JPH0668686B2 - Actuator protection device - Google Patents

Description

The present invention relates to an actuator protection device such as a motor and a solenoid, and more specifically, when an actuator operates for a set time or longer, an output signal to the actuator is cut off for protection. The present invention relates to an actuator protection device.

(B) Prior art Conventionally, in the protection of the actuator used for the operation of the control device, for example, in the protection of the motor used for the rotation adjustment of the handling depth adjustment carrier of the combine handling depth control device, A bimetal type circuit breaker was connected immediately before the motor, and the current flow to the motor was shut off when a current of a certain level or more was applied to the breaker. That is, if the motor is continuously energized and continues to rotate in the same direction due to a failure of a switch and a sensor connected to the motor, the rotating device for rotating the handling depth adjusting transport body is completely rotated and locked. However, at the same time, an abnormal current that is 2 to 3 times the normal current flows into the circuit breaker connected immediately before the motor, and the breaker is deformed due to the high heat generated by the abnormal current and interrupts the current flow, It was protecting the motor.

(C) Problems to be solved by the invention However, the circuit breaker performs an operation of shutting off the current and returning after a certain period of time to be naturally cooled, and shutting off when an abnormal current is passed for 10 to 20 seconds. Since the cycle is repeated, the motor is eventually energized periodically, and the motor is not completely protected.

In addition, the solenoid for driving the side clutch used in the direction control device of the combine does not have a protective device in particular, and when the combine is left in the power-on state, when changing the paddy bag, etc. The left direction sensor stopped touching the stock during cutting, and the left direction sensor was turned on to check the automatic direction controller,
Or, if you inadvertently activate the automatic direction control by turning on the left direction sensor even once even if you inadvertently hit the left direction sensor on your foot, etc., unless you turn off the side clutch or the direction automatic switch, The solenoid keeps being energized. Furthermore, even during work, an erroneous signal may flow to the solenoid and it may remain energized due to a failure of a switch and a sensor connected to the solenoid. And, if the solenoid is burned for about one hour, the solenoid will burn out and must be replaced.
Since the solenoid is expensive and installed in the mission, it was very troublesome to replace it.

(D) Means for Solving the Problem The present invention is intended to solve the above-mentioned problems, and as shown in FIG. 1, a sensor (for example, a tip sensor, a direction sensor) and an actuator ( For example a motor,
A controller having a solenoid) and the control unit outputs an operation signal and a stop signal to the actuator based on a signal from the sensor (for example, an automatic handling depth control device, an automatic direction control device). Measuring means for counting up based on outputting an actuation signal to the actuator and accumulating during the output of the actuation signal, storage means for storing a preset value, measurement value by the measurement means and the storage means The output stop means for stopping the output signal to the actuator when the measured value exceeds the set value, and the control unit sends a stop signal to the actuator based on the signal from the sensor. When output or the control unit operates the actuator in a direction different from the operation signal to the actuator based on the signal from the sensor. In the actuator protection device, there is provided reset means for clearing the integration of the measuring means when an operation signal for operation is output.

(E) Action In a combine, for example, a sensor (for example, an automatic direction sensor, a handling depth sensor) often outputs a predetermined operation signal continuously. In this case, when the predetermined operation signal exceeds the set value, the output signal to the actuator is stopped, which stops the actuator. Also, when the work is continued or the operation is restarted and the sensor stops the predetermined operation signal or outputs a different signal, the automatic control is automatically reset and the actuator is activated based on the signal from the sensor. Become.

(F) Example Hereinafter, an example according to the present invention will be described with reference to the drawings.

