JPS6283819A - Handling depth control device for reaping harvester - 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] [Industrial Application Field] The present invention is provided with a culm length detection sensor that detects the culm length of a stem culm, and the tip of the harvested stem culm introduced into a threshing device is positioned at an appropriate handling depth. The present invention relates to a handling depth control device for a reaping/harvesting machine, comprising a handling depth control means for controlling the handling depth based on the result of culm length detection by the culm length detection sensor so that the culm length is at the desired position.

[Conventional technology]

In this kind of handling depth control device described above, during the conveying route of the cut stem culm to the threshing device, for example, the cut stem culm is placed in the conveying device portion that clamps and conveys the cut stem culm in the reaping section to the threshing device. 0N that corresponds to the length of the reaped stem culm by contacting the tip of the ear.
A contact-type culm length detection sensor that outputs a 10FF signal is provided, and based on the culm length detection result by this culm length detection sensor,
By changing and adjusting the transfer position of the stem culm receiver from the reaping section to the conveying device, the tip position of the stem culm introduced into the threshing device via this conveying device is controlled so as to be at the appropriate handling depth position. This is what I did.

By the way, since there is variation in the length of the stem culm,
The culm length detection state of the culm length detection sensor changes intermittently. Therefore, if the handling depth is immediately controlled based on this intermittently changing culm length detection signal, it will follow temporary changes in culm length that do not require control or sensor malfunctions, and the actuator for adjusting the handling depth will operation becomes frequent and has a negative effect on the durability of the handling depth adjustment mechanism, so the handling depth control should not respond to short-term changes in the detection state of the culm length detection signal output from the culm length detection sensor. A signal delay means was provided for delaying the culm length detection signal for a predetermined period of time.

[Problems to be Solved by the Invention] However, if a signal delay means is provided to remove the temporary change in the culm length detection signal, the control response of the handling depth control based on the delayed culm length detection information will also be delayed. This resulted in a delay and had the disadvantage of poor control response.

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to effectively eliminate temporary changes in the culm length detection signal output from the culm length detection sensor, and improve the control response of depth control. The point is to avoid being late.

[Means for solving problems]

A characteristic configuration of the handling depth control device for a reaping harvester according to the present invention is that the change in the culm length detection state of the culm length detection sensor is in which direction, the operating required state or the stopped state of the handling depth control. means for determining the direction of change in the culm length detection state;
and the change direction determined by the change direction determining means so that the operation of the handling depth control is delayed when the culm length detection sensor changes from the stop state to the stop state than when it changes from the stop state to the stop state. The apparatus is provided with a delay means for delaying the response time of the handling depth control by the handling depth control means based on the determination result, and its functions and effects are as follows.

[For production]

That is, as shown in FIG. 1, the culm length detection sensor (S+) is
The delay means ( 102), the handling depth control means (101) controls the handling depth so that the operation of the handling depth control is delayed more when the stopped state changes to the activated state than when the activated activated state changes from the activated activated state to the stopped state. Actuator for adjusting the height (M)
This allows the activation delay time to be adjusted.

〔Effect of the invention〕

Therefore, when the culm length of the reaped stem culm changes and the culm length detection state of the culm length detection sensor changes from the stopped state to the operation required state,
The actuator is operated to change the current handling depth, but the control response is the control when the culm length detection state of the culm length detection sensor changes from the operation required state to the stopped state and the actuator stops operating. Since it lags behind the response, unnecessary control responses to temporary changes in culm length can be suppressed, and when the change persists, the handling depth is reliably adjusted. In addition, when the culm length detection state of the culm length output sensor changes from the operation required state to the stopped state and the actuator is stopped, the control response of the stop control is faster than when the actuator is operating. It is possible to prevent problems such as hunting caused by unnecessarily large handling depth changes.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Figure 4, a pair of left and right crawler traveling devices (1
) is equipped with a threshing device (2), a control section (
3), and a triggering device (
4), a reaping device (5), and a conveying device (5) that merges the reaped stem culms and conveys them to the conveying start end of the feed chain (6) of the threshing device (2) while holding the stock base of the reaped stem culms; 7
), the reaping section (8) constitutes a self-propelled combine harvester as a machine.

