equipped with a machine is known from US Pat. In this combine, since each of a traveling apparatus, a cutting processing apparatus, and a threshing apparatus is driven with an electric motor, the outstanding drive characteristic which an electric motor has can be used effectively. However, as long as the conventional engine is mounted and the generator is driven by the engine, no effect can be expected in terms of reducing engine noise and fuel consumption. On the contrary, when the electric power from the generator obtained by driving the engine under the most fuel-efficient condition is stored in a large battery and the electric motor is fed from this battery, even if the fuel consumption can be suppressed, The cost of the battery itself and the cost of battery charging / power feeding control are significant burdens.

In the field of passenger cars, parallel hybrids that switch between the engine drive mode that the traveling device gives when using the rotational power from the engine and the motor drive mode that uses the rotational power of the motor are widely used. However, the parallel hybrid has a problem that the power switching mechanism between the engine driving mode and the motor driving mode becomes complicated, and the cost of the power transmission mechanism (transmission) increases.

JP 2004-242558 A JP 2013-70642 A

In view of the conventional hybrid combine as described above, there is a demand for a hybrid combine that realizes further pursuit of the advantage of driving the traveling device with a motor having excellent speed change characteristics, elimination of inconvenience caused by a large battery for motor power supply, etc. Yes.

The hybrid combine according to the present invention includes an engine, a generator driven by the output of the engine, a motor driven by electric power from the generator, a traveling device that causes the vehicle to travel by rotational power from the motor, and the motor A battery for motor power supply, which includes a mowing device that is driven by rotational power from the vehicle and that performs crop mowing work as the vehicle travels, and an electric motor control unit that controls the generator and the motor. It is configured as a series hybrid combine that is not. Furthermore, using either the first operation tool and the second operation tool for adjusting the drive speed of the traveling device, and the first relationship or the second relationship selected based on the operation of the second operation tool, A motor rotational speed setting unit that assigns a motor command rotational speed for the motor to an operation position of the first operating tool, and the first relation is configured to assign a motor command rotational speed that is faster than the second relation. Has been.

According to this configuration, the driving speed of the traveling device, and consequently, the motor command rotational speed for the motor for setting the vehicle speed to a desired value is determined by operating the first operating tool to a specific operating position, It is given to the electric control unit. At this time, the specific operation position of the first operating tool can be changed by operating the second operating tool. That is, even if the operation position of the first operating tool is the same, the motor command rotational speed commanded to the electric machine control unit can be changed by operating the second operating tool. Specifically, the relationship for deriving the motor command rotational speed using the operation position of the first operation tool as an input parameter (usually a control map or a relational expression is used) is changed by the operation of the second operation tool. As a result, the vehicle speed can be changed at a stroke only by operating the second operating tool when operating the first operating tool to drive the combine at a predetermined speed. Moreover, this vehicle speed change has the advantage that it can be performed smoothly because it directly changes the motor command rotational speed for the motor.

In one preferred embodiment of the present invention, a power transmission mechanism that transmits power from a power source (here, a motor) to a travel device has a transmission (generally called a sub-transmission) having a plurality of shift stages. The gear stage is configured to be switched based on the operation of the third operating tool. Thus, the vehicle speed set by the first operating tool can be changed easily and quickly through the operation of the second operating tool and the third operating tool.

When the transmission has at least a high speed stage and a low speed stage, the setting range of the vehicle speed can be mechanically expanded. However, the vehicle speed range obtained by switching the transmission to the low speed stage when the first relation that causes high-speed running is selected as compared with the second relation indicates that the speed change of the transmission is high when the second relation is selected. It may be similar to the vehicle speed range obtained by switching to the stage. Such a similar setting of the vehicle speed range makes the driving operation troublesome. In order to avoid this problem, in a preferred embodiment of the present invention, the second operation tool performs the second operation in a state where the transmission is switched to a low speed stage and the second relationship is selected. The selection from the second relationship to the first relationship is ignored, and the high speed of the transmission by the third operating tool in a state where the transmission is switched to a high speed stage and the first relationship is selected. The selection from the stage to the low speed stage is configured to be ignored. Thereby, setting of an unnecessary speed range is omitted. Further, as a preferred embodiment, when the transmission device is switched from the high speed stage to the low speed stage by the third operating tool in a state where the first relationship is selected, the transmission apparatus is switched from the high speed stage to the low speed stage. Is ignored and the second relationship is automatically selected. Thereby, the setting of the vehicle speed range desired by the driver is further simplified.

In a work vehicle such as a combine, a stroke operation tool arranged on the operation panel, preferably displaced in the longitudinal direction of the fuselage, is often used for adjusting the vehicle speed by the driver. It is difficult to ensure a long operation stroke. For this reason, in one of the preferred embodiments of the present invention in which the first operating tool is a stroke operating tool, the second relationship is from zero to the operating position in the entire stroke of the first operating tool. 1 is configured to allocate a motor command rotational speed up to a predetermined rotational speed, and the first relationship is configured to allocate a motor command rotational speed from zero to a second predetermined rotational speed exceeding the first predetermined rotational speed. ing. Thereby, even if it is a short operation stroke, since two types of vehicle speed ranges can be utilized, it is convenient. Such two types of vehicle speed ranges are appropriately combined with a transmission having a low speed stage and a high speed stage, thereby realizing an increase in the vehicle speed adjustment range. In one of such embodiments, the transmission is at a low speed and the second relationship is selected, so that the full stroke operation range of the first operating tool becomes a low-speed traveling operation range, and the transmission Is the high speed stage and the second relationship is selected, the full stroke operation area of the first operating tool becomes a medium speed traveling operation area having an operation area faster than the low speed traveling operation area, When the transmission is at a high speed and the first relationship is selected, the full stroke operation area of the first operating tool becomes a high-speed travel operation area having an operation area faster than the medium-speed travel operation area. .

操作 In order to improve the operability of the second operating tool and the third operating tool that change the vehicle speed at once, these operating tools may be used as momentary switches. Further, if the second operating tool and / or the third operating tool is provided in the operation grip portion of the first operating tool formed as a lever body, the finger of the hand operating the first operating tool is used. It is convenient to operate with.

