JPH0725A - Combine depth control method - Google Patents

Abstract

(57) [Summary] [Purpose] To control the adjusting speed for adjusting the handling depth of grain culms according to the state of the work load of the combine. [Structure] By a handling depth control device 2 for outputting and controlling the handling depth of a grain culm according to a detection value of a handling depth sensor 1,
When the number of revolutions of the engine 3 drops from the rated value,
A configuration in which the initial pulse output form is changed when the load is high such as when the opening of the throttle 4 is close to full opening.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a handle depth control system for combine harvesters, which uses an output from a handle depth control device.
It can be used for things such as controlling the handling depth of the grain culm supplied to the threshing device.

[0002]

In a combine operation, grain culms cut by a cutting blade portion are conveyed and supplied to a rear threshing inlet portion by a conveying portion to perform threshing. However, the feeding position of the grain culm to be supplied to the threshing inlet, that is, the depth / shallow state of the tip of the grain culm with respect to the threshing inlet, is adjusted in the transport section that conveys the grain culms from the reaper to the threshing unit. A handling depth adjusting mechanism is provided, and this handling depth adjusting mechanism uses the detection value of the handling depth sensor arranged at the threshing entrance and the handling depth control device for adjusting control based on this detection value. When the supply position is too deep, output is made to the shallow side and when it is too shallow, the output is made to the deep side, for example, to operate the motor etc. and always return to the standard position located between the deep and shallow positions. like And performs the section control.

The handling depth adjusting mechanism operated by this motor or the like has recently been operated when the value detected by the handling depth sensor is too deep or too shallow, that is, when a non-standard position is detected. In order to return this to the standard position, a pulse output is performed several times in the initial stage, and when it still does not return to the standard position, there is a method of continuously outputting the pulse. However, in such a system, when the combine work load becomes high and the engine speed drops below the rated value or the throttle opening is close to full opening, the initial pulse Since the output form is fixed at a constant return speed that can be applied during normal working conditions, the adjustment effect of the handling depth adjustment mechanism is delayed, and load fluctuations become large due to improper handling depth position, and sudden changes occur. Such changes in the engine speed may hinder the combine operation.

Therefore, the present invention controls the handling depth adjusting mechanism of the grain culm by the output from the handling depth adjusting device, and the form of the initial pulse output is changed according to the state of the work load to control the handling depth. It is intended to control the adjustment speed of the adjustment.

[0005]

The present invention has a handling depth sensor 1 for detecting the position of a grain culm, and a handling depth control device 2 for controlling the handling depth of a grain culm by the output from this detection. In the combine, when the number of revolutions of the engine 3 drops below the rated value or when the opening of the throttle 4 is close to full opening, the configuration of the combine handling depth control method is characterized in that the form of the initial pulse output is changed. And

[0006]

According to the above construction, in the combine operation, the harvested grain culm is conveyed and supplied to the threshing inlet by the reaping / conveying unit, and the position of the ear of the grain culm thus conveyed and detected is detected. In a possible state, for example, when both the tip side and the root side are detected (ON) by the handling depth sensor 1 provided at the threshing inlet part, which is separated into the head side and the root side of the head, If the supply position is too deep, and if the tip side and the root side are both non-detected (OFF), the supply position is too shallow. When detected, the handling depth control device 2 outputs a pulse several times in the initial stage, and the tip side does not detect the spikes (OFF).
Then, the stock side returns to the standard position where the head is detected (ON), and if it is still unable to return, it is continuously output.

When returning from the non-standard position to the standard position, when the work load becomes high, the rotational speed of the engine 3 drops below the rated value, or the opening degree of the throttle 4 is close to full opening. Makes it possible to change the shape of the initial pulse output so that the response to return from the non-standard position to the standard position is as fast as possible. As described above, when the cutting depth sensor 1 detects (ON) a nonstandard position such as an excessive depth when the cutting culm is conveyed and supplied to the threshing device, the cutting depth control device initially performs appropriate number of pulses. The output is made to return to the standard position. At this time, when the work load is high, the rotation speed of the engine 3 drops below the rated value, or when the opening degree of the throttle 4 is close to full opening,
By changing the form of the initial pulse output and accelerating the response to return from the non-standard position to the standard position, stable work with little load fluctuations and engine speed changes can be performed by always adjusting the depth of the handle appropriately. Can be done.

[0008]

The embodiments of the present invention will be described in detail with reference to the drawings. A traveling device 7 having a pair of left and right traveling crawlers 6 traveling on the soil surface is arranged on the lower side of the vehicle stand 5 of the combine, and the grain culms supplied by being sandwiched between the feed chains 8 are threshed on the vehicle stand 5. A threshing device 9 for selecting and collecting the threshed grains is placed. In addition, a mowing device 10 that cuts a napped culm to the front side of the threshing device 9 and that changes the shavings to a sideways posture while transferring the culm to the rear side and transfers it to the feed chain 8, It is mounted on the front end of the chassis 5 so that it can be moved up and down with respect to the soil surface. In addition, an operating device 11 for controlling the operation of the combine and an operating seat 12 for this operation are provided on one side of the harvesting device 10 and the threshing device 9, and the parts of the combine are provided below the operating seat 12. The engine 3 for supplying power is arranged, and the throttle lever 13 for operating the throttle 4 for controlling the engine 3 is provided on the panel 1 of the operating device 11.
4, the traveling device 7, the threshing device 9, the cutting device 1
0, the operating device 11 and the like constitute a combine body 15.

