JPS626608A - Automatic handling depth control device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION (A) Field of the Invention The present invention relates to a processing depth control device for automatically adjusting the processing depth of grain culms in a combine harvester or an automatic threshing device.

(B) Background of the Invention Conventionally, the handling depth of grain culms has been controlled by detecting the tip of the grain culm with a plurality of sensors installed in the grain culm insertion port of the handling room, and sensing by turning these sensors OFF and ON. It was provided to adjust the vertical position of the vertical conveyance of grain culms.

Moreover, the above-mentioned adjustment is performed when the handling depth is outside the appropriate range.
Until the handling depth falls within the appropriate range, continuous control is performed to continuously move the vertical conveyance, and once the handling depth falls within the appropriate range, pulse control is performed thereafter to add intermittent minute movements.

For this purpose, for example, when an extremely short culm or an extremely long culm is transported during the above-mentioned pulse control and the sensor detects this,
Since there is a limit to the detection accuracy of the sensor, there will be a control delay when switching to continuous control, and if the pulse width of pulse control is set wide to eliminate the control delay, hunting will occur, making it difficult to handle properly. The problem was that the depth could not be adjusted.

C→Purpose of the Invention This invention sets the handling depth of grain culms at angles in an appropriate range, -secondary adjustment range, and second-order adjustment range, and when the handling depth of grain culms is in the second-order adjustment range, - By adjusting and controlling the handling depth adjusting device at the second speed, which is faster than the first speed, when in the next adjustment range, control can be achieved against sudden changes in the conveyance of extremely short and extremely long culms. An object of the present invention is to provide an automatic handling depth control device that can quickly adjust the handling depth without causing any delay.

2) Summary of the Invention This invention sets the handling depth of grain culms in an appropriate range, a primary adjustment range before and after this appropriate range, and a secondary adjustment range between these stages, and detects the handling depth. When the detection signal of the device indicates an angle in the primary adjustment range, the handling depth is adjusted to the appropriate range side in the first speed, and when the detection signal in F4tI indicates an angle in the secondary adjustment range, the handling depth is adjusted in the first speed. It is characterized by an automatic handling depth control device that adjusts the handling depth at a faster second speed.

(e) Effect of the invention. According to Akira, the handling depth of grain stems is detected by the angular position with respect to the handling barrel, and when this handling depth indicates the angle of the secondary adjustment range, the adjustment speed of the -order adjustment range is faster than the first speed. Second
Since the handling depth adjustment device is controlled at a high speed, even if there is a sudden change in the supply of extremely short culms or extremely long culms during threshing of grain culms, the handling depth of these extremely short culms or extremely long culms can be controlled. In addition to accurately detecting the angular position, the depth can be quickly adjusted in the second speed, which has a faster adjustment speed, and the responsiveness of control can be improved.

Therefore, by quickly obtaining an appropriate handling depth, the amount left untreated is reduced, the removal load is reduced, and efficiency is improved.

(f) Examples of the invention An embodiment of the present invention will be described in detail below based on the drawings.

The drawings show an automatic handling depth control device, and in FIGS. 1 and 2, the handling barrel (1) is built in, for example, a threshing device mounted on a combine harvester.

The handling teeth (2) are implanted on the circumferential surface of the handling barrel (1) described above, and the handling teeth (2a) located immediately after the combing teeth corresponding to the insertion side of the grain culm are A load sensor (3) is attached.

That is, the above-mentioned handling tooth (2a) shows the load fluctuation most clearly, and the leg (4) on the rotation direction fYl side of the handling tooth (2a) The leg (4) on the rear side in the rotational direction ty+ is also fixed to the nut (5).
), but in this fixing, the flange (6
A load sensor (3) consisting of a pressure element is installed between the barrel and the barrel surface of the handling barrel (1), and this load sensor (3) detects the load applied to the handling teeth (2a) during threshing. Then, a signal (electronic line 81E) corresponding to the load is output.

Two rotating bodies (8) are mounted on the rotating shaft (7) of the aforementioned handling cylinder (1).
1 (91) is fixed, and these rotating bodies (81 (91) are provided with an angle detection sensor 01 and a position detection sensor 0υ.

The above-mentioned angle detection sensor Ql outputs a signal for each set rotation angle amount, and the position detection sensor αυ outputs a signal for each set rotation angle amount, and the position detection sensor αυ
), and outputs a detection signal when the load sensor (3) is at the uppermost position on the rotation circumference. Therefore, the rotational position of the load sensor (3) can be detected by counting the signal indicating the amount of rotation angle of the angle detection sensor α after the position detection sensor aυ outputs a signal.