It is a schematic diagram explaining the basic principle of this invention. It is a whole side view of a combine which is one of the concrete embodiments of the present invention. It is a whole top view of a combine. It is a vertical side view of a threshing apparatus. It is a schematic diagram which shows the power transmission mechanism which supplies the rotational power from an engine to a handling cylinder and a selection part. It is a schematic diagram which shows the power transmission mechanism which supplies the rotational power from a motor to the crawler traveling body arrange | positioned at the left and right of a vehicle body width direction, and a cutting process part. It is a functional block diagram which shows a power control system. It is a schematic diagram explaining the engine speed control (power on demand control) according to engine load.

Before describing a specific embodiment of a series hybrid combine according to the present invention, the basic principle of the present invention will be described with reference to FIG.
Note that this series hybrid combine is a battery-less serial hybrid vehicle, and since the vehicle cannot be driven by electric power from the battery, power is supplied from a generator that generates power with a constantly rotating engine. It travels with a motor.

FIG. 1 schematically shows power transmission and power control in a series hybrid combine (hereinafter simply referred to as a combine or vehicle) of the present invention. The starting point of power transmission is an internal combustion engine, here a diesel engine (hereinafter simply referred to as an engine) 80. The rotational speed of the engine 80 is controlled by an engine control unit 86 that employs an electronic governor system, a common rail system, or the like. A generator 81 that generates electric power using rotational power output from the engine 80 is connected to the engine 80 serving as a rotational power source. The electric power output from the generator 81 is converted into electric power by the electric power converter 84 controlled by the electric machine control unit 85, and drives the motor 82 as another rotational power source. The rotation speed and torque of the motor 82 are controlled according to the power conversion by the power conversion unit 84. The end point of the power transmission is the farm work device W composed of a device for harvesting crops and the traveling device 1 for running the combine.

The farm work device W includes an engine drive work device WE that receives power directly from the engine 80 and a motor drive work device WM that receives power directly from the motor 82. As the traveling device 1, a crawler type, a wheel type, or a sub crawler type including a crawler and a wheel is used. A transmission 47 including an auxiliary transmission 54 is provided between the motor 82 and the traveling device 1. The engine-driven work device WE that receives the rotational power directly from the engine 80 and the motor-driven work device WM that receives the rotational power from the motor 82 are configured so that all the agricultural work devices W receive the rotational power from the motor 82. This is because the capacity of the motor 82 is increased, and as a result, the capacity of the generator 81 is also increased, and the weight of the body becomes too heavy or the cost balance is deteriorated. The traveling apparatus 1 employs a configuration that receives rotational power from the motor 82 because rapid acceleration / deceleration is required. Therefore, an agricultural machine that requires a driving speed according to the vehicle speed as much as possible, for example, a mowing work device, is configured as a motor-driven work device WM.

では In this combine, the vehicle speed is changed by changing the drive speed of the motor 82 that is the drive source of the traveling device 1. Although the setting of the rotation speed of the motor 82 and, consequently, the setting of the vehicle speed, which is the driving speed of the traveling device 1, is performed by an operating tool operated by the driver, in this combine, as an operating tool related to the vehicle speed, A first operating tool 66, a second operating tool 57, and a third operating tool 56 are provided. In the example of FIG. 1, the motor command rotational speed for the motor 82 is assigned based on the operation position (stroke operation position) of the first operation tool 66 configured in a stroke operation type. The assignment of the motor command rotational speed is performed by the motor rotational speed setting unit 12c constructed in the main electronic unit 100. At that time, the motor rotation speed setting unit 12 c uses either the first relationship or the second relationship selected based on the operation (second operation position) of the second operation tool 57. The first relation and the second relation are configured as a control map, a control logical expression, or a control arithmetic expression, and the first relation assigns a motor command rotational speed that is faster than the second relation.

The assignment of the motor command rotational speed will be described. As a simple example, the assigned motor command rotational speed is s, the operation position of the first operating tool 66 is x, the first relation and the second relation are derived, and the motor position is derived using the operation position as an input parameter. It is assumed that the linear function F (x): s = 20x and the linear function G (x): s = 10x. At this time, the operation position in the F (x) and G (x) definition area: x is -100 to 0 to +100 (%: the forward full stroke is + 100% and the reverse full stroke is -100%) Then, the range of F (x) (the range of the motor command rotational speed to be assigned) is −3000 (reverse) to 0 to +3000 (forward) rpm, and the range of G (x) is −1500 (reverse) to 0 +1500 (forward) rpm.
Here, when the first operation tool 66 performs a + 70% stroke operation, if the first relationship is selected, the derived motor command rotational speed is 1400 rpm, and if the second relationship is selected. The derived motor command rotational speed is 700 rpm. The selection of the first relationship and the second relationship is performed by the second operation tool 57. That is, depending on the operation state (second operation position) of the second operation tool 57, even if the first operation tool 66 is at the same stroke operation position, different motor command rotation speeds are assigned, resulting in different vehicle speeds. To do.

Furthermore, in this example, the auxiliary transmission 54 is configured to be switchable between the low speed stage and the high speed stage by the third operating tool 56. Note that the auxiliary transmission 54 can be switched between the low speed stage and the high speed stage also by the second operating tool 57 under specific conditions. Since the auxiliary transmission 54 can also switch the vehicle speed, the vehicle speed of this combine is determined by the operation positions of the first operation tool 66, the second operation tool 57, and the third operation tool 56. .