Further, as a means for detecting the start and stop of the reaping work and activating the handling depth control, there is provided a stock base sensor (0N10FF) which is introduced into the reaping section (8) and turns 0N10FF when it comes into contact with the base of the stem culm. So) is provided at the reaped stem culm confluence section of the reaping section (8).

As shown in FIG. 5, the conveying device (7) is configured to clamp and convey the stump base of the reaped stem culm (7a), and in cooperation with this stump clamping and conveying device (7a), the reaping is carried out. An ear-end locking and conveying device (7b) that transports and feeds the stem culm to the feed chain (6) while changing its posture to a sideways posture, a reaping stem culm clamping rail (7c), and a plurality of locking and conveying claws (7d).
a U-shaped connecting member (7f) that connects the reaped stalk culm clamping rail (7C) and the conveyor chain (7e) at the center of the reaped stalk culm transport path;
It is composed of a link mechanism (9) as an actuator and an electric motor (M) for vertically swinging the retransport devices (7a) and (7b) around a horizontal axis (P) near the end of the transport.

The handling depth of the harvested stem culm is determined by the feed chain (6
) is determined by the distance between the stem culm clamping position and the tip position,
The closer the stem culm is held to the plant base, the more deeply the stem culm will be handled. Therefore, by vertically swinging the conveying device (7) using the link mechanism (9) and the electric motor (M), the position of the stem culm to be held can be adjusted. The handling depth is adjusted by changing the gripping position of the stem culm conveyed to the feed chain (6).

In addition, at the point where the tip of the stem culm corresponding to the long culm and the tip of the stem culm corresponding to the short culm of the connecting member (7f) pass, there is a groove corresponding to the length of the stem culm passing through. Consists of a switch that turns on when it comes into contact with the tip, and turns "H" when the tip comes into contact.
Two contact-type culm length detection sensors (Sl), which detect the passage of long culms and short culms that output level ON signals, (s
z) is provided.

As shown in Fig. 2, the handling depth control is activated by the ON operation of the stock sensor (So), and the control device (12) outputs the output from the two culm length detection sensors (Sl) and (SZ). Each culm length detection signal (p,).

Based on the combination of shape B (“L” or “H”) in (P2), culm length is determined into three stages (long culm, suitable, short culm), and based on the culm length determination result, a culm is provided on the lower side. The electric motor (M
) is driven in forward and reverse rotation. In addition, in Figure 2, (SW
I) is an automatic/manual selection switch for depth control;
(13) is an alarm for notifying the operator of malfunction of the culm length detection sensor (So, (SZ)).

Next, the operation of the control device (12) that controls the handling depth by driving the electric motor (gate) in forward and reverse rotation will be explained based on the flowchart shown in FIG.

First, by determining whether or not the automatic/manual changeover switch (SW, ) for the handling depth control is ON, the handling depth control is changed to the automatic/manual changeover switch (SW, ) for the handling depth control.
I) is activated only when it is in automatic mode (step l11).

By the way, the reason why the handling depth control is not started/stopped immediately by the 0N10FF operation of the stock sensor (So) is that the stock sensor (So) is connected to the culm length detection sensor (Sl).
, (SZ) is installed on the upper side of the conveyance of the harvested stem culm, and the above-mentioned stock origin sensor (So) is also intermittently turned ON10FF by contact with the harvested stem culm, so it is temporary. It is designed not to respond to 0N10FF. or,
If the control is started immediately in response to the ON operation, the control will be started before the stem culm is transported to the culm length detection sensor (S, ), (sz) position. Therefore, the culm length detection sensors (S, ), (SZ) are in the same culm length detection state as the short culm detection, and there is a problem that they may erroneously operate toward the deep handling side. In addition, if the control is immediately stopped in response to the OFF operation of the stock sensor (So), the reaped stem culm remains in the conveyance path above the threshing device (2), so the conveyance is stopped. There is a wide area that causes blockage. Therefore, the response of the handling depth control is delayed for a predetermined period of time in response to the 0N10FF operation of the stock sensor (S,).