As shown in FIG. 2, the combine 1 has a machine body 5 provided with an automatic threshing machine 2 and a driver's seat 3, and in front of the machine body 5 provided with a divider 6 and a cutting blade. The processing unit 7 is arranged so as to be able to move up and down. The left direction sensor 10 is installed on the divider frame 9a supporting the left divider 6a, and the right direction sensor 11 is installed on the divider frame 9b supporting the right divider 6b. Furthermore, the preprocessing unit 7
From the to the threshing machine 2, the handling depth adjusting carrier 12 is rotatably arranged based on the rotation of the handling depth adjusting drive motor 13, and the carrier 12 is arranged in the vicinity of the tips. By detecting the tips by the sensors 15 and 16, the handling depth can be adjusted so that the grain culm is located at an appropriate position between the tip sensors 15 and 16. Further, in order to prevent the rotation of the carrier 12 from exceeding the allowable range, a shallow handle side limit switch 17 is installed on the left side of the carrier 12 and a deep handle side limit switch 19 is installed on the right side of the carrier 12. When the carrier 12 rotates and contacts the limit switch 17 or 19, the power supply to the motor 13 is cut off. Further, a main sensor 20 for detecting whether or not the grain culm is being conveyed by the carrier 12 is attached to the carrier 12. On the other hand, on the operation panel 21 of the driver's seat 3, an automatic handle depth switch 22 for switching to the handle depth automatic control, a handle depth automatic pilot lamp 23 which is turned on when the switch 22 is turned on, and a handle depth control are manually operated. A hand depth manual switch 25, a direction automatic switch 26 for switching to the direction automatic control, a direction automatic pilot lamp 27 which is turned on when the switch 26 is turned on, and a side clutch lever 29 are provided. Furthermore, driver's seat 3
A pedal clutch switch 31 that interlocks with the operation of the pedal clutch 30 and a reaping clutch switch 33 that interlocks with the operation of the reaping clutch lever 32 are provided in the.

Next, a control block diagram of this embodiment will be described with reference to FIG. The handling depth automatic switch 22 is turned on when the operator switches to the handling depth automatic control, and inputs the signal to the import of the microcomputer 35. Further, the tip sensor 15 is turned on when the grain culm conveyed by the conveyor 12 is touched for deep handling, and the signal is input to the import of the microcomputer 35. Furthermore, the tip sensor 16 is turned on when the grain culm transported by the transport body 12 is no longer touched due to shallow handling, and the signal is input to the import of the microcomputer 35. Further, the pedal clutch switch 31 and the reaping clutch switch 33 are connected in series to the main sensor 20, the operator does not step on the pedal clutch 30 and connects the reaping clutch lever 32, and the main sensor 20 is connected to the carrier 12. Only when it is detected that the flow of the grain culm in (i.e., the actual cutting operation), all the switches 31, 33 and 20 are turned on and the signal is inputted to the import of the microcomputer 35. Further, the microcomputer 35 includes a ROM (Read Only Memory) 3
6, RAM (random access memory) 37, timer 3
9 is built in, and the output signal from the output port of the microcomputer 35 is output to the relay 40 that controls the forward rotation of the motor 13 that adjusts and drives the carrier 12 through the deep handling side limit switch 19. At the same time, another output signal is output to the relay 41 for controlling the reverse rotation of the motor 13 via the shallow handling side limit switch 17. Further, a handling depth manual switch 25 is connected between the limit switches 17 and 19 and the microcomputer 35. Further, another output signal is output to the handling depth automatic pilot lamp 23.

Further, the flowchart shown in FIG. 4 will be described.

In step S1, it is judged whether the automatic handling depth control is turned on or off by turning on / off the automatic handling depth switch 22, and when it is in the off state, the handling depth automatic pilot lamp 23 is turned off by the route a. Furthermore, R of the microcomputer 35
Memory TF and TA in AM37 are cleared, motor 1
3 is stopped. In the ON state, that is, in the automatic handling depth control state, the handling depth automatic pilot lamp 23 is turned on, and the process proceeds to the next step S2.

In step S2, the main sensor 20, the pedal clutch switch 31, and the reaping clutch switch 33 are turned on.
It is determined whether or not it is during the actual mowing operation, and if even one is off, the motor 13 is stopped by the path a,
If all three are turned on, the process proceeds to the next step S3.

In step S3, it is determined whether the handling depth is shallow handling by turning the tip sensor 16 on and off.
The route b is followed by step S4.

In step S4, the motor 13 rotates so as to rotate the carrier 12 to the deep handling side, and the process proceeds to step S5.

In step S5, the memory TA in the RAM 37 is cleared, and the process proceeds to the next step S6.

In step S6, the timer 39 in the microcomputer 35
Then, the elapsed time during which the motor 13 is rotating in the same direction is integrated from step S4, stored and held in the TF in the RAM 37, and the process proceeds to the next step S7.