Note that the wiring for the load sensor (3) is connected to the rotation axis (
This is done by sliding a brush into contact with 7).

Figure 3 shows a control circuit for adjusting the handling depth of grain culms, and the CPU (1'3 executes control operations according to the program stored in RCM Q3, and the RAM Q4) stores data and Perform reading.

Handling depth adjustment device (one is a device for adjusting the handling depth of the grain culm with respect to the handling cylinder (1), and is composed of, for example, a solenoid-operated hydraulic cylinder, and the adjustment is performed by applying pulse electricity to the solenoid. Two types of continuous control are set: low speed (first speed) pulse control controlled by continuous energization of the solenoid, and high speed (second speed) continuous control controlled by continuous energization of the solenoid. The handling depth is adjusted by adjusting the gripping position of the grain culm with respect to the feed chain αe stretched in front of the handling opening, and the inclination angle of the grain culm vertical conveyance provided at the front stage of the feed chain is adjusted.

In addition, handling depth adjustment device 0■ adjusts the inclination of grain culm vertical conveyance.
Since the configuration itself is well known, its details will be omitted.

As shown in Figure 4, the appropriate range for threshing is the range fXl, where the range with smaller angles (c) is shallow treatment, and the range with even smaller angles (a) is extremely shallow treatment. It is.

In addition, a range with a larger number of angles (β
) is a deep treatment, and the range (b) with a larger angle is an extremely deep treatment.

Therefore, based on these ranges, the range (β) is set as the -order adjustment range, and the ranges (a) and (b) are set as the secondary adjustment range, and the adjustment operation from each range to the appropriate range 00 is -order adjustment range. The adjustment range (β) is set to low speed (first speed, pulse control), and the secondary adjustment ranges (a) and (b) are set to high speed (second speed, continuous control).

The handling depth of the grain culm can be detected by differentiating the output signal of the load sensor (3) using a differential circuit, as shown in Fig. 5, to obtain the maximum point of pressure applied to the handling tooth (2a). The position of the handling tooth (2a) that outputs this maximum load is
It can be detected as an angle by the angle detection sensor α1 and the position detection sensor αD.

The operation of the automatic handling depth control device configured in this way is explained in the sixth section.
This will be explained with reference to the flowchart shown in the figure.

In the first step Qυ, the CPU Q3 controls each sensor (3) α[
The output signal αυ is read out, and in the second step (c), the angle value θ at the maximum load output by the load sensor (3) is calculated based on the outputs of the angle detection sensor 01 and the position detection sensor αυ.

In the third step (c), each range (X) ((1) (β)
The angle values corresponding to (a) and (b) are read from RAM (14).

That is, the phantom Wa4 has angle values corresponding to the upper and lower limits and intermediate reference positions within the appropriate range, and the upper and lower limits of the primary and secondary adjustment ranges (β) (a) and (b). The angle values of CPU a
'a.

4th nutep c! Then, the already calculated angle value of the maximum load position (within the above-mentioned appropriate range) is compared.

When it is determined that the suitability range tXl is reached by this comparison,
Since there is no need to adjust the handling depth, step 17 c! t+
However, if it is not within the appropriate range tXl, the following adjustment of the handling depth is performed.

θ〈a: Continuous control in the direction of deep treatment a≦θ〈α: Pulse control in the direction of deep treatment In the fifth step (c) of continuous control in the direction of
In addition, when it is determined that the angle is smaller than this range (a), in the sixth step (a), the CPU (12) calculates the degree of deviation from the reference position angle within the appropriate range as an angle value, Furthermore, using this calculation result as a correction angle value, calculate the time required to correct this value with continuous control high-speed adjustment, and during the correction time determined by this, the handling depth adjustment device (I!9) is Continuous control in the handling direction.

Based on the control of the CPU Q2, the above-mentioned handling depth adjustment device α9 continuously adjusts the grain culm vertical conveyance during the set correction time so that the grain culm supply position to the feed chain αe is in the deep handling direction. Adjust so that the handling position falls within the appropriate range tXl.

In the seventh nutep (5), the above-mentioned first. Second step C7
In the same process as described in 11 (c), the current handling depth angle value θ is calculated, and in the eighth step, the current handling depth angle value θ is compared with the appropriate range tXl, Appropriate range +Xl
If the depth is not within the appropriate range, the process returns to step 6 (a) and the depth of treatment is continuously adjusted until it falls within the appropriate range.

