JPH0441803Y2 - - Google Patents

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to working vehicles such as harvesters, and more specifically, the present invention relates to work vehicles such as harvesters, and more specifically, the load on working devices such as handling drums, such as the number of revolutions of the handling drum or secondary reduction. The present invention relates to a work vehicle that automatically controls the traveling speed of the machine so that the amount, etc. is maintained within an appropriate range.

[Prior art]

The harvester feeds the grain culm harvested in the reaping section to the threshing device using the conveying device, the grain culm is threshed by the threshing device, and the threshed grains are further sorted to produce fine grains. It is something to take out.

In such a harvester, the load on the threshing device, specifically the rotational speed of the handling drum or the amount of secondary reduction, etc., is detected, and the running speed of the machine, engine rotational speed, etc. are adjusted so that these are in the appropriate state. A control device has been developed.

[Problems to be solved by the present invention] By the way, the above-mentioned vehicle speed control is effective to a certain extent in maintaining the load on the handling cylinder at an appropriate level. If the amount increases or decreases relatively slowly, or if it increases or decreases around the threshold value at which the gear position of the transmission should be changed, or if the detection device or traveling If some kind of trouble occurs in the speed detection device, etc., the transmission will frequently switch between speed increase and deceleration, causing so-called hunting, which will make control unstable. In the case of a configuration in which the shifting is performed by a hydraulic device, the impact during gear shifting is large, resulting in poor ride comfort, which can also cause accidents such as workers falling off the machine.

[Means for solving problems]

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicle speed control device for a work vehicle in which the transmission is not repeatedly changed in both directions of increasing and decelerating within a short period of time.

In order to maintain the load on the working equipment appropriately, the present invention has a structure that temporarily maintains the lower gear when the gear of the transmission is repeatedly changed in both directions of increasing and decelerating. The aim is to quickly eliminate control hunting, restore good ride comfort, and prevent accidents resulting in injury or death.

[Embodiment] The present invention will be described in detail below with reference to drawings showing an embodiment of a harvester that performs vehicle speed control based on the number of rotations of a handling cylinder.

FIG. 1 is an external perspective view of a harvester equipped with a vehicle speed control device according to the present invention (hereinafter referred to as the device of the present invention).

In the figure, 1 is a traveling crawler, and the driving force of the engine is transmitted to the traveling crawler 1 via a main clutch, a power shift transmission that is switched by hydraulic pressure, and a side clutch to cause the aircraft to travel. It drives the handling cylinder 17, the winnowing device 19, etc. (see Figure 2) in the threshing device 3 above the crawler 1, and the cutting blade 2, the pulling device 7, etc. provided in the reaping section 4 at the front of the machine. It's summery.

Further, in the figure, 9 is an operation column provided in front of the driver's seat 8, and 6 is an auxiliary operation column provided on the side of the driver's seat 8. A gear shift lever 93 is provided.

Reference numeral 10 denotes a vertical conveying device, the terminal end of which faces the starting end of the feed chain 12 of the grain culm pinching transfer device 11, and the front part of the threshing device 3 near this is provided with a vertical conveying device. A grain culm sensor 62 is provided to detect the conveyance of grain culms to be fed. The grain culm pinching transfer device 11 is a feeder chain 1.
A cage threshing device 3 consisting of a cage 2 and a pincer 13
It is located along the handling entrance.

FIG. 2 is a partially cutaway vertical sectional view of the threshing device 3. The threshing device 3 has a handling barrel 17 having a large number of handling teeth 16, 16, . At the same time, a receiving net 18 is stretched in the lower part of the handling chamber 15, and furthermore, a swing sorting device 19 is installed in the lower part of the handling chamber 15 and is substantially parallel to the axial direction of the handling cylinder 17.
It has been established. The handling cylinder 17 is provided with a handling cylinder sensor 59 that detects its rotational speed.

Furthermore, at the upper right side of the handling barrel 17 (closer to the center of the machine), there is a processing chamber 5 for reprocessing the No. 2 reduced product.
In the processing chamber 50, a processing cylinder 51 having a large number of processing teeth 52, 52, .

The swinging sorting device 19 is composed of a swinging sorting board 20 extending in an inclined manner, a chaff sheave 21 provided below the rear of the swinging sorting board 20, and a stroke rack 22 connected to the rear of the chaff sheave 21. , a swinging arm 23 that swings in conjunction with a drive source;
24, the handling cylinder 17 is swung in the axial direction.