In step S7, the rotation elapsed time TF is previously RO
It is compared with the set time F stored in M36, but the set time F is set to be slightly longer than the time for which the carrier 12 operates in the full rotation range, and is absolutely set in the normal handling depth control. The time is set so that the motor 13 cannot continuously rotate in the same direction. The elapsed time T is longer than the set time F.
When F is larger (TF> F), the motor 13 is stopped by the path a, and when it is the same or smaller (TF ≦ F), the process returns to step S1.

In addition, in step S3, when the tip sensor 16 is turned on apart from the culm, the process proceeds to step S8 through the route c.

In step S8, it is determined by turning on and off the tip sensor 15 whether or not the deep-handle is deep-handled, and if not deep-handle, that is, the handle depth is adjusted to an appropriate position at which the tip does not touch the tip sensor 15. If so, the motor 13 is stopped by the path a. In the case of deep handling, the process proceeds to the next step S9.

In step S9, the motor 13 rotates so as to rotate the carrier 12 to the shallow handling side, and the process proceeds to the next step S10.

In step S10, the storage TF in the RAM 37 is cleared, and the process proceeds to the next step S11.

In step S11, the timer 39 in the microcomputer 35
Then, from step S9, the elapsed time during which the motor 13 is rotating in the same direction is integrated, stored and retained in the TA of the RAM 37, and the process proceeds to the next step S12.

In step S12, the elapsed rotation time TA is RO
Although it is compared with the set time A stored in M36, the set time A is set to be slightly longer than the time for which the carrier 12 operates in the full rotation range, and is absolutely set in the normal handling depth control. The time is set so that the motor cannot rotate continuously in the same direction. When the elapsed time TA is larger than the set time A (TA> A), the motor 13 is moved by the path a.
Are stopped, and if they are the same or smaller (TA ≦ A), the process returns to step S1.

In step 13 ', the grain culm is detected by both tip sensors 15,1.
If it is located between 6 and 6, the elapsed time T by the timer
The integration of F and TA is cleared.

Then, the combine 1 reaches the vicinity of the headland, and the pretreatment unit 7 is raised while mowing, and based on the high mowing, an extremely short grain culm is sent to the handling depth adjusting carrier 12, and the main sensor 20 is turned on. Even when the tip sensor 16 is continuously turned off and the carrier 12 is in the deepest handling state, the deep handling side limit switch 19 is turned on due to poor adjustment or contact failure, and the motor 13 is continuously energized. The protection of the motor 13 will be described.

When the automatic handling depth switch 22 is turned on, the carrier 12 is controlled by the automatic handling depth control, that is, based on the tip sensors 15 and 16. Even if the automatic handle depth switch 22 is in the ON state, even if any of the main sensor 20, the pedal clutch switch 31, and the cutting clutch switch 33 is OFF,
The motor 13 is stopped assuming that the cutting operation is not performed. When the grain culm transported by the carrier 12 is in a shallow handling state where it does not touch the tip sensor 16, the carrier 12 passes through the route b and is turned to the deep handling side as shown in step S3. The motor 13 rotates to move it. Then RAM
The memory TA in 37 is cleared, the elapsed time during which the motor 13 is rotating in the same direction is further accumulated by the timer 39 in the microcomputer 35, and is stored and held in the TF in the RAM 37. At this time, the carrier 12 is rotated to the deep handling side in conjunction with the rotation of the motor 13, but the grain culm to be conveyed touches the tip sensor 16 with the short culm material based on high cutting as described above. If not, the carrier 12 is rotated to the deepest handling side and comes into contact with the deep handling side limit switch 19. Even if the switch 19 continues to be turned on due to poor adjustment or contact failure, the rotation elapsed time TF of the motor 13 accumulated by the timer 39 in the microcomputer 35 is set in advance in the ROM 36. When the time F is exceeded (TF> F), the power supply to the motor 13 is stopped. Then, the combine 1 rotates around the headland and restarts the mowing work again, so that the grain culm is mowed at the position where the pretreatment section is lowered, and the handling depth adjusting carrier 12 touches the tip sensor 16 by a length. When the above grain culms are conveyed, the storage TF in the RAM 37 is cleared by passing through the route a or c, and the stop of energization of the motor 13 is released. The release of the power supply to the motor 13 is released by turning off any of the main sensor 20, the pedal clutch switch 31, and the reaping clutch switch 33.
You can also clear the TF by passing through.

