combine

Abstract

Some combine harvesters determine a decrease in turning accuracy based on the number of retries for the turning path and the weight of grain stored in the grain tank, and if a decrease in turning accuracy is detected, they perform a grain discharge operation from the grain tank. However, this only determines that turning accuracy decreases when the weight of grain stored in the tank increases, and does not improve turning accuracy. Therefore, we provide a combine harvester that improves turning accuracy by automatically adjusting the turning force, thereby reducing the operational burden on the operator to improve turning accuracy and improving work efficiency. [Solution] In a combine harvester equipped with a chassis 2 on which left and right travel devices 4L and 4R are mounted, a threshing device 6 and a grain tank 7 for storing grain are provided, and a harvesting device 15 is provided at the front, the control device 20 automatically changes the braking force of the brakes according to the amount of grain stored in the grain tank 7 detected by the yield sensor 30.

Description

Technical Field

[0001] The present invention relates to a combine equipped with a grain tank for storing grains threshed by a threshing device.

Background Art

[0002] There is a combine that determines a decrease in the turning accuracy of the combine based on the number of retry times of the turning path and the storage weight of grains in the grain tank, and operates the grain discharge of the grain tank when it is determined that the turning accuracy has decreased (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, it determines that the turning accuracy decreases as the storage weight of the grain tank increases, and does not improve the turning accuracy. [[ID=*37]]

[0005] Therefore, in view of the above viewpoints, the present invention provides a combine that improves the turning accuracy by automatically adjusting the turning force, reduces the operation burden for improving the turning accuracy of the operator, and improves the workability.

Means for Solving the Problems

[0006] The invention according to claim 1 is a combine provided with a threshing device 6 and a grain tank 7 for storing grains on a vehicle body 2 equipped with left and right traveling devices 4L and 4R, and a harvesting device 15 provided at the front, wherein a control device 20 automatically changes the braking force of the brake according to a detection value of the amount of grains stored in the grain tank 7 from a yield sensor 30.

[0007] It should be noted that there seems to be a formatting issue in the original text where line ID 37 has an asterisk (*) in the translation. This might be an error in the original text or during the submission process. If it's an error in the original, it should be corrected for a more accurate translation.According to the invention described in claim 1, the control device 20 automatically changes the braking force of the brake according to the detected value of the amount of grain stored in the grain tank 7 from the yield sensor 30, thereby improving turning accuracy, reducing the burden on the operator, and improving work efficiency.

[0008] The invention described in claim 2 is the combine harvester according to claim 1, wherein the control device 20 automatically changes the braking force of the brakes according to the vehicle speed.

[0009] According to the invention described in claim 2, the control device 20 automatically changes the braking force of the brakes according to the vehicle speed, further improving turning accuracy.

[0010] The invention described in claim 3 is a combine harvester according to claim 1 or 2, which is provided with a left rotation sensor 31L for detecting the rotation direction and rotation speed of the left travel device 4L and a right rotation sensor 31R for detecting the rotation direction and rotation speed of the right travel device 4R, and when the control device 20 is turning and the braking force of the stopping travel devices 4L and 4R is too large and they are rotating in the opposite direction, the control device 20 gradually reduces the braking force of the brakes to stop the reverse rotation.

[0011] According to the invention described in claim 3, when the control device 20 is turning, if the braking force of the stopping-side traveling devices 4L and 4R is too large and they are rotating in the opposite direction, the control device 20 gradually reduces the braking force of the brakes to stop the reverse rotation, thereby reducing damage to the field H during turning caused by the reverse rotation of the traveling devices 4L and 4R on the side where the brakes are applied.

[0012] The invention described in claim 4 is a combine harvester according to claim 1 or 2, wherein the control device 20 reduces the braking force of the brake by a predetermined percentage when the vehicle speed is decelerating by a predetermined percentage or more than the vehicle speed corresponding to the operating position of the main transmission lever 16b during a turn.

[0013] According to the invention described in claim 4, when the control device 20 is decelerating by a predetermined percentage or more compared to the vehicle speed corresponding to the operating position of the main transmission lever 16b during a turn, the braking force of the brake is reduced by a predetermined percentage to reduce resistance and make it easier to move.

