JPH0640780B2 - Travel speed control device such as combine - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a traveling speed control device such as a combine,
It can be used for combine harvesters and tractor working machines.

Conventional technology and problems to be solved by the invention Conventionally, in load control and vehicle speed control of traveling work equipment, in order to prevent overload from continuing for a long time, deceleration is faster than acceleration. It was common to shift gears to accelerate the reduction of load.

In this case, the work efficiency is unnecessarily reduced by carrying out work for a long time at a decelerated speed with an excessive margin.

MEANS FOR SOLVING THE PROBLEMS The present invention relates to a traveling work machine body (4) for carrying out traveling work with a prime mover (1), a working device (2) interlocked with the prime mover (1), and a traveling device (3). ) Is provided with a sensor (5) for detecting a traveling work load applied to the prime mover (1), and a control device (6) for shifting the traveling speed of the traveling work machine body (4) by detecting the load of the sensor (5). Shift of
A traveling speed control device such as a combine is provided so as to speed up the speed up compared to the speed down.

Action and Effect of the Invention When the prime mover (1) interlocks the working device (2) and the traveling device (3), and the traveling working machine body (4) performs work while traveling, the traveling machinery (1) Although a total load such as a traveling load of 3) and a load caused by the work of the work device (2) is added, the sensor (5) detects the total load and transmits a large or small load to receive the same. The control device (6) reduces the traveling speed when the total load is large,
When the total load is reduced by this deceleration, the traveling speed is increased faster than in the case of deceleration, so that the work efficiency of the work device (2) can be promptly improved and restored.

In this way, since the restoration to the speed increasing side is always prioritized and controlled, the control can be performed more accurately than the manual operation, and the ability of the prime mover (1) can be maximized to perform the work more efficiently than before. Good.

Embodiments In the drawings, the working machine body (4) will be described by exemplifying a riding combine.

On the lower side of the working machine body (4), a traveling device (3) is provided, which is stretched in the front-rear direction with left and right crawler belts (7) and rotates while being linked with the prime mover (1). Is installed, and the working device (2) is mounted or mounted on the front side and the upper side of the chassis (8), and the control device (9) is provided at the front part of one side of the work device (2). ) The engine of the prime mover (1) is mounted on the lower side.

The working device (2) is composed of a weeding device (11), a pulling device (12), a reciprocating cutting blade (13), etc., which is mounted on the combine chassis (8) so as to project toward the front side of the combine chassis (8). To do. Further, the threshing device (14) is mounted on the chassis (8) over the front and rear, and the mowing device (10) is provided between the front mowing device (10) and the rear threshing device (14). The threshing device (1
4) A transfer device (15) for transferring and transferring to (4) is installed.
The control device (9) is located on the side of the transfer device (15).

The interlocking structure from the engine, which is the prime mover (1), to the traveling device (3) is the interlocking shaft (1) directly connected to the output shaft of the prime mover (1).
6), a flywheel (17) is attached to the base thereof, and an interlocking pulley (18) is attached to the tip thereof, and the chassis (8) is also provided.
In the center part of the front end of the, the interlocking body (21) having a gear interlocking mechanism is provided to interlock with the drive shaft (20) of the crawler belt drive wheels (19) provided at the front end parts of the left and right crawler belts (7). 21)
A continuously variable transmission (22) equipped with a speed change mechanism is provided in order to be gear-shifted to a gear interlocking mechanism incorporated therein, and the continuously variable transmission (22) is provided.
An input vehicle (23) and a speed change lever (24) are mounted on the shaft, and the input vehicle (23) and an interlocking vehicle (16) provided at the end of the interlocking shaft (16) on the side of the prime mover (1) ( The interlocking endless belt (25) is stretched between 18) and the interlocking structure.

The sensor (5) is a working device (2) added to the prime mover (1),
The rotation of the output shaft of the prime mover (1) changes in proportion to the size of the load due to the load of the traveling device (3), etc. Therefore, the rotation sensor (5) for detecting this rotation is used as the rotation sensor (5) and the outer circumference of the flywheel (17). The tachometer has a shaft that meshes with a tooth portion provided on the surface to rotate, and converts the rotation into an electric signal and outputs the electric signal.