Further, below the swinging sorting device 19, there is a first grain board 2.
5 and the first grain take-out part (first mouth) 27 consisting of the first screw 26, and the second grain take-out part (second mouth) consisting of the second grain plate 28 and the second screw 29.
30 is formed.

The grains that have fallen into the first grain take-out section 27 are fed from the first screw 26 to the paddy tank 5, and the grains that have fallen into the second grain take-out section 30 are sent from the second screw 29 to the second throat tube by the blower 47. 48 and is blown up into the roof plate of the threshing device 3 and dropped onto the processing cylinder 51 from a processing cylinder cover 53 protruding above the processing chamber 50 for re-sorting.

In the air passage 31, a grain sheave 32 is provided below the chaff sheave 21, and the air passage 31
A winnowing device 33 is provided on the wind raising side. Then, the airflow from this Karakino device 33 flows through the rectifier plates 34, 35
After the air is rectified by the airflow path 31, the air is discharged to the outside of the aircraft from a dust exhaust port (third exit) 36 at the rear of the aircraft.

A dust suction/exhaust device 37 using an axial fan is provided at the rear and upper part of the stroke rack 22;
An upper suction cover 38 is placed above the dust suction/exhaust device 37.
In addition, a lower suction cover 39 is provided below, and the suction port 40 of the dust suction/exhaust device 37 is connected to the air path 31.
The air outlet 41 is opened to the side, and the air outlet 41 is connected to the dust outlet 3.
It opens towards 6.

Above the upper suction cover 38, a fourth gutter 43 is provided which extends diagonally upward from both ends to form a fourth gutter 44, which collects the prickly grains taken out from the culm after threshing, that is, from the waste straw. The stroke rack 22 is configured to be returned upward.

FIG. 3 is a schematic block diagram showing the configuration of the present device.

In the figure, 80 is a control unit using a microcomputer, and the input port _a1 of the input interface is the output of a handling cylinder sensor 59 that is attached to the rotating shaft of the handling cylinder 17 and detects the rotation speed of the handling cylinder 17. is given.

The input ports _A2 , _A3 , and _A4 are equipped with potentiometers that are attached to the base end pivot portion of the gear shift lever 93 that switches gears in a power shift transmission, and that output a potential according to the amount of rotation thereof. Each output terminal of the shift sensor 61 used is connected, and the output potential of the shift sensor 61 causes the gear shift lever 93 to move forward 4.
It is determined which state is in: gear "F4", third forward gear "F3", second forward gear "F2", first forward gear "F1", or neutral gear "N".

The output of a grain culm sensor 62 that detects the conveyance of grain culms to be fed to the threshing device 3 is given to the input port _a5 .

An automatic switch 65 for controlling vehicle speed is connected to the input port _a6 .
5 turns on, the rotation speed of the handling cylinder 17, that is, the handling cylinder 17
The vehicle speed is automatically controlled according to the load.

A reaping switch 66, which is turned on when the reaping clutch is engaged, is connected to input port _a7 , and a threshing switch 67, which is turned on when the threshing clutch is engaged, is connected to input port _a8 . When the switches 66 and 67 are turned on, the input ports a ₇ and a ₈ become high level, respectively.

On the other hand, a shift motor 74 for rotating the speed change lever 93 is connected to output ports b ₁ and b ₂ of the output interface in the control unit 80, with the output port b ₁ being at a high level and the output port b ₂ being at a low level. When the level is reached, the shift motor 74 rotates in the normal direction, the gear change lever 93 is rotated to the high speed side, and the output port
When b ₁ becomes a low level and output port b ₂ becomes a high level, the motor 74 rotates in the reverse direction and the speed change lever 93 is rotated to the low speed side.

An automatic lamp 76 that lights up when the vehicle is in a speed control state is connected to the output port _b3 , and the automatic lamp 76 lights up due to the low level output of the output port _b3 .

A load monitor 91 that displays the rotation speed of the handling cylinder is connected to the output port _b4 .

Further, the control unit 80 is provided with first, second, third, and fourth timers TM ₁ , TM ₂ , TM ₃ , TM ₄ , first counters C ₁ , C ₂ , etc., which will be described later. Based on these time measurements, counted values, etc., the control section 80 performs predetermined control to control the vehicle speed.

The operation of the present machine constructed as described above will be explained based on the flowchart of FIG.

When the key switch is turned on, the timer is first activated.
TM ₁ to _{TM 4} and counters C ₁ and C ₂ are reset, and the respective time values T ₁ to _{T 4} and count values m and n are reset.
is returned to zero, and flags T1F and T4F are also reset (=0).

