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

[0006] , The fourth aspect of the present invention is a combine harvester according to any one of the first to third aspects of the present invention, characterized in that the control device (20) automatically changes the braking force of the brakes according to the vehicle speed. , , The third aspect of the present invention is a combine harvester equipped with a chassis (2) on which left and right traveling devices (4L, 4R) are mounted, a threshing device (6) and a grain tank (7) for storing grain are mounted, and a harvesting device (15) is mounted 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), and when the vehicle speed is reduced by a predetermined percentage or more according to the operating position of the main shift lever (16b) during a turn, the control device (20) activates a shift actuator (22) to increase the speed of the trunnion shaft and increase the output of the hydrostatic continuously variable transmission. , The second aspect of the present invention relates to a combine harvester equipped with a chassis (2) on which left and right traveling devices (4L, 4R) are mounted, a threshing device (6) and a grain tank (7) for storing grain are mounted on the chassis (2), and a harvesting device (15) is mounted 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 from a yield sensor (30), and the control device (20) reduces the braking force of the brakes by a predetermined percentage when the vehicle speed is decelerated by a predetermined percentage or more than the vehicle speed corresponding to the operating position of the main transmission lever (16b) during a turn. , , , , , , , , ,

[0001] The present invention relates to a combine equipped with a grain tank for storing grain 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 grain 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

[0007] First invention related to the present invention According to the system, 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, thereby improving turning accuracy, reducing the operator's workload, and improving work efficiency.

[0008] A second invention related to the present invention The control device 20 automatically changes the braking force according to the vehicle speed. First invention related to the present invention It is a combine harvester.

[0009] A second invention related to the present invention According to the report, the control device 20 automatically changes the braking force according to the vehicle speed, further improving turning accuracy.

[0010] A third invention related to the present invention The control device 20 is equipped with a left rotation sensor 31L that detects the rotation direction and rotation speed of the left travel device 4L and a right rotation sensor 31R that detects the rotation direction and rotation speed of the right travel device 4R. When the control device 20 detects that the braking force of the travel devices 4L and 4R on the stopping side, which are braked during a turn, is too large and causing them to rotate in the opposite direction, it gradually reduces the braking force to stop the reverse rotation. First or second invention related to the present invention It is a combine harvester.

[0011] A third invention related to the present invention According to the device, when the control device 20 detects that the braking force of the stopping travel devices 4L and 4R on the braking side is too great during a turn and causes them to rotate in the opposite direction, it gradually reduces the braking force to stop the reverse rotation. This reduces the damage to the field H during turns caused by the reverse rotation of the travel devices 4L and 4R on the braking side.

[0012] A fourth invention related to the present inventionWhen the control device 20 decelerates at a predetermined ratio or more than the vehicle speed corresponding to the operation position of the main transmission lever 16b during turning, the braking force of the brake is reduced by a predetermined ratio. First or second invention related to the present invention This is a combine.

[0013] A fourth invention related to the present invention According to this, when the control device 20 decelerates at a predetermined ratio or more than the vehicle speed corresponding to the operation position of the main transmission lever 16b during turning, the braking force of the brake is reduced by a predetermined ratio to reduce resistance and make it easier to move.

[0014] Fifth invention related to the present invention When the control device 20 decelerates at a predetermined ratio or more than the vehicle speed corresponding to the operation position of the main transmission lever 16b during turning, the shift actuator 22 is operated to operate the trunnion shaft to the speed increase side to increase the output of the hydrostatic continuously variable transmission. First or second invention related to the present invention This is a combine.

[0015] [[ID=十七]] Fifth invention related to the present invention According to this, when the control device 20 decelerates at a predetermined ratio or more than the vehicle speed corresponding to the operation position of the main transmission lever 16b during turning, the shift actuator 22 is operated to operate the trunnion shaft to the speed increase side to increase the output of the hydrostatic continuously variable transmission and make it easier to move.

Brief Description of the Drawings

[0016] [Figure 1] This is a side view of a combine according to an embodiment of the present invention. [Figure 2] This is a plan view of the combine. [Figure 3] This is a block diagram of the control device. [Figure 4] This is a graph showing the change in the braking force of the brake with respect to the amount of grain. [Figure 5] This is an explanatory diagram of the harvesting work path 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, but the configuration is not limited by these designations.