[0014] The invention described in claim 5 is a combine harvester according to claim 1 or 2, wherein when the control device 20 is decelerating by a predetermined percentage or more compared to the vehicle speed corresponding to the operating position of the main transmission lever 16b during turning, the transmission actuator 22 is activated to operate the trunnion shaft in the speed-increasing direction to increase the output of the hydrostatic continuously variable transmission.

[0015] According to the invention described in claim 5, when the control device 20 is decelerating by a predetermined percentage or more compared to the vehicle speed corresponding to the operating position of the main transmission lever 16b during a turn, the transmission actuator 22 is activated to operate the trunnion shaft in the speed-increasing direction, thereby increasing the output of the hydrostatic continuously variable transmission and making it easier to move. [Brief explanation of the drawing]

[0016] [Figure 1] This is a side view of a combine harvester according to an embodiment of the present invention. [Figure 2] This is a plan view of a combine harvester. [Figure 3] This is a block diagram of the control device. [Figure 4] This graph shows the change in braking force in relation to the amount of grain. [Figure 5] This is a diagram illustrating the harvesting work route in the field. [Modes for carrying out the invention]

[0017] Hereinafter, a combine harvester 1, which is one embodiment of the present invention, will be described with reference to the attached drawings. For the sake of ease of understanding, directions will be conveniently indicated as front, rear, right, and left from the operator's perspective; however, the configuration is not limited by these directions.

[0018] <Overall configuration of a combine harvester> As shown in FIGS. 1 and 2, the combine 1 is provided with left and right traveling devices 4L and 4R each having a pair of left and right traveling crawlers 3 that run on the soil surface on the lower side of the vehicle body 2, and on the left and right on the vehicle body 2, a threshing device 6 that threshes and separates the grain straws that are sandwiched and conveyed by the feed chain, a grain tank 7 as a storage device for temporarily storing the grains, a discharge auger 8 that discharges the grains stored in the grain tank 7 outside the machine, and a straw discharge treatment device 9 is mounted on the rear end portion of the threshing device 6. The discharge auger 8 undulates by operating the auger lifting cylinder when discharging the grains.

[0019] And in front of the threshing device 6, there are a weeding body 11 that weeds the uncut grain straws from the front end side, a raising part 12 that raises the weeded grain straws, a cutting blade part 13 that cuts the raised grain straws, and a supply adjustment conveyance part that rakes in the cut grain straws and adjusts the handling depth during conveyance and transfers them to the feed chain. The harvesting device 15 having the like is suspended and disposed at the front end portion of the vehicle body 2 so as to be vertically movable with respect to the soil surface by a harvesting lifting cylinder 24.

[0020] An operating device 16 such as a steering lever 16a for steering the combine 1 is provided at the upper rear side of the harvesting device 15, and an operator's seat 17 is provided. An engine is mounted below the operator's seat 17, and the grain tank 7 is disposed at the rear side. A cabin 18 that covers the operating device and the operator's seat 17 is provided, and these left and right traveling devices 4L, 4R, threshing device 6, harvesting device 15, engine, cabin 18, etc. are mounted on the vehicle body 2 of the combine.

[0021] A monitor 21 as a display device for displaying various information by receiving input information from the operating device 16 and each sensor is provided at a position in front of the operator's seat 17 inside the cabin 18, and a control device 20 for operating and controlling each part by receiving input information from the operating device 16 and each sensor is provided at a position below the operating device 16.

[0022] As shown in Fig. 3, the operation device 16 operates a transmission actuator 22 that operates the trunnion shaft of a hydrostatic continuously variable transmission (hereinafter referred to as HST) by the forward and backward operations of an operator sitting on the operator's seat 17, and includes a main shift lever 16b that performs forward and backward movement, stop switching, and speed increase and decrease, a left travel actuator 23L that operates the left side clutch and left side brake of the left travel device 4L by tilting operation to the left, a right travel actuator 23R that operates the right side clutch and right side brake of the right travel device 4R by tilting operation to the right to perform left and right steering and left and right turning during straight travel, a steering lever 16a that operates a cutting elevation cylinder 24 by an operation in the front and rear direction to raise and lower the cutting device 15, a threshing clutch lever 16c that operates a threshing clutch actuator 25 to turn on and off the drive of the cutting device 15 and the threshing device 6, an auger operation lever 16d that moves the discharge auger 8 in the vertical direction by the operation of an auger elevation cylinder 26a and moves it in the left and right direction by the operation of a left and right turning actuator 26b, and an auger drive changeover lever 16e that operates an auger drive electromagnetic clutch 27 that turns on and off the drive of the discharge auger 8 to discharge the grain in the grain tank 7 to the outside of the machine, and other various operating tools.