The present embodiment is the same when the carrier 12 continues to be rotated to the shallowest handling side, and in that case, it is determined by comparing the storage TA in the RAM 37 with the set value A in the ROM 36. .

Further, in the present embodiment, the power supply to the motor 13 is stopped to protect the motor 13, but it is more effective if the operator is notified of the abnormality at the same time by a pilot lamp or a horn.

Further, in the present embodiment, the motor 13 is protected based on the integration of the elapsed time in which the motor 13 rotates in the same direction, but the motor 13 may be protected based on the integration of the inching times of the automatic depth control. Good.

Next, another embodiment of the present invention will be described with reference to FIGS. 5 and 6. In this embodiment, the protection device according to the present invention is used to protect the side clutch drive solenoids 42 and 43 used in the direction control device of the combine 1.

The direction automatic switch 26 is turned on when the operator switches to the direction automatic control as shown in FIG.
Filling in the 5 imports. The side clutch lever switches 45 and 46 are normally turned on, and when the operator pulls the side clutch lever 29 on the panel 12, the side clutch lever switches 45 and 46 are turned off, and the signals are input to the import of the microcomputer 35, respectively. Further, the rightward direction sensor 11 turns the switch RL ON to input the signal to the import of the microcomputer 35 when the grain bar does not contact the sensor bar 11a, and the grain bar contacts the sensor bar 11a to rotate a small amount. Then, both the switches RL and RR are turned off, and when the sensor bar 11a comes into deep contact with the grain culvert and pivots counterclockwise largely, the switch RR is turned on and the signal is input to the import of the microcomputer 35. . Similarly, the left sensor 10 also turns on the switch LR when the sensor bar 10a is not turned, and switches LR and
Both LL are turned off, and when further rotated, switch L
L is turned on and the signals are input to the import of the microcomputer 35, respectively. Further, the potentiometer 47 outputs a value that is linked to the operation of the continuously variable transmission lever 49 by the operator,
The output value is input to the AD port of the microcomputer 35, and the dead zones of the direction sensors 10 and 11 are interlocked with the output value, that is, the sensor bars 10a and 11a do not come into contact with the culms between the culms. Based on this, the operating time of a delay timer (not shown) connected to the switches LR and RL is adjusted. Further, the microcomputer 35 includes a ROM 36 and a RAM 37.
And a timer 39 are built-in, and further, the microcomputer 3
An output signal is output to the horn 50 from the 5 out port. Further, another output signal is output to the directional automatic pilot lamp 27 which lights up the directional automatic control to notify the directional automatic control. Further, another output signal is output to the rightward solenoid 42 that turns the combine 1 to the right, and another output signal is output to the leftward solenoid 43 that turns the combine 1 to the left.

Further, the flowchart shown in FIG. 6 will be described.

In step S13, it is determined whether the automatic direction control is on or off by turning the automatic direction switch 26 on or off. If the automatic direction control is off, the automatic direction pilot lamp 27 is turned off by the route d, and the microcomputer 35 of the microcomputer 35 is turned off. RA
The memories TH and TM in M37 are cleared, the rightward solenoid 42 and the leftward solenoid 43 are turned off, and the energization of the solenoids 42, 43 is stopped. In the ON state, that is, in the direction automatic control state, the direction automatic pilot lamp 27 is turned on, and the process proceeds to the next step S14.

In step S14, it is determined whether or not the grain culms are in contact with the sensor bar 10a by turning on / off the switch LR of the leftward direction sensor 10, that is, whether or not the grain bar is in the cutting state.
The flag is set to 1 by the route e when it is in contact with the grain culm and is in the cutting state, and when it is not in contact with the grain culm and in the cutting state, the process proceeds to the next step S15.

In step S15, it is determined whether the side clutch lever switches 45 and 46 are on / off, that is, whether the automatic direction control or the manual operation is performed. If the side clutch lever switches 45 and 46 are off, the flag is set to 0 by the route f. Can be advanced.