Therefore, theoretically, at an arbitrary stroke operation position of the first operation tool 66, the operation state of the second operation tool 57 (second operation position) and the operation state of the third operation tool 56 (third operation position) are obtained. Accordingly, four different speeds will be realized. However, here, in order to simplify the operation, when the operation state of the second operation tool 57 is in the state of selecting the first relationship and the third operation tool 56 is in the operation state of switching to the high speed stage, the motor command rotational speed is It is not assigned.
For this reason, in the example shown in FIG. 1, as will be apparent from the table of FIG. (A) When the first relationship is selected and the high speed stage of the auxiliary transmission 54 is selected, the motor command rotational speed of 0 to 3000 rpm is combined with the operating position of the first operating tool 66 in forward traveling. Assigned. This is suitable for traveling on the road of a combine. Generally, such a vehicle speed is 0 to 18 km / h. (B) When the second relationship is selected and the high speed stage of the auxiliary transmission 54 is selected, a motor command rotational speed of 0 to 1500 rpm is combined with the operating position of the first operating tool 66 in forward traveling. Assigned. This is suitable for the normal work traveling of the combine. Generally, such a vehicle speed is 0 to 10 km / h. (C) When the second relationship is selected and the low speed stage of the auxiliary transmission 54 is selected, a motor command rotational speed of 0 to 1500 rpm is combined with the operating position of the first operating tool 66 in forward traveling. Although assigned, since the auxiliary transmission 54 is in the low speed stage, the vehicle speed is lower than that in (b). This is suitable for, for example, an overturning work traveling for avoiding the interference with the convex portion of the field that suddenly occurs during the working traveling of the combine. Generally, such a vehicle speed is 0 to 6 km / h.

That is, the omitted speed setting state among the four speed setting states created according to the operation states of the first operation tool 66, the second operation tool 57, and the third operation tool 56 is “first relation + low speed”. It is "dan". Therefore, the operation of the second operation tool 57 or the third operation tool 56 that causes the transition from the speed setting state in any one of the above (a), (b), and (c) to the “first relation + low speed stage” is ignored. Will be configured. At this time, for example, in the speed setting state of (a), instead of ignoring the operation command by the third operating tool 56 for switching from the high speed stage to the low speed stage, the second relation is automatically selected from the first relation. It is also possible to configure so as to satisfy the demand of the driver who wants to increase the vehicle speed.
Furthermore, in the combine, the transition from the low-speed state (c) having utility value to the high-speed state (a) can be assigned to, for example, the second operation tool 57 at once.

Since the vehicle speed is changed at a stroke by the operation of the second operation tool 57 and the third operation tool 56, it is convenient that the vehicle can be operated at the discretion of the driver of the kite during traveling. For this reason, it is preferable that the 2nd operation tool 57 and the 3rd operation tool 56 are comprised as a momentary switch. In particular, the second operation tool 57 and the third operation tool 56 may be provided in a grip portion of the first operation tool 66 formed as a stroke operation tool.

In this combine, when a load is applied to the motor 82, electric power corresponding to the load is supplied from the generator 81 to the motor 82. In order for the generator 81 to generate such electric power, Is applied to the engine 80. That is, applying a load to the motor 82 means applying a load to the engine 80. Basically, since the output of the engine 80 increases as the rotational speed increases, the engine 80 may be rotated at the rated maximum rotational speed. However, on the other hand, fuel consumption increases. Therefore, here, the rotational speed of the engine 80 is switched in accordance with the load. That is, the maximum rotation speed is set when a heavy load occurs, the medium rotation speed is set when a medium load occurs, and the low rotation speed is set when a low load occurs, This improves fuel consumption. Such control of the engine 80 is realized by giving the engine command rotational speed calculated according to the load by the main electronic unit 100 to the engine control unit 86.

Next, one specific embodiment of a series hybrid combine (hereinafter abbreviated as a combine) according to the present invention will be described with reference to the drawings. FIG. 2 is a side view of the combine, and FIG. 3 is a plan view.

This combine includes a crawler type traveling device 1 including a left crawler traveling body 1a and a right crawler traveling body 1b, and an airframe 2 supported by the traveling device 1 on the ground. A cutting processing unit 3 is disposed in the front of the machine body 2. At the rear of the machine body 2, a threshing device 4 and a grain tank 5 are arranged side by side in the machine body crossing direction on the left and right sides in the machine body advance direction. Further, a boarding operation unit 7 is disposed in front of the grain tank 5.

The cocoon cutting processing unit 3 can swing up and down around the horizontal axis P1 by operating the cylinder CY. The crops harvested by the mowing processing unit 3 are threshed by the threshing device 4, and the grains obtained by the threshing device 4 are stored in the grain tank 5. The harvesting processing unit 3, the threshing device 4, and the boarding operation unit 7 are attached to a body frame 6 constituting the body 2.

The cocoon cutting processing unit 3 includes a cutting unit 8 located at the front of the vehicle body, and a vertical transfer device 9 as a crop transfer unit that transfers the crops harvested by the cutting unit 8 toward the rear upper side of the vehicle body. The vertical conveying device 9 conveys the harvested cereal meal backward and delivers it to the feed chain 18. The cutting unit 8 includes a weeding tool 10 for weeding the harvested culm, a pulling device 11 for causing the planted culm to fall in a standing position, and a clipper for cutting the planted culm planted It has a type mowing device 12.

Further, the cutting processing unit 3 is supported by the body frame 6 so as to be swingable up and down around the horizontal axis P1, and the vehicle body so as to open the normal working posture located at the front of the body 2 and the vehicle body front side of the body 2. The posture can be changed around the vertical axis Y1 (see FIG. 3) over the maintenance posture retracted laterally outward.

Further, the cutting unit frame 13 provided in the cutting processing unit 3 is supported around the horizontal axis P1 by the relay support member 15 supported by the left and

right support members

14R and 14L provided upright from the body frame 6. Is supported so as to be swingable up and down. The relay support member 15 that supports the reaper part frame 13 is supported by the machine body 2 so as to be rotatable about a longitudinal axis Y1 on a support body 14L located on the left side. That is, as a result, the entire cutting processing unit 3 is supported by the body 2 so as to be swingable around the longitudinal axis Y1. As shown in FIG. 3, the longitudinal axis Y <b> 1 on which the harvesting processing unit 3 is rotated to change the posture is located on the outer side in the vehicle body width direction on the opposite side of the boarding operation unit 7 in the vertical transfer device 9. Located in.

