JPH01247012A - Speed control unit for combine - Google Patents

Abstract

PURPOSE:To provide the title control unit so designed that the standard rpm is defined as the value obtained by subtracting a set rpm from the detected rpm for a threshing unit at the point of change from non-reaping state to reaping state, thereby performing the speed control with the influence of variation in the running load excluded. CONSTITUTION:A plant foot sensor S0 as a working state detection means, a rpm sensor S1 to detect the rpm of a threshing device 2, and a threshing switch S2 actuating 'ON' in response to the 'on' operation of a threshing clutch lever are provided respectively. A control unit 17 controls car speed by actuating a variable speed motor 14 so as to retain the load on the threshing unit 2 in a proper state and to make the detected rpm for the sensor S1 approach the standard rpm. This standard rpm is set as a value obtained by subtracting the set value from the detected value for the sensor S2 at the point when the sensor S0 assessed the initiation of reaping during the switch S2 is 'ON'.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention provides an engine in which a transmission for traveling and a threshing device are interlocked and connected, and a rotation speed detection means for detecting the rotation speed of the threshing device; Reference rotation speed setting means for setting a reference rotation speed of the threshing device; and vehicle speed control means for automatically operating the transmission so that the rotation speed detected by the rotation speed detection means approaches the base half rotation speed. The present invention relates to a vehicle speed control device for a combine harvester.

[Conventional technology]

In a combine harvester, the amount of husk supplied to the threshing device increases or decreases in accordance with an increase or decrease in the reaping speed, that is, the vehicle speed, and the threshing load increases or decreases in accordance with the increase or decrease in the amount of husk supplied. Generally, after setting the throttle position and engine output in a no-load state before starting work, work is started without increasing or decreasing the engine output. Therefore, the rotation speed of the threshing device decreases as the load increases, and increases as the load decreases.

The vehicle speed control device for this type of combine harvester described above uses the fact that the rotation speed of the threshing device fluctuates in response to an increase or decrease in the load on the threshing device, and that the load on the threshing device increases or decreases as the vehicle speed increases or decreases. The vehicle speed is automatically adjusted so that the number of rotations approaches the reference rotation speed corresponding to an appropriate load state.

However, conventionally, a value obtained by subtracting the set value from the maximum value of the detected rotational speeds in an unloaded state where only the threshing device is driven when the vehicle is stopped and only the threshing device is driven has been set as the reference rotational speed.

[Problem to be solved by the invention]

By the way, since the traveling device and the threshing device are interlocked and connected to the engine, the rotational speed of the engine decreases in accordance with the traveling load when the reaping operation starts. When the rotational speed of the engine decreases, the rotational speed of the threshing device connected thereto also decreases.

Moreover, even if the running load is the same vehicle speed, the condition of the field
For example, the rotational speed varies depending on whether the vehicle is in a wet field or a dry field, and it is difficult to determine the rotational speed, which decreases depending on the running load, from the speed change state of the transmission device or the vehicle speed value itself.

Therefore, if the standard rotation speed is set based on the rotation speed detected when the threshing machine is stopped, as in the past, when the running load is large, even though the load on the threshing device has not actually increased, First, there is a risk that the number of revolutions of the threshing device decreases significantly with the start of work, causing the threshing load to be detected as having increased, and an improvement has been desired.

In addition, in the vehicle speed control device of this type of combine harvester, the faster the vehicle speed, the more the amount of husk culms to be harvested per unit time, that is, the amount of husks supplied to the threshing device, tends to increase, and the load on the threshing device tends to increase. Therefore, it is desired to be able to quickly reduce the load when an overload occurs or increase the load when a light load occurs.

The present invention has been made in view of the above-mentioned circumstances, and its first object is to prevent vehicle speed control from being influenced by running load. A second purpose is to quickly reduce the load when an overload occurs or increase the load when a light load occurs.

[Means to solve the problem]

The vehicle speed control device for a combine harvester according to the present invention includes a driving transmission and a threshing device connected to an engine, and a rotation speed detecting means for detecting the rotation speed of the threshing device, and a rotation speed detecting means for detecting the reference rotation speed of the threshing device. a reference rotation speed setting means to be set;
A vehicle speed control means for automatically operating the transmission so that the rotation speed detected by the rotation speed detection means approaches the reference rotation speed is provided, and a first characteristic configuration thereof is as follows: A working state detecting means is provided for detecting whether or not the work state is in a reaping work state, and the reference rotation speed setting means is configured to detect a change from a non-reaping work state to a reaping work state based on the detection information of the work state detecting means. The present invention is characterized in that a value obtained by subtracting a set rotation speed from the rotation speed detected by the rotation speed detecting means at a point in time is set as the reference rotation speed.