[0023] On the input side of the control device 20, there are a potentiometer that detects the operation of the steering lever 16a, a potentiometer that detects the forward and backward operation position of the main shift lever 16b, a potentiometer that detects the operation position of the threshing clutch lever 16c, a potentiometer that detects the operation position of the auger operation lever 16d, a potentiometer that detects the operation position of the auger drive changeover lever 16e, a weight detection unit 30 as a yield sensor that is composed of a load cell as a yield sensor that detects the amount of grain stored in the grain tank 7 by weight, a left rotation sensor 31L that detects the rotation direction and rotation speed of the drive shaft of the left travel device 4L, a right rotation sensor 31R that detects the rotation direction and rotation speed of the drive shaft of the right travel device 4R, a brake force adjustment dial 32 that adjusts the braking force of the left and right side brakes by adjusting the operation amount of the left and right travel actuators 23L, 23R, etc. are connected via a predetermined input interface circuit.

[0024] On the output side of the control device 20 are left and right travel actuators 23L and 23R that operate the left and right side clutches and left and right side brakes of the left and right travel devices 4L and 4R based on input values ​​from a potentiometer that detects the tilting operation of the steering lever 16a to the left and right, a harvesting lifting cylinder 24 that raises and lowers the harvesting device 15 based on input values ​​from a potentiometer that detects the forward and backward movement, a transmission actuator 22 that operates the trunnion shaft of the HST based on input values ​​from a potentiometer that detects the forward and backward movement position of the main transmission lever 16b, and a potentiometer that detects the operation of the harvesting lever 16c A harvesting clutch actuator 25 that switches the drive of the harvesting device 15 and the threshing device 6 on and off based on input values ​​from a potentiometer, an auger lifting cylinder 26a that moves the grain discharge auger 8 up and down and a left and right swivel actuator 26b that moves it left and right based on input values ​​from a potentiometer that detects the operation of the auger operation lever 16d, an auger drive electromagnetic clutch 27 that switches the drive of the grain discharge auger 8 on and off based on input values ​​from a potentiometer that detects the operation of the auger drive switching lever 16e, and a monitor 21, etc. are connected via a predetermined output interface circuit.

[0025] <Brake control of left and right travel devices 4L and 4R during turns> When harvesting in field H, the machine turns are performed by the operator seated in the operator's seat 17 tilting the steering lever 16a to the left (or right) to activate the left travel actuator 23L (or right travel actuator 23R), disengaging the left side clutch (or right side clutch) of the left travel device 4L (or right travel device 4R) and applying the left side brake (or right side brake). However, as the weight stored in the grain tank 7 increases, the braking force of the left side brake (or right side brake) must be increased to maintain turning accuracy.

[0026] Previously, the operator had to manually adjust the braking force of the handbrake using the brake force adjustment dial 32 to maintain turning accuracy, but this increased the operator's burden and made the work inefficient.

[0027] Therefore, in this embodiment, the turning accuracy is improved by automatically adjusting the braking force of the side brake according to the weight stored in the grain tank 7, thereby reducing the operational burden on the worker to improve turning accuracy and improving work efficiency.

[0028] In other words, as shown in Figure 4, the control device 20 automatically changes the braking force of the left and right side brakes by changing the amount of operation of the left and right travel actuators 23L and 23R according to the detected value of the amount of grain (grain weight) stored in the grain tank 7 from the weight detection unit 30 (the larger the grain weight), the greater the change in braking force of the left and right side brakes.