In step S16, it is determined whether the flag is 0 or 1,
Flag 0, that is, side clutch lever switches 45, 4
When 6 is off and is in the manual operation state, or when the grain culm is not in contact with the sensor bar 10a and is not in the cutting state, the route d
As a result, the solenoids 42 and 43 are turned off, and the flag 1 (that is, the sensor bar 10a) is in contact with the grain culm and is in the cutting state
If the side clutch lever switches 45 and 46 are on and in the automatic direction control state, it is determined by the trimming / horizontal trimming determination (not described in this embodiment).
Proceed to 17.

In step S17, it is determined whether or not the switch LR of the leftward sensor 10 is turned on / off. If the switch LR is turned on, a delay timer that operates in association with the value of the potentiometer 47 is activated by the route g, and after a predetermined delay time corresponding to the vehicle speed has elapsed. The rightward solenoid 42 is turned on and the process proceeds to step S18.

In step S18, the RAM 37 in the microcomputer 35
The memory TH is cleared and the process proceeds to step S19.

In step S19, the elapsed time TM from when the solenoid 42 is turned on is integrated by the timer 39 in the microcomputer 35, and the process proceeds to step S20.

In step S20, the elapsed time TM is RO
Although it is compared with the set time M stored in M36, the set time M is set to a time length that cannot occur in normal control. When the elapsed time TM is longer than the set time M (TM> M), the solenoids 42 and 43 are turned off by the path d, and when the same or smaller (TM ≦ M).
M) is returned to step S13.

In step S17, if the switch LR of the leftward sensor 10 is off, it is determined whether the switch LL is on or off by the route h, and if it is off, the solenoids 42 and 43 are turned off by the route d. If it is turned on, the left solenoid 43 is turned on, and the process proceeds to step S21.

In step S21, the RAM 37 in the microcomputer 35
The memory TM is cleared and the process proceeds to step S22.

In step S22, the elapsed time TH from when the solenoid 43 is turned on is integrated by the timer 39 in the microcomputer 35, and the process proceeds to step S23.

In step S23, the elapsed time TH is previously RO
Although it is compared with the set time H stored in M36, the set time H is set to a time length that cannot occur in normal control. When the elapsed time TH is longer than the set time H (TH> H), the solenoids 42 and 43 are turned off by the path d, and when the same or smaller (TH≤H).
H) is returned to step S13.

When it is determined by the line-cutting / horizontal-cutting determination subroutine that horizontal cutting is performed, the process proceeds to step S24.

In step S24, it is determined whether the switch RL of the right direction sensor 11 is on or off. If the switch RL is on, the delay timer operates by the path i, and after a predetermined time has elapsed, the left direction solenoid 43 is turned on by the path h, and steps S21, S are performed.
Proceed to 23. When the switch RL is off,
It proceeds to step S25.

In step S25, it is determined whether the switch RR of the right direction sensor 11 is on or off. If the switch RR is on, the right direction solenoid 42 is turned on by the path g, and step S1
When the switch RR is off, the solenoids 42 and 43 are turned off by the path d.

Subsequently, in the direction control of this embodiment, the left direction sensor 1
When the operator unknowingly touches the sensor bar 10a of 0 and the switch LR is turned off once, the solenoid 4
2, 43 will be described.

In a state where the combine 1 is stopped with the direction automatic switch 26 turned on, an operator mistakenly operates the sensor bar 1
When touching 0a, the switch LR of the leftward sensor 10 is turned off.
Since 5, 46 are in the ON state, the flag of the RAM 37 becomes 1. Furthermore, it is determined by the subroutine of the line-cutting and horizontal-line cutting subroutine that line cutting has been performed, and at this time, the sensor bar 10a has already returned to the original standing state, so the switch LR is on, and therefore the route g is passed. The rightward solenoid 42 is turned on after the lapse of the set time of the delay timer. Then, the memory TH of the RAM 37 is cleared, and the elapsed time TM after the right solenoid 42 is turned on is the timer 39.
And the elapsed time TM is compared with the set time M stored in the ROM 37. And the elapsed time T
When M becomes larger than the set time, the solenoid 42 is turned off by the path d, the energization of the solenoid 42 is stopped, and the state is maintained.