[0018] <Overall configuration of a combine harvester> As shown in Figures 1 and 2, the combine harvester 1 has left and right running devices 4L and 4R on the lower side of the chassis 2, each consisting of a pair of left and right running crawlers 3 that travel on the soil surface. On the left and right sides of the chassis 2 are a threshing device 6 for threshing and sorting the stalks of grain that are carried and supplied by the feed chain, a grain tank 7 as a storage device for temporarily storing the grain, and a grain auger 8 for discharging the grain stored in the grain tank 7 to the outside of the machine. A straw disposal device 9 is mounted on the rear end of the threshing device 6. The grain auger 8 raises and lowers when the auger lifting cylinder is operated to discharge the grain.

[0019] Furthermore, a harvesting device 15 is installed in front of the threshing device 6, suspended from the front end of the chassis 2 so as to be able to move up and down relative to the soil surface by a harvesting lifting cylinder 24. This device includes a grass-separating body 11 that separates unharvested grain stalks from the front end, a lifting unit 12 that raises the separated grain stalks, a cutting blade unit 13 that cuts the raised grain stalks, and a supply adjustment and conveying unit that scoops up the harvested grain stalks and adjusts the handling depth during conveyance before handing them over to the feed chain.

[0020] An operating device 16, such as a steering lever 16a for steering the combine harvester 1, and an operating seat 17 for the operator are provided on the upper rear side of the harvesting device 15. The engine is mounted below the operating seat 17, and the grain tank 7 is positioned at the rear. A cabin 18 is provided to cover the operating device and the operating seat 17. These left and right travel devices 4L, 4R, threshing device 6, harvesting device 15, engine, cabin 18, etc., are mounted on the chassis 2 of the combine harvester.

[0021] A monitor 21 is provided in front of the operator's seat 17 inside the cabin 18, which functions as a display device that receives input information from the operating device 16 and various sensors and displays various information. A control device 20 is provided below the operating device 16, which receives input information from the operating device 16 and various sensors and controls the operation of each part.

[0022] As shown in Figure 3, the control device 16 includes a main shift lever 16b that operates a shift actuator 22 that controls the trunnion shaft of the hydrostatic continuously variable transmission (hereinafter referred to as HST) by forward and backward movement by the operator seated in the operator's seat 17, thereby switching between forward and backward movement and stopping, as well as acceleration and deceleration; a left travel actuator 23L that operates the left side clutch and left side brake of the left travel device 4L when tilted to the left, and a right travel actuator 23R that operates the right side clutch and right side brake of the right travel device 4R when tilted to the right, thereby performing left and right steering and left and right turns when driving straight; and a right travel actuator 23R that operates the right side clutch and right side brake of the right travel device 4R. The machine is equipped with various operating tools, including a steering lever 16a that operates the harvesting lifting cylinder 24 to raise and lower the harvesting device 15 by operating it in the forward and backward directions, a harvesting / threshing lever 16c that operates the harvesting / threshing clutch actuator 25 to turn the drives of the harvesting device 15 and the threshing device 6 on and off, an auger operation lever 16d that moves the grain discharge auger 8 vertically by operating the auger lifting cylinder 26a and horizontally by operating the left / right swivel actuator 26b, and an auger drive switching lever 16e that operates the auger drive electromagnetic clutch 27 to turn the drive of the grain discharge auger 8 on and off and discharge the grain in the grain tank 7 to the outside of the machine.

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

[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. In a combine harvester, a chassis (2) equipped with left and right traveling devices (4L, 4R) is provided, a threshing device (6) and a grain tank (7) for storing grain are mounted on the chassis (2), a harvesting device (15) is mounted at the front, and a left rotation sensor (31L) for detecting the rotation direction and rotation speed of the left traveling device (4L) and a right rotation sensor (31R) for detecting the rotation direction and rotation speed of the right traveling device (4R) are provided, 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). A combine harvester characterized in that, when the control device (20) is turning, if the braking force of the stopping side running gear (4L, 4R) is too large and causing it to rotate in the opposite direction, the control device (20) gradually reduces the braking force to stop the reverse rotation.

2. 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 the chassis (2), 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), and the control device (20) reduces the braking force of the brakes by a predetermined percentage when the vehicle speed is decelerated by a predetermined percentage or more than the vehicle speed corresponding to the operating position of the main transmission lever (16b) during a turn.

3. A combine harvester equipped with a chassis (2) fitted with left and right travel devices (4L, 4R), a threshing device (6) and a grain tank (7) for storing grain, 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), and when the vehicle speed is reduced by a predetermined percentage or more during a turn, the control device (20) activates a gear actuator (22) to increase the speed of the trunnion shaft and increase the output of the hydrostatic continuously variable transmission.

4. A combine harvester according to any one of claims 1 to 3, characterized in that the control device (20) automatically changes the braking force of the brakes according to the vehicle speed.

Images