Next, the engine is started, and when the automatic switch 65 is turned on to control the vehicle speed, and the threshing clutch is engaged and the threshing switch 67 is turned on, the control section 80 enters the vehicle speed control state.
Automatic lamp 76 lights up.

Then, the control unit 80 first controls the rotation speed of the handling cylinder 17;
That is, the load on the handling cylinder 17 is read from the handling cylinder sensor 59, and it is determined whether the load is greater than a preset reference range.

When the rotation speed of the handling cylinder 17 is higher than the reference range, that is, when the load on the handling cylinder 17 is small, the process shown in the left half of the flowchart in FIG. 4 is performed. This process is basically an operation of changing the gear position of the transmission to a high speed side in order to increase the load on the handling cylinder 17 (hereinafter referred to as "shift up"). Since the amount increases, the amount of grain culm fed to the threshing device 3 also increases, the load on the handling cylinder 17 increases, and the rotation speed of the handling cylinder 17 is optimized.

On the other hand, if the rotational speed of the handling cylinder 17 is lower than the reference range, that is, if the load on the handling cylinder 17 is large, the process shown in the right half of the flowchart in FIG. 4 is performed. This process is basically an operation of changing the gear position of the transmission to a lower speed side (hereinafter referred to as downshifting) in order to reduce the load on the handling cylinder 17, and as a result, the vehicle speed becomes slower and the grain culms can be harvested. Since the amount is reduced, the amount of grain culm fed to the threshing device 3 is reduced, the load on the handling cylinder 17 is reduced, and the rotation speed of the handling cylinder 17 is optimized.

Note that when the rotational speed of the handling cylinder 17, that is, the load on the handling cylinder 17 is appropriate, neither the upshift nor the downshift operation is performed.

Now, when the vehicle speed is being controlled so that the load on the handling cylinder 17 is properly maintained, for example, if the load becomes smaller (or larger) than the standard range, as mentioned above, if the load becomes smaller (or larger) than the reference range, As shown in the (or right half), the shift is up (or down), but immediately after this, the load becomes larger (or smaller) than the standard range.
Then, the shift down (or shift up) process of the left half (or right half) in FIG. 4 is performed. In this case, since the previous process was a shift up (or down shift), the counter C ₂ (or C ₁ ) is +1.
It is counted up and the counted value becomes n=1 (or m=1). Then, after the downshift (or upshift), the first timer TM ₁ (or the fourth timer TM ₄ ) starts counting, and the flag is
T1F (or T4F) is set (=1).

If the load on the handling cylinder 17 becomes smaller (or larger) than the reference range as a result of this downshift (or upshift), the shift up (or upshift) in the left half (or right half) of FIG. down)
If the load on the handling cylinder 17 becomes larger (or smaller) than the reference range as a result of this shift-up (or shift-down), the shift-down (or shift-up) process is performed again, but the previous process is was a shift up (or downshift), so the second counter C ₂ (or the first counter
C ₁ ) is further counted up by +1, and the count value becomes n=2 (or m=2).

Next, the time value T _{1 of the first timer TM 1 (} or the time value T ₄ of the fourth timer TM ₄ ) is checked, and if this result has reached the predetermined time τ ₁ (or τ ₄ ), After flag T1F (or T4F) and second counter C ₂ (or first counter C ₁ ) are both reset,
It is shifted down (or shifted up) and the processing described below is not performed. However, the first timer
If the time value T ₁ of TM ₁ (or the time value T ₄ of the fourth timer TM ₄ ) has not reached the predetermined time τ ₂ (or τ ₄ ), in other words, the shift up and shift will occur within a relatively short period of time. If the down is repeated twice, the second
Since the count value of the counter C ₂ (or the first counter C ₁ ) is n=2 (or m=2), the fourth
The processing shown near the center of the lower half of the figure is performed.

Now, the process when the upshift and downshift are repeated twice each during this predetermined time τ ₁ (or τ ₄ ) is that when the previous shift up occurred, the transmission first shifts to the lower gear. The load on the handling cylinder 17 is maintained at a lower level, thereby preventing the threshing device 3, the handling cylinder 17, etc. from becoming clogged. And the second and third
Both timers TM ₂ and TM ₃ start measuring time.

When there was a downshift last time, the second and third timers TM ₂ , 2 and 3 are activated without downshifting.
TM ₃ Start timing.