When the combiner is driven again, the sensor bar 10a of the leftward direction sensor 10 comes into contact with the grain culm, and the switch LR is turned off, the elapsed time TM is cleared via the route h or d, and the stop of energization of the solenoid 42 is eliminated. It

In this embodiment, the protection of the solenoids 42 and 43 in the direction control is described, but the present invention can be applied to a control device using a solenoid such as a cutting height position control, and further, such as a tractor and a rice transplanter. Needless to say, the present invention can be applied to a control device for a similar work vehicle.

(G) Effect of the Invention As described above, according to the present invention, the sensors 15, 1
When the control unit continuously outputs the operation signal to the actuators 13, 42, 43 in excess of the set value on the basis of the signals from 6, 10, 11, even though the operation signals are continuously output, the actuator 13, Since the output signals to 42 and 43 are stopped, for example, in the combine 1, an operator touches the sensor bar 10a of the leftward direction sensor 10 to turn off the switch LR once, or near the headland. The pre-processing unit 7 is lifted and mowed, and the extremely short culm based on high cutting is conveyed to the handling depth adjusting carrier 12 and the main switch 2
It often happens that the control unit continues to output the operation signal to the actuator in a state where no trouble occurs in the control device, such as when the tip sensor 16 is continuously turned off with 0 being turned on. In such a case, the actuator is It is possible to prevent continuous energization of the actuator, and to reliably prevent accidents such as heat generation and burnout of the actuator.

Further, when the control unit outputs a stop signal to the actuator based on the signal from the sensor, or the control unit outputs an operation signal for operating the actuator in a direction different from the operation signal to the actuator based on the signal from the sensor. In this case, since the reset means for clearing the integration of the measuring means is provided, for example, when the control unit continues to output the operation signal based on the direction sensor and the output signal to the actuator 42 is stopped, the combine is driven again, Left direction sensor 1
When the sensor bar 10a of 0 is brought into contact with the culm and the switch LR is turned off, the automatic direction control is automatically restarted, and the control unit continues to output the operation signal based on the signal of the sensor 16 by the extremely short culm and the actuator 13 When the output signal to the is stopped, after turning the headland of the combine, when a new cutting grain culm is supplied to the handling depth adjusting carrier 12 and the tip of the grain touches the sensor 16, the handling depth is automatically adjusted. When the control is restarted, even if the operation of the actuator is stopped by the output stop means, it can be automatically reset by returning to the automatic control state by continuing the work. There is no need to perform troublesome operations such as switch on / off operation, and the operator can continue the work by automatic control continuously without being confused by the stop of the actuator.

Further, since protection and cancellation can be realized by the processing of the control unit 35, no special parts are required for protecting the actuators 13, 42, 43, and there is no cost increase. Further, since the set time for stopping the energization of the actuators 13, 42, 43 is set to a time that is impossible during the normal control, the protection device can be configured without affecting the normal control.

[Brief description of drawings]

1 is a functional block diagram showing the present invention, FIG. 2 is a plan view of a combine to which the present invention is applied, FIG. 3 is a control block diagram showing an embodiment of the present invention, FIG. 4 is a flowchart thereof. FIG. 5 is a control block diagram showing another embodiment of the present invention, and FIG. 6 is a flowchart thereof. 1 ... Combine, 10, 11, 15, 16 ... Sensor, 13, 42, 43 ... Actuator, 35 ... Control unit (microcomputer), 36 ... Storage means (ROM), 39 ...
... Measuring means (timer)

Claims (1)

[Claims] 1. A control device comprising a sensor and an actuator, wherein a control section outputs an operation signal and a stop signal to the actuator based on a signal from the sensor, wherein the control section outputs the operation signal to the actuator. Based on this, the measuring means for counting up and integrating during the output of the operation signal, the storing means for storing a preset value, the measured value by the measuring means and the set value by the storing means are compared. When the measured value exceeds a set value, output stopping means for outputting a stop signal to the actuator, and the control unit outputs a stop signal to the actuator based on a signal from the sensor, or the control unit An operation signal for operating the actuator in a different direction from the operation signal is output to the actuator based on a signal from the sensor. In this case, an actuator protection device comprising: resetting means for clearing the integration of the measuring means.