The control device (6) operates a manual transmission lever (26) provided in a steering device (9) of the combine to advance a transmission lever (24) mounted on the continuously variable transmission (22). (F) and the reverse portion (R) are provided along the guide hole (27) so as to be shiftable, and the manual shift lever (26) and the shift lever (24) on the continuously variable transmission (22) side are provided. Between the two, a swing link (30), which is connected to the manual speed change lever (26) by a connecting rod (28) and is swingable about the shaft (29), is provided, and the swing link (30) is locked. A link to the swing link (30) of the manual speed change mechanism configured by engaging and connecting operation wires (32) between the section (31) and the locking section of the speed change lever (24). A servo motor (33) is axially connected to the end of the shaft (29) and meshes with a tooth portion provided along an arc of the outer surface of the swing link (30) centered on the core of the shaft (29). The tooth (3
A rotation angle detector (35) that has the end of 4) and rotates to detect the rotation angle of the swing link (30) and transmit an electrical signal.
Is provided.

The angle detector (35) and the load rotation sensor (5) of the prime mover (1) are used as inputs to the circuit for controlling the servomotor (33) to rotate in the forward and reverse directions. The detector (35) and the sensor (5) A speed-up transmitter (37) and a speed-down transmitter (37) for transmitting a pulse to rotate the servo motor (33) to the deceleration or speed-up side by comparing the comparison mechanism (36) for wiring and connecting 38), a grain culm sensor (39) provided in the raised grain culm passages (a) and (b) of the raising device (12) of the reaping device (10) to detect grain culm, and a servomotor (wiring connection) from this. 33) and the circuit.

The comparison mechanism (36) memorizes the reference rotation of the output shaft of the prime mover (1) during traveling work so that it can be changed, and compares the reference rotation with the signal from the rotation sensor (5) to increase the traveling speed. Whether to decelerate or to decelerate is selectively output to the transmitter (37) or (38), and the rotation angle detector (35) of the rocking link (30) determines the reference vehicle speed. The posture position of the rocking link (30) when it is obtained is set to 0, and the angle of the rocking link (3
0) is detected and transmitted to the comparison mechanism (36), which compares the reference angle (0 position) of the swing link (30) when the prime mover (1) is in the reference rotation. Is stored and compared with this, the degree of increase / decrease in running speed is compared and confirmed with the detection signal of this rotation angle detector (35), and the transmission of either transmitter (37) (38) A comparison circuit is configured to stop when the detector (35) detects a predetermined increase / decrease angle.

The grain culm sensor (39) is configured so that the sensor rod that is pressed in contact with the grain culm pushes the actuator of the limit switch to turn on the switch, and the switch OF does not detect the grain culm.
At the time of F, that is, when traveling without cutting operation, the circuit configuration is such that automatic traveling speed control is not performed.

As shown in FIG. 4, the speed-up transmitter (37) for rotating the servomotor (33) has a structure in which the speed of the speed-up of the control device (6) is increased compared to the speed-down. The transmission time (L) of one cycle of the transmission pulse of (1) is longer than that (1) on the deceleration transmitter (38) side and is provided at (L> l).