[0029] To explain in detail, for example, when the vehicle speed is 0.5 m / s, as shown by the solid line in Figure 4, if the reference values ​​of the controller output instruction values ​​(dig) indicating the braking force of the handbrakes are 100 dig for the left handbrake and 110 dig for the right handbrake (the braking force of the right handbrake is set higher because the grain tank 7 is on the right side of the machine), then when the weight of the grain is 200 kg, the braking force of the left handbrake is set to 105 dig and the braking force of the right handbrake is set to 115 dig, and when the weight of the grain is 1200 kg, the braking force of the left handbrake is set to 120 dig and the braking force of the right handbrake is set to 130 dig.

[0030] Furthermore, when measuring the amount of grain by installing an ultrasonic sensor that detects the height of the grain accumulation in the grain tank 7 as a yield sensor, for example, the grain tank 7 may be divided into empty, 1st stage, 2nd stage, 3rd stage, 4th stage, and 5th stage (full), and the braking force surcharge detected by the ultrasonic sensor may be set to 0% when empty, 4% when in the 1st stage, 8% when in the 2nd stage, 12% when in the 3rd stage, 16% when in the 4th stage, and 20% when in the 5th stage (full).

[0031] Therefore, the turning force is automatically adjusted by automatically adjusting the braking force of the left and right side brakes according to the amount of grain (paddy weight) stored in the grain tank 7, thereby reducing the operator's burden and improving work efficiency.

[0032] Furthermore, the main methods by which combine harvester 1 performs harvesting work in field H are, as shown in Figure 5(a), circular harvesting, in which the combine harvester travels in a circular motion, turning left while harvesting grain from the outer perimeter of the harvesting area of ​​field H and gradually working inward, and, as shown in Figure 5(b), reciprocal harvesting, in which the combine harvester travels back and forth from one side of the harvesting area of ​​field H to the other. In either case, the braking force of the left and right side brakes is automatically adjusted according to the amount of grain (grain weight) stored in the grain tank 7, thereby automatically adjusting the turning force, allowing for precise left and right turns, reducing the burden on the operator, and improving work efficiency.

[0033] Furthermore, the precision (turning force) of left and right turns decreases as the vehicle speed increases.

[0034] Therefore, in this embodiment, in addition to a control that automatically adjusts the braking force of the left and right side brakes according to the amount of grain (paddy weight) stored in the grain tank 7, the braking force of the side brakes is also automatically adjusted according to the vehicle speed to improve turning accuracy, thereby reducing the operational burden on the worker to improve turning accuracy and improving work efficiency.

[0035] In other words, for example, when the vehicle speed is 0.5 m / s and 1.0 m / s, the control device 20 will slightly increase the braking force of the left and right side brakes when the vehicle speed is 1.0 m / s.

[0036] To explain in detail, the solid line in Figure 4 shows the change in braking force of the side brake when the vehicle speed is 0.5 m / s relative to the amount of grain (paddy weight) stored in the grain tank 7 as described above, while the dotted line shows the change in braking force of the side brake when the vehicle speed is 1.0 m / s. The control device 20 increases the braking force of the left and right side brakes slightly when the vehicle speed is 1.0 m / s, as shown by the dotted line.

[0037] When the vehicle speed is 1.0 m / s, the reference values ​​for the controller's output indication (dig) showing the braking force of the handbrakes are set to 104 dig for the left handbrake and 114 dig for the right handbrake. When the weight of the rice is 200 kg, the braking force of the left handbrake is set to 107.5 dig and the braking force of the right handbrake is set to 117.5 dig. When the weight of the rice is 1200 kg, the braking force of the left handbrake is set to 120 dig and the braking force of the right handbrake is set to 130 dig.

[0038] Furthermore, depending on the field conditions (H) and the weight balance of the machine, the braking force of the handbrake may be too strong, causing the running gear 4L (4R) to reverse.

[0039] Therefore, in this embodiment, the control device 20, based on the input values ​​of the left rotation sensor 31L, which detects the rotation direction and rotation speed of the left travel device 4L during turning, and the right rotation sensor 31R, which detects the rotation direction and rotation speed of the right travel device 4R, controls the left (right) travel actuator 23L (23R) to gradually reduce the braking force until the travel device 4L (4R) on the stopping side, which is rotating in the opposite direction, stops, by controlling the left (right) travel actuator 23L (23R) to gradually reduce the braking force until the rotation speed detected by the left (right) rotation sensor 31L (4R) on the stopping side becomes 0.