As shown in FIG. 4, the threshing device 4 includes a threshing unit 16 that threshs the harvested cereal and a sorting unit 17 that sorts a processed product threshed by the threshing unit 16 into grains and dust. .

In the threshing unit 16, the harvested cereal is transported in a sideways posture in which the stock side is sandwiched by the feed chain 18. Further, in the handling chamber 19 through which the head side of the harvested cereal rice cake passes, a handling cylinder 20 that performs a handling process on the tip side of the harvested grain rice cake by being rotationally driven around the longitudinal axis of the machine body, and this handling processing. A receiving network 21 is disposed for allowing the obtained processed material to leak downward. In addition, a dust feed port 22 is formed on the lower side of the receiving net 21 in the processed material transfer direction to allow the processed material that has not leaked through the receiving net 21 to flow downward toward the lower side (rear side) of the sorting unit 17. Has been.

The sorting unit 17 is located below the threshing unit 16 and has a swing sorting mechanism 23 that swings and sorts the processed material leaked from the receiving net 21, a drive shaft 24a, and a tang ridge 24 that generates a sorting wind. A collection unit 27, a second collection unit 30 and the like are provided. The No. 1 recovery unit 27 recovers the selected grain (No. 1) and the right end of the recovered No. 1 by the No. 1 screw 25 arranged at the bottom along the vehicle body width direction (left and right direction). It is conveyed toward the lifting screw conveyor 26 that is connected in communication. The No. 2 recovery unit 30 recovers a mixture (No. 2) such as cereal grains and straw scraps, and the No. 2 screw 28 provided at the bottom of the recovered No. 2 along the lateral direction of the vehicle body. Is conveyed toward the second reduction device 29 connected to the right end thereof.

The swing sorting mechanism 23 is provided with a swing sorting case 33, a precision sorting chaff sheave 34 disposed inside the swing sorting case 33, a Glen sheave 35, a Strollac 36, and the like. The swing sorting case 33 is driven by an eccentric crank mechanism 32 whose front side is supported by a swing arm 31 and whose rear side is rotationally driven. Thereby, the swing sorting case 33 swings back and forth. Glen sieve 35 sorts grain from the leaked processed material. The Strollac 36 swings and transfers the straw scraps backward.

The first thing conveyed by the No. 1 screw 25 is lifted by the lifting screw conveyor 26, supplied to the grain tank 5, and stored. The second product conveyed by the second screw 28 is rethreshed by the second reduction device 29 and then lifted and reduced to the swing sorting mechanism 23.

穀 As shown in FIGS. 2 and 3, a grain discharging device 37 that discharges the grains stored in the grain tank 5 to the outside is provided. The grain discharging device 37 includes a bottom screw 38, a vertical screw conveyor 39, and a horizontal screw conveyor 41. The bottom screw 38 is provided along the groove-shaped bottom 5 a at the lower part of the grain tank 5. The vertical screw conveyor 39 conveys the grain upward from the conveyance terminal end of the bottom screw 38. The horizontal screw conveyor 41 conveys the grains in the horizontal direction from the upper part of the vertical screw conveyor 39 and discharges the grains from the discharge port 40 at the tip to a truck bed (not shown).

The lifting position of the horizontal screw conveyor 41 is changed by expansion and contraction of the hydraulic cylinder 42 provided between the vertical screw conveyor 39 and the horizontal screw conveyor 41. Furthermore, the vertical screw conveyor 39 can be swung around the vertical axis Y2 by a swivel motor 43 provided in the lower part thereof.

The bottom screw 38 and the vertical screw conveyor 39 and the vertical screw conveyor 39 and the horizontal screw conveyor 41 are connected to each other by

bevel gear mechanisms

44 and 45, respectively. Accordingly, these conveyors are integrally rotated when power is supplied to the input pulley 46 provided at the front end of the bottom screw 38. As a result, the grain in the grain tank 5 is carried out to the outside.

Next, two power transmission mechanisms mounted on this series hybrid combine will be described. FIG. 5 shows a first power transmission mechanism that supplies rotational power from the engine 80 to the handling cylinder 20, the sorting unit 17, and the like. In FIG. 6, a traveling device 1 is composed of a left crawler traveling body 1 a and a right crawler traveling body 1 b that are arranged to rotate the rotational power from an electric motor (hereinafter simply abbreviated as “motor”) 82 on the left and right in the vehicle body width direction. The 2nd power transmission mechanism supplied to the cutting processing part 3 is shown.

Although not clearly shown in the figure, the traveling transmission 47 included in the second power transmission mechanism is unevenly arranged in the lateral direction of the boarding operation unit 7 at the center in the lateral direction of the vehicle body, and a pair of left and right Power is transmitted to the traveling device 1. As is clear from FIG. 2 and FIG. 3, a travel cutting motor 82 that supplies power to the travel transmission 47 is disposed at a lower position of the driving unit step 48 in the boarding driving unit 7. The output shaft 49a of the motor 82 and the input shaft 49b of the traveling transmission 47 are interlocked and connected via a joint.

As shown in FIG. 6, in the transmission case 47 of the traveling transmission 47, there are a gear-type reduction mechanism 53, a hydraulically operated and gear-meshing auxiliary transmission 54, and left and right

crawler traveling bodies

1a and 1b. A turning transmission mechanism 55 and the like for turning traveling due to a speed difference are provided. Further, power is transmitted from the traveling transmission 47 to the cutting processing unit 3. A one-way clutch 63 that transmits only power for forward travel and a belt tension type cutting clutch 64 that intermittently transmits power are interposed in the power transmission path.

That is, the motor 82 is a power source for the pair of left and right traveling

devices

1, 1 and the cutting processing unit 3. Although the output control of the motor 82 will be described later, a command rotation for the motor 82 is provided based on the operation position of the stroke operation type main transmission lever 66 that functions as the first operation tool in the present invention and is provided in the boarding operation unit 7. The number is calculated. That is, when the stroke operation type main transmission lever 66 is in the neutral position, the main transmission lever 66 is stopped, and the forward travel speed increases as the operation displacement of the main transmission lever 66 toward the front increases. The reverse travel speed increases as the displacement increases. The operation position of the main transmission lever 66 is detected by the stroke sensor S4.