In addition to the first characteristic configuration, the second characteristic configuration includes:
The vehicle speed control means is configured to start a control operation when the work state detection means detects the reaping work state, and is configured to control the deviation between the reference rotation speed and the rotation speed detected by the rotation speed detection means. The transmission is configured to be operated at a higher operation speed as the speed increases, and further, when the speed increasing operation is performed at the start of the control operation, the speed changing device is configured to operate the speed change device at a higher operation speed than when the speed increasing operation is performed at other times. The device is configured to operate.

[For production]

That is, at the start of the reaping operation, the reaping operation is started with the threshing device in an unloaded state and with the rotational speed reduced in accordance with the increase in running load corresponding to the field condition. Therefore, the rotational speed of the threshing device at the start of the reaping operation can be regarded as the rotational speed in a state where there is no threshing load, excluding the influence of the running load.

Therefore, in the first characteristic configuration, the reference rotation speed is set to a value obtained by subtracting the set value from the rotation speed detected by the rotation speed detection means at the time when the non-reaping work state changes to the reaping work state.

In addition, in the second characteristic configuration, in order to quickly increase or decrease the vehicle speed, basically, the larger the deviation between the reference rotation speed and the detected rotation speed, the higher the operation speed. When increasing the speed at the start of reaping work when the load on the threshing device is small, by operating the transmission at a higher operating speed than at other times, the threshing device will not be overloaded even if the speed is suddenly increased. This shortens the time it takes to drive without any danger.

〔Effect of the invention〕

According to the first characteristic configuration, since the reference rotation speed can be set accurately while excluding the influence of the running load, load fluctuations in the threshing device during operation can be accurately detected as rotation speed fluctuations. 2. Control accuracy for properly maintaining the load condition of the threshing device can be improved.

Furthermore, according to the second feature, the time during which the threshing device travels in a no-load state or a light-load state at the start of reaping work can be shortened, so that overall work efficiency can be improved.

〔Example〕

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

As shown in FIG. 4, the combine is equipped with a crawler traveling device (1) and a threshing device (2) in the body (V), and a reaping part (3) and a control part in the front part of the body (V). (4) is provided.

The reaping unit (3) includes a triggering device (5) that raises the grain culm in the field, a cutting blade (E) that cuts the base of the raised grain culm, and a rear part of the machine while changing the posture of the harvested grain culm to a sideways posture. Each is provided with a conveying device (7) for conveying the threshing toward the side threshing feed chain (8).

Then, at a location on the transport start end side of the transport device (7), a stock sensor (
S0) is provided.

To explain further, when the reaping operation starts, the culm whose stump end has been cut by the cutting blade (E) is detected by the stump end sensor (
S0), the stock sensor (S0) is turned ON, and as the reaping work is completed, the culm supply is stopped and the stock sensor (S0) is turned OFF. become. In other words, this stock sensor (S0) corresponds to the work state detection means.

As shown in FIG. 1, the engine (II') and the crawler traveling device (1) are interlocked and connected via a hydraulic continuously variable transmission (9), and the engine (II') and the threshing device (1) are connected together via a hydraulic continuously variable transmission (9). The handling cylinder (10) of the device (2) is interlocked and connected via a belt tension type threshing clutch (11).

A rotation speed sensor (S1) serving as rotation speed detection means for detecting the rotation speed of the threshing device (2) is provided to detect the rotation speed of the engine (E).

To explain further, the handling cylinder (10) is connected to the engine (E
), the rotational speed of the engine (B) increases or decreases depending on the load fluctuation of the threshing device (2).

In other words, since the increase or decrease in the rotation speed of the threshing device (2) is proportional to the increase or decrease in the rotation speed of the engine (B), there is no problem even if the rotation speed of the threshing device (2) is detected as the engine rotation speed. be.

The transmission (9) is operatively connected to a manually operated transmission lever (13) via a link mechanism (12). A speed change motor (14) serving as a speed change actuator is operatively connected to the link mechanism (12) via a friction type transmission mechanism (15). In other words, while the speed change lever (13) can be used to manually change the speed, the speed change motor (14) can also be used to automatically change the speed.