When the prime mover (1) is started and the combine machine body (4) is run to perform mowing work in the field, it is weeded by the weeding rod (11) of the mowing device (10) and raised by the raising device (12). When the grain culm passing through the grain culm passages (a) and (b) pushes the sensor arm of the grain culm sensor (39) to switch it on, the control circuit of the control device (6) is closed and the traveling speed can be controlled. When the load of the work device (2) and the traveling device (3) is standard, the rotation of the prime mover (1) maintains the reference rotation corresponding to the reference load, and the rotation sensor (5) detects this and compares it with the comparison mechanism ( 36), the comparison mechanism (36) compares this with a set reference value and does not output it to each oscillator (37) (38), and the angle detector (35) is a standard oscillator. Motion link (30)
The posture angle of the is detected and a signal is output to the comparison mechanism (36), and the comparison mechanism (36) confirms the standard angle value. If the output of the prime mover (1) decreases due to the progress of cutting and the cutting of the grain culm into poorly dry or laid-down parts to increase the power load on the cutting device (10), threshing device (14), etc. , Sensors (5)
The comparison mechanism (36) which received the signal of compared with the reference rotation value,
If the deceleration side pulse is transmitted to the servomotor (33) until it is output to the deceleration side transmitter (38) and the angle detector (35) detects a predetermined angle, the servomotor (33) will move to the traveling speed deceleration side. When the swing link (30) of is rotated around the axis (29) and the wire (32) is interlocked to move the speed change lever (24) of the continuously variable transmission (22) to the deceleration side, the continuously variable transmission (22), a drive shaft (20) and a drive wheel (19) that rotate the crawler belt (7) of the traveling device (3) by interlocking the internal interlocking mechanism of the interlocking body (21).
To reduce the traveling speed of the combine. The decelerated combine not only reduces the running load, but also reduces the amount of grain culm that is supplied to the mowing device (10) and the threshing device (14) per unit time, so the work load is reduced and the mowing work is performed at a reduced running speed. When the sensor (5) detects that the load applied to the prime mover (1) has decreased and the rotation of the output shaft has become faster than the reference value, the comparison mechanism (36) compares it with the rotation reference value. It outputs to the speed increasing transmitter (37) until the angle detector (35) detects a predetermined angle. The oscillator (37) transmits a pulse whose output time is one cycle longer than the deceleration pulse to rotate the servo motor (33) at a higher speed toward the speed-up side,
Since the swing link (30) and the speed change lever (24) are swung quickly, the traveling speed is rapidly restored, and the deceleration work time is not wastefully extended, and the standard cutting efficiency is restored. During this mowing process, the operator in the cockpit leaves automatic control to adjust the relationship between the traveling speed and the load applied to the prime mover (1) and operates the control device (9) to work on the grain stalks to be mowed. It is possible to concentrate on manual control of the traveling direction of the airframe (4). When the grain culm sensor (39) stops detecting grain culm after the reaping is finished, the manual gear shift lever (26) is operated to move between the reverse side and the forward side to move a new reaping strip. Is.

FIG. 5 shows another embodiment in which the speed is increased from the deceleration side to the speed increasing side. Instead of the rotation sensor (5) for detecting the load of the prime mover (1) in the first embodiment, the combine traveling is performed. The work machine body (4) is provided with a tilt sensor (40) that detects a tilt in the left-right direction with respect to the combine traveling direction, and the tilt angle detected by the tilt sensor (40) exceeds the reference set angle. Inclination sensor (40), angle detection to reduce the traveling speed from the reference work speed in the horizontal posture to the left and right direction of the machine body (4) and to increase the speed to return to the reference work speed when returning to the horizontal posture. Comparison mechanism (36) that inputs the device (35) as a sensor, speed-up transmitter (37), deceleration transmitter (38),
The electric control circuit (41) is provided with the servomotor (33). The means for increasing the speed change speed faster than deceleration is similar to that shown in FIG.

If the machine body (4) is tilted during mowing work in a wetland, the power load of the raising device (12) of the mowing device (10) will increase, and the traveling load of the traveling device (3) will increase due to subsidence of the wetland. With this configuration, the control is performed so that the traveling speed is optimum according to the inclination angle, and the speed-up return to the reference speed is fast, so that high-speed work can be performed as the reference speed for efficient work.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention. FIG. 1 is a side view, FIG. 2 is a front view, FIG. 3 is a control action illustration, and FIG. FIG. 5 is a control explanatory view of another embodiment. In the figure, reference numeral (1) is a prime mover, (2) is a working device, and (3)
Is a traveling device, (4) is a traveling work vehicle, (5) is a sensor,
(6) shows a control device.

Claims (1)

[Claims] 1. A prime mover (1), a working device (2) interlocked with the prime mover (1), and a traveling work body (4) for traveling work having a traveling device (3). ) Is provided with a sensor (5) for detecting the traveling work load applied to the vehicle, and the speed of the control device (6) for changing the traveling speed of the traveling work machine body (4) by the load detection of the sensor (5) is changed.
A traveling speed control device such as a combine, which is provided so as to speed up the speed up compared to the speed down.