A negative brake 67 that brakes when the driving of the eaves motor 82 is stopped is disposed at the end of the input shaft 49b of the traveling transmission 47 that is opposite to the connection portion of the motor 82. The negative brake 67 is urged into a braking state by a spring (not shown), and releases the braking state against an urging force of the spring by an electric or hydraulic actuator. The negative brake 67 is controlled by the main electronic unit 100 to be in a braking state when the motor 82 is in an operation stop state (a state where no running torque is generated), and to a brake release state when the motor 82 is in an operation state. . When the negative brake 67 is switched from the braking release state to the braking state, the braking force is gradually increased and the impact during braking is suppressed.

As shown in FIG. 7, the sub-transmission device 54 is combined with speed switching of the motor 82, which will be described later, in order to create three speed states of high speed, medium speed, and low speed. Low speed stage). Due to the speed change of the motor 82 and the two speed stages of the auxiliary transmission 54, a medium speed state can be adopted when cutting in a standard farm field, and when the crop is lying down or when the crop is in a deep wet field, When it is large, the low speed state can be adopted, and when traveling on the road, the high speed state can be adopted.
The gear position of the auxiliary transmission 54 can be selected by a second operating tool 57 and a third operating tool 56 which are one of the vehicle speed setting operating tools provided in the boarding operation unit 7 (see FIG. 3). That is, the three speed states are selected according to the operation states of the second operation tool 57 and the third operation tool 56. In this embodiment, both the second operation tool 57 and the third operation tool 56 are formed as operation switches. In the combine, the second operation tool 57 is also called a cutting shift switch, and the third operation tool 56 is also called an auxiliary transmission switch.
The auxiliary transmission 54 is a hydraulically operated transmission. In this embodiment, the sub-transmission device 54 has two gear positions in order to create three speed states of high speed, medium speed, and low speed in combination with speed switching of the motor 82 described later. The medium speed condition is selected when cutting on a standard field, the low speed condition is selected when the crop is lying down or when the driving load is large in a deep wet field, and the high speed condition is selected when traveling on the road. Selected. The shift speed of the auxiliary transmission 54 is switched by a third operating tool 56 that is one of the vehicle speed setting operating tools provided in the boarding operation unit 7.

The turning transmission mechanism 55 includes a slow turning clutch 58 for transmitting deceleration power to one of the left crawler traveling body 1a and the right crawler traveling body 1b, a deceleration brake 59 for applying a braking force to either one, The steering clutch 60 etc. which switch the power transmission state with respect to either to a straight-ahead state and a turning state (a deceleration state or a braking state) are included.

The saddle turning transmission mechanism 55 is linked to an operation lever 61 that is one of the vehicle speed setting operation tools provided in the boarding operation unit 7. Depending on the inclination angle from the neutral position of the operation lever 61 in the left-right direction, a turn from the straight traveling state of the traveling machine body 2 to the right or left is created. A turning lever sensor S3 is provided to detect the inclination angle from the neutral position of the operation lever 61 to the left and right. That is, the turning degree of the combine is calculated based on the operation displacement of the operating lever 61, and the detection signal of the turning lever sensor S3 is used for calculating the turning degree. Although not described in detail, the operation lever 61 is swingable in the front-rear direction, and the lifting operation and the lowering operation of the cutting processing unit 3 are realized by the swinging operation in the front-rear direction.

In this traveling transmission 47, the intermediate speed state used when cutting in a standard field is achieved through switching of the gear position of the sub-transmission device 54 and shifting of the motor 82, and when the crop is lying down, It is possible to create a low-speed state that is used when the traveling load is large in a deep marsh and a high-speed state that is used when traveling on the road. These shift states are selected according to the operation state of the second operation tool 57 that functions as the second operation tool in the present invention and the operation state of the third operation tool 56 that functions as the third operation tool in the present invention.

３The third operating tool 56 and the second operating tool 57 are momentary switches operated by the driver's finger, and the switch is turned on by the pushing operation and turned off by the pushing operation again. In this embodiment, the third operating tool 56 is provided in the grip portion of the main transmission lever 66 that is one of the speed setting operating tools of the motor 82, and the second operating tool 57 is the grip portion of the operating lever 61. Is provided. Of course, the 3rd operation tool 56 and the 2nd operation tool 57 can also be provided in other positions, for example, a control panel etc. The operation state signals of the third operation tool 56 and the second operation tool 57 and the operation position signal of the main transmission lever 66 by the stroke sensor S4 are input to the main electronic unit 100 and, as will be described later, the motor 82 and the auxiliary transmission. Used to control the device 54.

Next, a first power transmission mechanism that supplies the rotational power from the engine 80 directly to the handling cylinder 20 and the sorting unit 17 will be described. As can be understood from FIGS. 4 and 5, the power system for the sorting unit 17 receives rotational power directly from the engine 80. At that time, on the other hand, the power from the engine 80 is transmitted to the sorting section 17, specifically, the drive shaft 24 a of the carp 24 through the belt tension type sorting on / off clutch 71. Further, power is transmitted from the drive shaft 24 a of the carp 24 to the first screw 25, the second screw 28, the swing sorting mechanism 23, the feed chain 18, and the like via the transmission belt 72.

On the other hand, the power from the engine 80 is supplied to the grain discharging device 37, specifically the bottom screw 38, via the belt tension type discharging on / off clutch 73, the bevel gear mechanism 74, and the belt transmission mechanism 75. It is transmitted to an input pulley 46 provided at the front side end. By the power supplied to the input pulley 46, the bottom screw 38, the vertical screw conveyor 39, and the horizontal screw conveyor 41 (divided into the first horizontal screw conveyor 41a and the second horizontal screw conveyor 41b) are rotationally driven, As a result, the grain in the grain tank 5 is carried out to the outside. The sorting on / off clutch 71 is switched between the on state and the off state by a sorting clutch motor (not shown). The discharge on / off clutch 73 is switched between an on state and an off state by a discharge clutch motor (not shown).