The third timer _TM3 is used to maintain the current state, that is, a state in which upshifting and downshifting are repeated twice during a predetermined time _τ1 , and then downshifting to a lower speed side, for a predetermined time _τ3 . However, until this predetermined time τ ₃ elapses, signals from the handling cylinder sensor 59, etc. are input to the control unit 80, but the lower gear is maintained regardless of these signals. Ru. Note that this time τ ₃ is the aforementioned time τ ₁
and τ ₄ is set to a longer time.

Now, the second timer after the predetermined time τ ₃ has elapsed.
Until the predetermined time τ ₂ measured by TM ₂ elapses, in principle, the downshifted state is maintained as in time τ ₃ , but for some reason the rotation speed of the handling cylinder 17 changes to the standard. If the load on the handling cylinder 17 becomes greater than the reference range, one more step of downshifting is performed and this state is maintained again for a predetermined time _τ3 , and the grain culm sensor 62 is turned off, that is, when grain culms are no longer being fed to the threshing device 3 due to the completion of one cycle of harvesting work, automatic control of vehicle speed is canceled,
Second and third timers TM ₂ and TM ₃ are both set.

Therefore, when upshifting and downshifting are repeated twice during the predetermined time τ ₁ or τ ₄ , the state of being downshifted to the lower speed gear is maintained for at least the predetermined time τ ₃ , and then further shifted. As long as the load on the handling cylinder 17 does not increase and the grain culm continues to be fed to the threshing device 3, the downshifted state is maintained for the predetermined time _τ2 . If the load on the handling cylinder 17 increases further between the elapse of the predetermined time τ ₃ and the elapse of the predetermined time τ ₂ , the shift is further downshifted and this state continues again for the predetermined time τ ₃ . However, when the feeding of grain culms to the threshing device 3 is stopped, the automatic control of the vehicle speed is immediately stopped.

〔effect〕

As detailed above, in the vehicle speed control device for a work vehicle according to the present invention, when the transmission that is switched by hydraulic pressure is repeatedly switched between high speed and low speed within a certain period of time, Since the machine is configured to maintain the transmission in a low speed gear for a predetermined period of time, the hunting phenomenon is resolved in a short period of time, and ride comfort is immediately restored to a good level, preventing workers from falling off the machine. Accidents such as these can also be prevented.

This idea maintains the lower gear based on the frequency of speed increase and deceleration of the transmission, so unnecessary gear changes are suppressed only when necessary to prevent hunting. When a situation arises where it is necessary to immediately increase speed after a single deceleration, the speed is increased immediately and the responsiveness of the control is not impaired.

Furthermore, in the above embodiment, if the load on the handling cylinder increases further within the predetermined time period during which the downshift state is maintained after upshifting and downshifting are repeated within a predetermined time period, the downshifting is further performed. Because of this structure, even if the amount of grain culm carried into the threshing device increases for some reason during this period, the threshing device, handling drum, etc. will not become clogged.

Furthermore, in the embodiment, even when the downshift state is maintained after upshifting and downshifting are repeated within a certain period of time, if the feeding of the grain culm to the threshing device is stopped, For example, when one stroke of reaping work is completed, the grain culm sensor is turned off and this vehicle speed control is stopped.
Therefore, when the next stroke of reaping work is started, appropriate vehicle speed control is immediately possible.

In the above embodiment, the load on the handling cylinder is detected as its rotational speed, and the vehicle speed is controlled according to this detection result. Of course, the present invention is also applicable to a configuration in which vehicle speed is controlled according to the amount of transport.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention.
The figure is a schematic external view of a harvester equipped with the vehicle speed control device according to the present invention, Figure 2 is a partially cutaway side view of the threshing device, Figure 3 is a block diagram showing the configuration of the device of the present invention, and Figure 4 The figure is a flowchart showing the control contents of the control device. 17... Handling cylinder, 59... Handling cylinder sensor, 80...
Control unit, TM ₁ , TM ₂ , TM ₃ , TM ₄ ... timer,
C ₁ , C ₂ ... Counter.

Claims (1)

[Scope of Claim for Utility Model Registration] A work vehicle configured to automatically control traveling speed by changing gears of a transmission in order to keep the load on the work equipment within a certain range, 1. A vehicle speed control device for a work vehicle, characterized in that the vehicle speed control device for a work vehicle is configured to maintain a gear position on the low speed side for a predetermined period of time when a change to the low speed side and a change to the low speed side are repeated more than a predetermined frequency.