Further, a threshing clutch lever (16) is provided for manually turning on and off the threshing clutch (11), and a threshing switch (S2) is provided which is turned ON when the threshing clutch lever (11) is turned on and off.

The stock sensor (S0), the rotation speed sensor (Sl), and the threshing switch are arranged so that the deviation between the rotation speed of the threshing device (2) and the set standard rotation speed is maintained within a set range. (S2) A control device (17) using a microcomputer is provided to automatically adjust the vehicle speed by operating the speed change motor (14) based on each detected information.

That is, a reference rotation speed setting means (using the control device (17)) to set the reference rotation speed of the threshing device (2).
100) and a vehicle speed control means (101).

The control device (17) causes the rotation speed detected by the rotation speed sensor (Sl) to approach the reference rotation speed in order to maintain the load on the threshing device (2) in an appropriate state. In addition, in order to quickly eliminate the deviation, the deviation (
The gearshift motor (14) is configured to operate at a higher operating speed as El) increases.

The adjustment of the speed of the speed change operation by the speed change motor (14) will be explained. Although not detailed, the speed change motor (14) is operated intermittently to adjust its operating speed.

In other words, the ON time (T) for operating the speed change motor (14) intermittently at a set cycle is determined by the deviation (D).
Please change it accordingly.

In addition, in order to make the operation speed increase as the deviation (D) increases, as shown in FIG.
The value of time (T) is set in proportion to the square of the deviation (0).

However, when increasing the speed at the start of reaping work,
Since the threshing device will not be overloaded even if the speed is suddenly increased, the ON time (
The value of T) is switched between large and small values at the start of the reaping operation and during subsequent reaping operations.

Next, the reference rotation speed setting means (100) and vehicle speed control means (101) will be described in detail while explaining the operation of the control device (17) based on the flowchart shown in FIG.

When the control operation is started, it is first determined whether the threshing switch (S2) is ONL and the threshing device (2) is in a driving state.

When the threshing switch (S2) is ON,
Reaping work is started by determining whether or not the stock sensor (S0) is ON, and if it is ON, determining whether or not it has changed from the OFF state to the ON state. It is determined whether the harvesting operation is in progress.

When the OFF state changes from the OFF state to the ON state and it is determined that it is time to start reaping work, a preset value is subtracted from the current rotation speed detected by the rotation speed sensor (Sl). is set and stored as the reference rotation speed.

That is, the threshing switch (S2) is in the ON state,
Further, the process of setting the reference rotation speed based on the rotation speed detected at the start of the reaping operation when the stock origin sensor (S0) changes from OFF to ON corresponds to the reference rotation speed setting means (100). I will do it.

After setting the reference rotation speed, or after setting the stock sensor (
When the reaping operation is in progress where S0) continues to be in the ON state, the deviation (D) between the reference rotation speed and the rotation speed detected by the rotation speed sensor (St) is calculated, and the deviation (D) is calculated. By comparing the size with the set dead zone, it is determined whether an increase/deceleration operation is necessary.

If the deviation (D) is within the set dead zone and no acceleration/deceleration operation is required in the neutral state, it is determined whether or not more than a set time has elapsed in the neutral state, and whether or not more than the set time has elapsed in the neutral state. In this case, after determining that the detected rotation speed has approached the reference rotation speed within the set range and setting a neutral flag indicating this state, is set to zero to stop the gear shifting operation.

If the deviation (D) is large on the negative side with respect to the set dead zone, a deceleration flag indicating that a deceleration operation is to be performed is set, and then a preset and memorized value is set corresponding to the operation speed during the reaping operation. The second proportionality constant (K2) and the deviation (
The value obtained by multiplying the square of D) is calculated as 08 hours for deceleration operation (
T).

If the deviation (D) is large on the positive side with respect to the set dead zone, it is determined whether the neutral flag or the deceleration flag is set, and if these flags are not set, is determined to be a speed increase operation at the start of the reaping work, and the value of the proportionality constant (K) for determining the 08 time (T) is set to a value larger than the second proportionality constant (K2). Set to the set first proportionality constant (K1). However, if the neutral flag or the deceleration flag is set, it is determined that this is a speed increase operation during reaping work, and the value of the proportionality constant is changed to the second value.
It will be set to the proportionality constant (K2) (see Figure 3)
.

Then, in the same manner as during the deceleration operation, the proportional constant (K) set to either the first proportional constant (K1) or the second proportional constant (K2) and the square of the deviation (D) are calculated. The value multiplied by the above will be set as the 08 time (T) for the speed increase operation.