As schematically shown in FIG. 7, the output shaft 80 a of the engine 80 is connected to a power transmission mechanism 50 </ b> B that functions as a power supply mechanism to the threshing unit 16 and the grain discharging device 37, and generates power. The power generation rotary shaft 81a of the machine 81 is also connected. The generator 81 and the motor 82 are connected to the electric machine control unit 85 via the power converter 84. In this embodiment, the motor 82 is a known three-phase AC induction electric motor that is used as a motor for driving the vehicle. The power converter 84 includes a power generating inverter that converts AC power generated by the generator 81 into DC power, a converter that converts DC power converted by the power generating inverter into AC power suitable for the motor 82, and the like. Power electronics equipment is included. Based on a command from a main electronic unit 100 (generally called an ECU) that has built a control algorithm for appropriately controlling this power electronics device, the electric machine control unit 85 sends a control signal to the power conversion unit 84. give.

The engine control unit 86 controls the output (rotation speed and torque) of the engine 80 by changing the fuel supply amount to the engine 80 based on the command from the main electronic unit 100. In this embodiment, the signal from the engine rotation sensor S2 that detects the engine speed is sent to the engine control unit 86 and / or the main electronic unit 100 via the vehicle state detection unit 90. Of course, the signal from the engine rotation sensor S2, including other signals, may be sent directly without passing through the vehicle state detection unit 90.

In this combine, the power supply line between the generator 81 and the motor 82 is not provided with a battery (including a large capacitor), so the motor 82 directly uses the power generated by the generator 81. For this reason, the engine stop directly leads to the stop of the generator 81 and consequently the stop of the motor 82. Therefore, in order to prevent an inadvertent engine stop, both energy saving and engine load are considered in a balanced manner. Need to perform engine control. In this embodiment, engine control is controlled by the engine control unit 86 in an electronic governor manner. The engine control unit 86 is either droop control that slightly decreases the engine speed as the load of the engine 80 increases, or isochronous control that maintains the engine speed constant regardless of the load of the engine 80. Thus, the engine 80 can be controlled.

The work device control unit 87 is incorporated in the engine drive work device W1 that uses the rotational power of the engine 80 as it is and the motor drive work device W2 that uses the rotational power of the motor 82 based on a command from the main electronic unit 100. A control signal is given to operating devices such as a clutch operating device and a hydraulic cylinder. The vehicle state detection unit 90 performs preprocessing such as conversion processing on signals input from various switches and sensors as necessary, and transfers the signals to the main electronic unit 100.

The main electronic unit 100 is connected to other ECUs such as an engine control unit 86, an electric machine control unit 85, a work device control unit 87, and a vehicle state detection unit 90 through an in-vehicle LAN. It should be noted that not only the main electronic unit 100 but also other ECUs are configured in an easy-to-understand manner for the purpose of explanation. Accordingly, in practice, each ECU may be appropriately integrated or may be appropriately divided. In this embodiment, the main electronic unit 100 constructs an engine management module 110, an electric appliance management module 120, a vehicle management module 130, and the like as those particularly related to the present invention by hardware and software (computer program). Yes.

The engine management module 110 sends various engine control commands to the engine control unit 86 to adjust the output of the engine 80 in cooperation with other management modules. The electric machine management module 120 also cooperates with other management modules and sends an electric equipment control command to the electric machine control unit 85 so that the generator 81 and the motor 82 are appropriately driven via the power conversion unit 84. Based on the information (signal / data) sent from the engine control unit 86, the electric machine control unit 85, the work device control unit 87, and the vehicle state detection unit 90, the vehicle management module 130 executes the traveling state and working state of this combine. Confirm and manage.

In the vehicle management module 130 of FIG. 7, a vehicle state determination unit 13a is constructed. Based on various state detection signals acquired from the vehicle state detection unit 90, the vehicle state determination unit 13a drives the left crawler traveling body 1a and the right crawler traveling body 1b, and the cutting processing unit 3, the threshing device 4, and the grain. The driving state of the agricultural work apparatus W such as the grain discharging apparatus 37 is determined.

The control of the motor 82 by the electric machine management module 120 and the electric machine control unit 85 of the main electronic unit 100 will be specifically described.

The stroke operation position in the front-rear direction of the main transmission lever 66 operated by the driver is detected by the stroke sensor S4 as a speed setting signal and sent to the main electronic unit 100. Similarly, the left / right inclination angle of the operation lever 61 operated by the driver is detected by the turning lever sensor S3 as a turning degree calculation signal indicating turning (steering) of the airframe 2 and is sent to the main electronic unit 100. It is done. The electric machine management module 120 determines the number of rotations of the motor 82 based on the operation position of the main transmission lever 66 and the operation lever 61, that is, based on the detection signals from the stroke sensor S4 and the turning lever sensor S3. A command for controlling the driving speed of the traveling body 1a and the right crawler traveling body 1b is given to the electric machine control unit 85.

The electric machine control unit 85 controls power electronics devices such as an inverter and a converter included in the power conversion unit 84 based on a command from the electric machine management module 120. At that time, the output of the generator 81 and the motor 82 is changed and adjusted by controlling on / off the switching transistors provided in the three phases (u phase, v phase, w phase).

The motor speed setting unit 12c built in the electric appliance management module 120 is selected based on the first relationship selected by the traveling state that is the first operation state of the second operation tool 57 or the work state that is the second operation state. Using the second relationship, the motor command rotational speed is assigned to the operation position of the main transmission lever 66. The first relationship is configured to be assigned a motor command rotational speed that is faster than the second relationship. However, the actual vehicle speed also depends on the operating state of the auxiliary transmission 54 as described below.