If it is determined at the 9th step (to) that the primary adjustment range (3) for shallow handling is reached, at the 10th step (7), the CP
UQ2 calculates the deviation from the reference position angle within the appropriate range as a correction angle value, further calculates the time required to correct this with low speed adjustment of pulse control, and during the correction time determined by this, Handling depth adjustment device (pulse control of IQ in the direction of deep handling.

The above-mentioned handling depth adjustment device @a! 9 adjusts the grain culm vertical conveyance at a low speed of pulse control during the correction time set in the deep handling direction so as to fall within the appropriate range (Xl).

In this case, whether or not the suitability range tXl has been entered is determined by the fourth nutep Q4J based on the return of the process, and the first
When it is determined that the first adjustment range (β) for deep handling is reached at 1 step Oυ, in the 12th step 02, the CPUQ calculates the correction angle value and the correction time by pulse control in the same manner as described above, and adjusts the depth of handling. Pulse control the depth adjustment device α in the direction of shallow handling.

In this case as well, whether or not it falls within the appropriate range is determined by the return of the process in the fourth step c! 41 is determined.

When the judgment is No in the 11th step αυ mentioned above, the secondary adjustment range (b) of extremely deep treatment or this range (b
), if the angle of handling depth is larger than that, the process moves to the 13th step (end).

In the 13th step (to), the CPU Q processes in the same manner as in the above-mentioned 6th step (c), calculates the correction angle value and the correction time by continuous control, and sets the handling depth adjustment device a5 to shallow handling. Continuous control in the direction.

In the 14th step (b), the CPU (121d mentioned above)
In the same process as step ■, the angle value of the current handling depth (ω
is calculated, and in the 15th step c351, the appropriate range fXl
13th, 1st until entering the suitability range IXI.
4 steps c! The processing at 3041 is repeated and the processing depth is adjusted by high-speed continuous control.

In the above embodiment, when the handling depth is extremely shallow or extremely deep, the handling depth is adjusted by high-speed continuous control, so the handling depth is adjusted by supplying extremely short culms or extremely long culms. This prevents control delays even if the temperature suddenly changes.

In the above embodiment, the load sensor (3) is provided on the treatment tooth (2a) immediately after the treatment tooth, but it can also be provided on other treatment teeth, such as the treatment tooth, the reinforcement tooth, the straight tooth, etc. It is also possible to provide a load sensor on the barrel surface of the handling cylinder (1) independently from the handling teeth.

Moreover, it is also possible to provide a plurality of load sensors (3), and in this case, each of these load sensors can detect the maximum load position by detecting the rotational position with the position detection sensor aυ.

Furthermore, although the load sensor (3) is constructed from a pressure element, it can be constructed from other switches or sensors.

In terms of the correspondence between the configurations of this invention and the embodiments described above, the handling depth detection device of the invention corresponds to the device composed of the load sensor (3), angle detection sensor α [, and position detection sensor αυ] of the embodiment. , and hereinafter, similarly, the handling depth adjustment device corresponds to the device αQ with the same name, and the control means is the fifth one of the CPU a2.
Although the present invention corresponds to the processing of steps 1 to 15, the present invention is not limited to the configuration of the embodiment.

[Brief explanation of drawings]

The drawings show one embodiment of the invention, and FIG. 1 is a front view of the handling cylinder;
Figure 2 is a side view of the handling tooth, Figure 3 is a control circuit block diagram,
FIG. 4 is an explanatory diagram showing the handling depth, FIG. 5 is a characteristic diagram of the load sensor, and FIG. 6 is a flow chart. (3) Load sensor α0 Angle IUtl
Sensor αυ...Position detection sensor, a side...CPU
1α9... handling depth adjustment device.

Claims (1)

[Claims] 1. A handling depth detection device that detects the handling depth of grain culms in terms of angle;
A handling depth adjustment device for adjusting the handling depth of grain culms, an appropriate range of handling depth of grain culms, a primary adjustment range before and after this appropriate range, and a secondary adjustment range between these stages. When the detection signal of the handling depth detection device is in the primary adjustment range for shallow handling or deep handling, the handling depth is adjusted in the first speed to adjust the handling depth to the appropriate range side. When the detection signal of the handling depth detection device is in the secondary adjustment range of shallow handling or deep handling, the handling depth is adjusted to the appropriate range side in a second speed faster than the first speed. An automatic handling depth control device comprising control means for controlling a handling depth adjustment device to adjust the handling depth.