[0040] Therefore, damage to the field H during turns can be reduced by the reverse rotation of the running gear 4L (4R) on the side where the handbrake is engaged.

[0041] Furthermore, if the vehicle speed during a turn is reduced by a predetermined percentage or more than the vehicle speed corresponding to the operating position of the main shift lever 16b due to field conditions, etc. (the rotational speed of the running device 4L (4R) on the side where the side brake is not applied is detected by the left rotation sensor 31L (right rotation sensor 31R) to determine if it is the vehicle speed corresponding to the operating position of the main shift lever 16b), the running device 4L (4R) may dig into the ground, creating too much resistance and preventing it from rotating. In such cases, the control device 20 activates the left (right) running actuator 23L (23R) to reduce the braking force of the left (right) side brake by a predetermined percentage, thereby reducing resistance and making it easier to move.

[0042] Furthermore, if the vehicle speed is reduced by a predetermined percentage or more than the operating position of the main transmission lever 16b during turning due to field conditions, etc., the running gear 4L (4R) will dig into the ground, creating resistance and preventing rotation. In such cases, the control device 20 activates the transmission actuator 22 to increase the speed of the trunnion shaft, thereby increasing the output of the HST and making it easier to move.

[0043] Furthermore, while the above mainly described the brake control of the left and right travel devices 4L and 4R during forward turns, the brake control of the left and right travel devices 4L and 4R during reverse turns is performed in the same manner.

[0044] The braking force settings are changed for the brake control of the left and right travel devices 4L and 4R when turning in forward motion, and for the brake control of the left and right travel devices 4L and 4R when turning in reverse motion.

[0045] Therefore, because differences in the front-to-rear balance of the machine can result in different braking forces required for forward turns and reverse turns, automatically adjusting the braking force to the appropriate level for each situation improves work efficiency.

[0046] In the above embodiment, an example was shown in which the operator manually operates the steering lever 16a to turn. However, it goes without saying that this can also be applied to a combine harvester equipped with a GNSS that receives signals from positioning satellites, which autonomously drives along a harvesting route registered in the memory while the control device 20 calculates its own position and performs harvesting work. In such a case, the braking force of the left and right side brakes can be automatically adjusted according to the amount of grain (weight of unhulled rice) stored in the grain tank 7 to automatically adjust the turning force. [Explanation of symbols]

[0047] 2 chassis 4L left running device 4R Right-hand drive system 6. Threshing device 7 Glen Tank 15 Reaping device 16b Main gear shift lever 20 Control device 22. Transmission Actuator 30. Yield sensor (weight detection unit) 31L Left Rotation Sensor 31R Right Rotation Sensor

Claims

1. A combine harvester is provided with a chassis (2) equipped with left and right traveling devices (4L, 4R), a threshing device (6) and a grain tank (7) for storing grain on top of it, and a harvesting device (15) at the front, characterized in that a control device (20) automatically changes the braking force of the brakes according to the amount of grain stored in the grain tank (7) detected by a yield sensor (30).

2. The combine harvester according to claim 1, characterized in that the control device (20) automatically changes the braking force of the brakes according to the vehicle speed.

3. The combine harvester according to claim 1 or 2, characterized in that a left rotation sensor (31L) for detecting the rotation direction and rotation speed of the left travel device (4L) and a right rotation sensor (31R) for detecting the rotation direction and rotation speed of the right travel device (4R) are provided, and the control device (20) gradually reduces the braking force of the brakes to stop the reverse rotation when the braking force of the stop-side travel device (4L, 4R) is too large and the brakes are applied during a turn.

4. The combine harvester according to claim 1 or 2, characterized in that the control device (20) reduces the braking force of the brake by a predetermined percentage when the vehicle speed is decelerating by a predetermined percentage or more than the vehicle speed corresponding to the operating position of the main transmission lever (16b) during a turn.

5. The combine harvester according to claim 1 or 2, characterized in that when the control device (20) decelerates by a predetermined percentage or more than the vehicle speed corresponding to the operating position of the main transmission lever (16b) during a turn, the transmission actuator (22) is activated to increase the speed of the trunnion shaft and increase the output of the hydrostatic continuously variable transmission.

Images