The speed setting of the traveling machine body 2 performed by the operation of the main speed change lever 66, the third operation tool 56, and the second operation tool 57, which is executed by the motor rotation speed setting unit 12c, will be described again with reference to FIG. The speed setting for the forward travel and the speed setting for the reverse travel are basically the same, and therefore, in order to simplify the description, only the forward travel is handled in this description.
First, it is assumed that the stroke operation position of the main transmission lever 66 is x, and the range taken by x (stroke operation range) is 0 to 100. Although the set speed of the motor 82 is assigned to an arbitrary stroke operation position: x, there are two types of assignment methods that can be switched by the second operation tool 57. In other words, if the set speed is s, the two allocation methods (first relation) are F (x) as the first relation (here function) and G (x) as the second relation (here function), The set speed of the motor 82 can be expressed by s = F (x) and s = G (x). For example, when x = 0 to 100, the range taken by F (x) is 0 to 3000 rpm, and the range taken by G (x) is 0 to 1500 rpm. Depending on the operating state of the tool 57, the vehicle speed can be doubled or halved. Here, the two operating states of the second operating tool 57 are a working state (low speed) and a traveling state (high speed). In the working state, F (x) is selected, and in the traveling state, G (x) is Selected. Note that F (x) and G (x) are not limited to linear, and may be nonlinear. Further, in the main electronic unit 100, it may be handled as an arithmetic expression or a map (table).

Further, when the high speed stage and the low speed stage of the auxiliary transmission device 54 are combined, the following four items are selected according to the operation states of the third operating tool 56 and the second operating tool 57 at an arbitrary stroke operation position of the main transmission lever 66. Three different speed settings are realized (see table in FIG. 1).
(1) The speed assignment is the first relationship, and the auxiliary transmission 54 is a high speed stage.
(2) The speed assignment is the first relationship, and the auxiliary transmission 54 is in the low speed stage.
(3) The speed assignment is the second relation, and the auxiliary transmission 54 is the high speed stage.
(4) The speed allocation is the second relationship, and the auxiliary transmission 54 is in the low speed stage.
However, in this embodiment, since (2) is practically unnecessary, its use is omitted. That is, the transition from the speed setting states (1), (3), and (4) to the speed setting of (2) is prohibited. As a result, a high speed state in (1), a medium speed state in (3), and a low speed state in (4) can be realized. The transition of these three speed states (high speed state, medium speed state, and low speed state) is schematically shown in FIG. That means
Transition A: In the low speed state, the second operating tool 57 is switched to shift from the low speed state to the high speed state.
Transition B: In the medium speed state, the second operating tool 57 is switched to shift from the medium speed state to the high speed state.
Transition C: In the high speed state, the second operating tool 57 is switched to shift from the high speed state to the medium speed state.
Transition D: In the medium speed state, the third operating tool 56 is switched to shift from the medium speed state to the low speed state.
Transition E: In the low speed state, the third operating tool 56 is switched to shift from the low speed state to the medium speed state.
It should be noted here that, in the transition A, the second operation tool 57 is switched from the second relationship to the first relationship by the switch operation and the auxiliary transmission device 54 is simultaneously switched from the low speed stage to the high speed stage. It is that.

This combine is a battery-less serial hybrid vehicle, and since the vehicle cannot be driven by power from the battery, it is driven by a motor that is driven by power from a generator that is generating power by a constantly rotating engine. Run. Therefore, it must be avoided that the engine 80 is stopped due to overload or the like, but driving the engine 80 with an output more than necessary leads to deterioration of fuel consumption. From this, the engine management module 110 appropriately manages the operation of the engine 80 in consideration of the engine load. The load estimation unit 11d constructed in the engine management module 110 is estimated based on the driving state of the left crawler traveling body 1a and the right crawler traveling body 1b and the driving state of the agricultural work device W determined by the vehicle state determination unit 13a. The load on the engine is calculated as the estimated load. Similarly, an engine command rotational speed calculation unit 11b constructed in the engine management module 110 calculates an engine command rotational speed based on the estimated load calculated by the load estimation unit 11d and an engine control command based on the engine command rotational speed. Is output to the engine control unit 86.

One specific example of a simple algorithm for engine speed control (power on demand control) according to the engine load by the load estimation unit 11d and the engine control unit 86 will be described with reference to FIG. In this specific example, the load estimation unit 11d and the engine control unit 86 operate integrally. First, based on the information from the vehicle state determination unit 13a, as the operation mode that affects the engine load, the following 8 Specifies two modes.
(1) Stop mode: No work or running.
(2) Before / after mowing operation + straight-forward mode: The machine body 2 is traveling straight ahead for a predetermined time immediately before entering the mowing operation or for a predetermined time after the mowing operation is completed.
(3) Before / after cutting operation + turning mode: The machine body 2 is turning at a predetermined time immediately before entering the cutting operation or a predetermined time after the cutting operation is finished (the speeds of the left and right

crawler traveling bodies

1a, 1b are Different).
(4) Cutting operation + straight running mode: During cutting operation, the airframe 2 goes straight.
(5) Cutting operation + turning mode: Aircraft 2 is turning during cutting operation.
(6) Road running + straight running mode: The vehicle body 2 is running straight in the running with the auxiliary transmission 54 at a high speed.
(7) Road traveling + turning mode: In the traveling with the auxiliary transmission 54 at a high speed, the body 2 is turning.
(8) Kernel discharge mode: The kernel is discharged from the kernel tank 5 using the kernel discharge device 37.
The engine control unit 86 calculates the engine command rotational speed according to the operation mode. In this embodiment, since an engine performance curve as shown in FIG. 8 is defined, the engine command rotational speed is calculated based on the engine performance curve. The engine 80 has a maximum output of 18.5 KW and a maximum rotational speed of 2500 rpm, and the engine control characteristics schematically shown in FIG. 8 are represented by three lines. That is, a high rotational speed Nh (for example, a rotational speed slightly lower than 2500 rpm) is set at a high load, a medium rotational speed Nm (for example, a rotational speed slightly lower than 2000 rpm) is set at a medium load, and a low rotational speed at a low load. Nl (for example, a low rotational speed slightly higher than 1500 rpm) is set, and droop control is performed. The idling speed of the engine 80 is slightly higher than 1000 rpm.
From this, in practice,
(1) In stop mode, idling speed is set,
(2) Before / after mowing operation + straight running mode, the region from idling speed to low speed is set,
(3) Before / after mowing operation + turning mode, a slightly lower rotational speed than the high rotational speed is set,
(4) In the cutting and straight running mode, the area from the low speed to the maximum speed is set.
(5) During cutting and turning mode, the maximum number of revolutions is set.
(6) In the road running + straight running mode, an area from a low speed to a medium speed is set.
(7) In road driving + turning mode, the maximum speed is set,
(8) In the grain discharging mode, a rotational speed slightly higher than the idling rotational speed is set.