The cutting device 10 has a grass body 16 for weeding a napped culm from the front end side, a raising section 17 for raising the culm culled by the grazing body 16, and a raising section 17 for raising the culm. A scraping portion 18 for scraping the cut grain culm is provided, and a cutting blade portion 19 for cutting the grain stalk is provided below the scraping portion 18. Further, on the rear side of the scraping section 18, a cutting tip conveying section 20 that holds and conveys the tip side of the grain culm, and a plant origin conveying section 21 that nips and conveys the plant side side of the grain culm are arranged vertically, respectively. The feed unit 22 is arranged at a position where the feed chain 8 can take over the grain culm, and the front end side is vertically swung with the vicinity of the rear end portion as a fulcrum, and is fed to the threshing device 9. It is constructed so that the handling depth of the culm can be adjusted.

A grain culm sensor front 23 and a grain culm sensor rear 24 for detecting the presence or absence of transported grain culms are arranged in the grain culm transport passages of the scraping section 18 and the stock source transporting section 21, respectively, and the cutting transport section is provided. A motor 25 for vertically swinging the front end side of 22 is provided below the vicinity of the rear side of the stock carrier transport section 21 via a swing arm 26, and a threshing inlet section 27 of the threshing device 9 is provided.
The handling depth sensor 1 for detecting the position of the ear of the grain culm conveyed and supplied in the vicinity is provided at a position where the tip end side of the ear can be detected, and at the tip side sensor 1a and a position where the head side of the ear can be detected. The stocking side sensor 1b is arranged separately, and the handling depth adjusting mechanism R is constituted by the handling depth sensor 1, the mowing and conveying section 22, the motor 25, and the like.

The throttle lever 13 and the throttle 4 portion of the engine 3 are connected by a wire 28, and a position sensor 29 for detecting the opening of the throttle 4 by operating the throttle lever 13 is provided near the throttle lever 13. An engine rotation sensor 30 for detecting the engine speed is provided at an arbitrary position of the engine 3 so as to be configured.

A handling depth automatic switch 31 for automatically operating the handling depth adjusting mechanism R and a handling depth manual switch 32 for manually operating the handling depth adjusting mechanism R are provided near the panel 14. At the same time, the motor 25 of the handling depth adjusting mechanism R is driven to each of the deep direction driving relay 33 and the shallow driving side for driving the motor 25 of the grain culm supplied to the threshing inlet portion 27 to the side of deepening the depth of handling and the side of making shallow. The direction drive relay 34 is provided at an arbitrary position of the machine body 15 and configured.

A handling depth control device 2 for arranging the CPU in the center and controlling the handling depth adjusting mechanism R by calculation is provided around the operating device 11, and the input side of the handling depth control device 2 is provided. To the tip side sensor 1a, the stocker side sensor 1b, the grain culm sensor front 23, the grain culm sensor rear 24, the position sensor 29, the engine rotation sensor 30, the handling depth automatic switch 31 and the like, respectively. In addition to connecting, connect the deep drive relay 33 and the shallow drive relay 34 to the output side,
A control circuit is constructed by connecting a handle depth manual switch 32 to this circuit.

Next, the operation of the above configuration will be described. When the engine 3 is started, the machine body 15 is moved forward to perform the mowing work. In this mowing work, the napped culms are sown by the weed body 16, and the slaughtered culms are raised by the raising section 17 and then The grain culm cut by the cutting blade unit 19 is scraped and conveyed by the scraping unit 18, and the grain culm that has been scraped and conveyed is taken over by the cutting and conveying unit 22, and the stock source conveying unit 21 of the cutting and conveying unit 22 is used. It is conveyed to the rear by being sandwiched and held by the tip conveying unit 20, and is taken over by the feed chain 8 and supplied to the threshing inlet 27.

The grain culm is cut from the scraping section 18 to the cutting and conveying section 2
When the automatic handling depth switch 31 is ON and the grain culm sensor front 23 located in the scraping section 18 and the grain culm sensor rear 24 located in the mowing and transporting section 22 are ON when handing over to 2, In order to operate the depth adjusting mechanism R, the threshing inlet 27
Tip-side sensor 1a and stock-side sensor 1b arranged in the vicinity
With the handling depth sensor 1 consisting of
The position of the handling depth of the grain culm supplied to is detected, and the detected value is transmitted to the handling depth control device 2 to be calculated.

According to the calculation of the handling depth control device 2, when both the tip side sensor 1a and the stock side sensor 1b are OFF, it is judged that the supplied grain culm is in a non-standard position on the side which is too shallow, The motor 25 is driven by the output of the deep drive relay 33.
Is driven to adjust the feed grain culm in the deep direction, and the cutting and conveying unit 22 is controlled to descend and swing so as to return to the standard position where the tip side sensor 1a is OFF and the stock side sensor 1b is ON.