After setting the above 08 hours (T), the 08 hours (T)
), output processing is performed to drive the speed change motor (14) at the set speed.

However, the threshing clutch (S2) or the stock sensor (
When S0) is OFF, after resetting the neutral flag and the deceleration flag, the 08 time (T) is set to zero, and the shift operation is stopped.

In other words, the process of operating the transmission motor (14) while setting the operation speed according to the magnitude of the deviation (D) between the reference rotation speed and the rotation speed detected by the rotation speed sensor (Sl) is The threshing clutch (S2) or the stock sensor (S0) corresponds to the control means (101), and the threshing clutch (S2) or the stock sensor (S0)
In the case of FF, after resetting the neutral flag and the deceleration flag, the vehicle speed control means (101) is set to the working state by a process of setting the 08 time (T) to zero and stopping the gear shifting operation. The plant sensor (S0) serving as the detection means is configured to start the control operation when it detects the state of the reaping work.

[Another example]

In the above embodiment, the rotation speed of the threshing device (2) is detected as the rotation speed of the engine (E).
10) The number of revolutions may be detected. In other words,
The rotational speed of the threshing device (2) can be detected as the rotational speed of each part connected thereto, and the specific configuration of the rotational speed detection means and its detection position can be changed in various ways.

Further, in the above embodiment, the operating speed of the transmission (9) is increased or decreased in proportion to the square of the deviation (D) between the reference rotation speed and the detected rotation speed. (
It may be made to be proportional to the value of D) itself. In addition, instead of calculating and determining the value of the operation speed according to the deviation (D), a value corresponding to the deviation (D) can be calculated in advance.
Create a table and store it in memory, and calculate the deviation (
D) It may be read out according to , and the specific configuration for determining the operation speed can be changed in various ways.

Further, in the above embodiment, the transmission (9) is configured to be continuously variable, and the operating speed is changed by intermittently changing and adjusting the electric power supplied to the transmission motor (14). Although we have shown an example of a case in which the vehicle speed is changed in multiple stages, for example, a stepped transmission system that changes the vehicle speed in multiple stages may be configured to perform the shifting operation using a hydraulic operation type, and the operating speed of the switching valve thereof may be adjusted. The specific structure of each part, such as the specific structure of the transmission, the specific structure of the actuator for the speed change operation, and the adjustment structure of the operating speed, can be changed in various ways.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the vehicle speed control device for a combine harvester according to the present invention. Fig. 1 is a block diagram of the control configuration, Fig. 2 is a flowchart of control operation, and Fig. 3 is a diagram showing the reference rotation speed and detected rotation speed. An explanatory diagram showing the relationship between deviation and shift operation speed, FIG. 4 is a schematic side view of the combine harvester. (S0)... Working status detection means, (S1)...
...Rotation speed detection means, (9) ...Transmission device, (100) ...Reference rotation speed setting means, (10
1)...Vehicle speed control means.

Claims (1)

[Claims] 1. A speed change device (9) for traveling and a threshing device (2) are interlocked and connected to the engine (E), and a rotation speed detection means for detecting the rotation speed of the threshing device (2). (S_1), a reference rotational speed setting means (100) for setting a reference rotational speed of the threshing device (2), and a rotational speed detected by the rotational speed detection means (S_1) so as to approach the reference rotational speed, A vehicle speed control device for a combine harvester is provided with a vehicle speed control device (101) that automatically operates the transmission device (9), and a work state detection device (S) that detects whether or not the reaping work state is in progress.
_0) is provided, and the reference rotation speed setting means (100)
is the value obtained by subtracting the set rotation speed from the rotation speed detected by the rotation speed detection means (S_1) at the time when the non-reaping work state changes to the reaping work state based on the detection information of the work state detection means (S_0). , a vehicle speed control device for a combine harvester configured to set the reference rotation speed as the reference rotation speed. 2. The vehicle speed control means (101) performs control as the work state detection means (S_0) detects the reaping work state. The transmission device (9) is configured to start operation, and operate the transmission (9) at a higher operation speed as the deviation between the reference rotation speed and the rotation speed detected by the rotation speed detection means (S_1) increases. 1 . The transmission device ( 9 ) is further configured to operate the transmission device ( 9 ) at a higher operating speed when performing a speed increasing operation at the start of a control operation than when performing a speed increasing operation at other times. Load control device for the combine harvester described.