In the conventional series hybrid, in order to save energy by high-efficiency operation of the engine, the maximum number of revolutions was set regardless of the load. However, the maximum number of revolutions is set even at low loads, so the low load continues. In some cases, energy saving is insufficient. Further, when the engine speed setting is constantly adjusted in accordance with the load fluctuation, in the situation where the load fluctuates finely, there arises an inconvenience related to energy saving and noise that the engine is repeatedly puffed. In consideration of the above, in the above specific example, the engine speed is set according to the load, such as high speed at high load, air speed at medium load, and low speed at low load. At that time, the maximum rotation speed is set since the cutting operation + turning mode and road traveling + turning mode are the operating states in which the greatest load is generated.

[Another embodiment]

(1) In the above-described embodiment, the traveling device 1 is composed of a pair of left and right

crawler traveling bodies

1a and 1b. However, a combined configuration of wheels and crawler traveling bodies or a configuration including only wheels may be employed.
(2) In the embodiment described above, the second operation tool 57 and the third operation tool 56 are formed as switches, but an operation lever operated by the driver and a sensor for detecting an operation displacement of the operation lever. You may comprise.

The present invention can be applied to a self-removal type or a normal type combine in which crops are harvested and threshed as the vehicle runs.

1: traveling device 2: traveling machine body 3: reaping processing unit 4: threshing device 5: grain tank 7: boarding operation unit 8: reaping unit 12: reaping device 16: threshing unit 17: sorting unit 37: grain discharging device 54 : Sub-transmission device 56: Third operation tool 57: Second operation tool 61: Operation lever 66: Main transmission lever (first operation tool)
80: Engine 81: Generator 82: Motor (electric motor)
84: Power conversion unit 85: Electric control unit 86: Engine control unit 87: Work device control unit 90: Vehicle state detection unit 100: Main electronic unit 110: Engine management module 11b: Engine command rotational speed calculation unit 11d: Load estimation unit 120: Electricity management module 12c: Motor rotation speed setting unit 130: Vehicle management module 13a: Vehicle state determination unit WE: Engine drive work device WM: Motor drive work device S2: Engine rotation speed sensor S3: Swivel lever sensor S4: Stroke sensor

Claims

An engine, a generator driven by the output of the engine, a motor driven by electric power from the generator, a traveling device for running the vehicle by rotational power from the motor, and driven by rotational power from the motor In addition, a series hybrid combine including a reaping device that performs crop harvesting as the vehicle travels, and an electric control unit that controls the generator and the motor,
A first operating tool and a second operating tool for adjusting the driving speed of the traveling device;
A motor speed setting unit that assigns a motor command speed for the motor to the operation position of the first operating tool using either the first relationship or the second relationship selected based on the operation of the second operating tool. And
The series hybrid combine in which the first relationship is configured to assign a motor command rotational speed that is faster than the second relationship.
The series hybrid combine according to claim 1, wherein a transmission having a plurality of shift stages is provided in a power transmission mechanism between the motor and the traveling apparatus, and the shift stages are switched based on an operation of a third operation tool. .
The transmission is configured to be switched between a high speed stage and a low speed stage,
In the state where the transmission is switched to the low speed stage and the second relationship is selected, the selection from the second relationship to the first relationship by the second operation tool is ignored, and the transmission The series according to claim 2, wherein selection from the high speed stage to the low speed stage of the transmission by the third operating tool is ignored in a state where the first relation is selected while the gear is switched to a high speed stage. Hybrid combine.
When the transmission device is switched from the high speed stage to the low speed stage by the third operating tool in the state where the first relationship is selected, the switching from the high speed stage to the low speed stage of the transmission apparatus is ignored and automatic 4. The series hybrid combine according to claim 3, wherein the second relationship is selected.
The first operation tool is a stroke operation tool, and the second relationship is configured to assign a motor command rotation speed from zero to a first predetermined rotation speed with respect to operation positions in all strokes;
5. The series hybrid combine according to claim 3, wherein the first relationship is configured to assign a motor command rotational speed from zero to a second predetermined rotational speed exceeding the first predetermined rotational speed.
When the transmission is at a low speed and the second relationship is selected, the full stroke operation range of the first operating tool becomes a low speed operation range, the transmission is at a high speed and the second relationship Is selected, the full stroke operation area of the first operating tool becomes a medium speed traveling operation area having a higher speed operation area than the low speed traveling operation area,
When the transmission is in a high speed stage and the first relationship is selected, the full stroke operation area of the first operating tool is a high speed traveling operation area having an operation area that is faster than the medium speed traveling operation area. The series hybrid combine according to claim 5.
The series hybrid combine according to any one of claims 2 to 6, wherein the third operation tool is a momentary switch.
The series hybrid combine according to any one of claims 2 to 7, wherein the second operation tool is a momentary switch.
The series hybrid combine according to claim 7 or 8, wherein the second operation tool and / or the third operation tool are provided in an operation grip portion of the first operation tool formed as a lever body.
The first operation tool is a stroke operation tool, and the first relationship is configured to allocate a motor command rotation speed from zero to a first predetermined rotation speed with respect to operation positions in all strokes;
3. The series hybrid combine according to claim 1, wherein the second relationship is configured to assign a motor command rotational speed from zero to a second predetermined rotational speed exceeding the first predetermined rotational speed.