When both the tip side sensor 1a and the stock side sensor 1b are ON, it is judged that the supplied grain culm is in a non-standard position on the side that is too deep, and the output from the shallow drive relay 34 The cutting and conveying section 22 is driven so as to drive the motor 25 to adjust the supplied grain culm in the shallow direction and return to the standard position in which the tip side sensor 1a is OFF and the stock side sensor is ON.
Control to raise and swing.

When such automatic handling depth control by the handling depth adjusting mechanism R is performed, as shown in the flow chart of FIG. 6, the tip side sensor 1a and the stock side sensor 1 are shown.
When setting the shallow direction output when both b are ON, the output is made several times by the pulse at the beginning of this output, and the continuous output is made continuously only when the adjustment by the pulse output is insufficient. .

However, during such pulse output, when the opening degree of the throttle 4 detected by the position sensor 29 or the engine rotation sensor 30 is close to full opening (for example, 90% or more), or less than that. Even at a high load where the engine speed drops below the rated value, unless the handling depth of the supply grain culm at the threshing inlet 27 is adjusted quickly, the engine speed will drop more and more for work. It may cause trouble.

Therefore, as shown in the output time chart of FIG. 7, the output pattern of the initial pulse section in the normal state is N1 by T1 (0.4 seconds) at the ON time and T2 (0.6 seconds) at the OFF time. What is output by (3 pulses) is the above-mentioned depth control device 2 under high load condition.
To change the form of pulse output to T
3 (0.2 seconds), T4 (0.3 seconds) during OFF time
Output with N2 (3 pulses).
By adjusting the handling depth by changing the output form that shortens the pulse output to half the time, if the return to the standard position is still insufficient even after such three pulse outputs, by taking over to the continuous output, It is possible to perform stable work by minimizing the drop in engine speed at high load due to delay in adjustment.

When both the tip side sensor 1a and the stock side sensor 1b are OFF, the output is set in the depth direction and the outputs are output until the standard position can be restored. Further, when the tip side sensor 1a is OFF and the stock origin side sensor 1b is ON, the standard position is secured, so the output set is reset in both the deep direction and the shallow direction. The pulse output is turned on.
The holding time of the time or the OFF time and the number of outputs are not limited to those in the above-described embodiment, and as shown in the output time chart of FIG. 8, the output pattern in the initial pulse section is set to the number of pulse outputs for both normal and high load. With the same time, change the output form so that the ON time is longer on the high load T2 side than the normal T1 and the OFF time is shorter on the high load T4 side than the normal T3. Good.

Further, as shown in the output time chart of FIG. 9, the output pattern in the initial pulse section has the same ON time and OFF time both in the normal time and the high load, and the pulse number is 3 in the normal time. When the load is applied, it may be changed to an output form that shortens the time only once by setting a timer. Further, as shown in the output time chart of FIG. 10, the output pattern of the initial pulse section is set so that the ON time T2 at the time of high load is about half the ON time T1 at the normal time, and the OFF time T3 at the normal time is set. By reducing the OFF time T4 at a higher load to about half, the output can be adjusted finely so that the number of pulses can be 3 during normal operation and 6 during high load within the same pulse output time. You may change it.

Further, as shown in the output time chart of FIG. 11, the output pattern in the initial pulse section has an ON delay time W1 in the normal state after the handling depth sensor 1 is turned ON, and is turned ON in the high load state. Delay time W2
By setting the length as described above, the output depth may be changed to an output form in which the sensitivity is increased by shortening the time until the depth sensor 1 detects too deep and starts the output in the shallow direction.

In addition, the pulse output form may be freely changed as necessary.

[Brief description of drawings]

FIG. 1 is a side view showing the entire combine.

FIG. 2 is a plan view showing the whole of the combine by partially omitting it.

FIG. 3 is a schematic side view showing a combine harvester device relationship.

FIG. 4 is a schematic side view showing an engine relationship of the combine.

FIG. 5 is a schematic wiring diagram showing a control circuit for adjusting the handling depth of the combine.

FIG. 6 is a flowchart showing a control procedure for adjusting the handling depth of the combine.

FIG. 7 is an output time chart showing a form of combine pulse output.

FIG. 8 is an output time chart showing a form of combine pulse output.

FIG. 9 is an output time chart showing a form of combine pulse output.

FIG. 10 is an output time chart showing the form of combine pulse output.

FIG. 11 is an output time chart showing a form of combine pulse output.

[Explanation of symbols]

 1 Handle depth sensor 2 Handle depth control device 3 Engine 4 Throttle

Claims (1)

[Claims] 1. A handling depth sensor 1 for detecting the position of a grain culm.
And, in the combine having the handling depth control device 2 for controlling the handling depth of the grain culm by the output of this detection, when the rotation speed of the engine 3 drops from the rated value or the opening degree of the throttle 4 is fully opened. When it is close, the combine depth control method is characterized by changing the form of the initial pulse output.