That is, after confirming that the changeover switch (SWI) is on the automatic side, the stock sensor (So) is turned ON.
Step #2) If the stock sensor (So) is OFF, it is determined that the reaping work is stopped and the stock stock flag indicating the work status is set to "0". ” (Step #3). Then, a stock delay time for delaying detection of a change in the stock sensor (So) from ON to OFF is initialized to a predetermined time (step #4). Then, it is determined whether or not the stock origin flag is set to "1", and it is determined whether or not the actual reaping work has started (step 115).
).

If the stock origin flag determined in step #5 is reset to "0", count down the stock origin delay time (step #6) and check whether the remaining time has reached zero. (Step!+7).

When the stock price delay time has been counted down to zero, the stock price flag is set to "1" (step #
8), an electric motor (
M) is stopped to complete the handling depth control (step #9).

On the other hand, the stock origin flag determined in step #5 is “
1", the step B1 described below
The two culm length detection sensors (S+) and (SZ
) starts handling depth control based on the culm length detection result.

First, it is determined whether the culm length detection signal (P2) of the culm length detection sensor (S2) on the short culm side is at "H" level or "L level" (Step #10), and then the culm length on the long culm side is determined. The culm length detection signal (Pl) from the detection sensor (S,) is H”
The length of the detected culm is determined by checking whether it is at the level or L'' level (Step #11. Step #12).

When the short culm side culm length detection signal (P2) is at the “L” level and the long culm side culm length detection signal (P,) is at the “L” level, the detected culm length is a short culm. If the long culm side culm length detection signal (p+) is at the “H” level, it means that the detected culm length is incorrect. The culm length data (X) is set to “1” (step #1
4).

On the other hand, when the short culm side culm length detection signal (P2) is at "H" level, the long culm side culm length detection signal (P,)
is at the "L" level, the detected culm length is determined to be the appropriate culm length, and the culm length data (X) is set to "2" (step #15), and the long culm side culm length detection signal (P, ) is “■
If the detected culm length is at the "1" level, it is determined that the detected culm length is a long culm, and the culm length data (x) is set to "3" (step #16).

Next, step #20 to step #12 will be described in detail later.
After checking whether the control state indicating the control state set in step #9 is "2" corresponding to the handling depth control stop state (step #17), the culm length data (X) is "2".
'JA1 'Al indicates which state it is in from 0" to "3".
(Step #18. Step #19).

Therefore, in step #10 to step #19, change direction determining means (1) for determining the change direction of the culm length detection state is used.
00).

When the control state is other than "2" and the culm length data (X) is "1" or "2", which is a control stop state, the motor (M) is operated to control the handling depth. Both the shallow side delay time (α) when changing to the shallow side and the deep side delay time (β) when changing the handling depth to the deep side are initialized in advance. Set each delay time in step #
20) The control state is set to the value of the culm length data (X) at that time (step #21).

Note that the delay times (α) and (β) are set so that β≧α in order to prevent overload during deep handling and to prevent leftovers during shallow handling.

The control state is “2”, and
If the culm length data (X) is "O", the shallow handling side delay time (α) is counted down (step #22), and it is checked whether the remaining time has become zero (step #2). 23). Then, when the shallow handling side delay time (α) becomes zero, the control state is set to the culm length data (X) at that point (step #24).
, this shallow side delay time (α) is initialized and set at the set time (step #25).

On the other hand, when the control state is "2",
In addition, when the culm length data (X) is "3", the deep handling side delay time (β) is counted down (step #26), and it is checked whether the remaining time has become zero ( step + $27).

When the deep handling side delay time (β) becomes zero, the control state is set to the culm length data (X) at that point (step #28), and then this deep handling side delay time (β) is set to zero.
) and set it to the set time (Step #29
).

Therefore, in step #20 to step #29, a delay means (102) for delaying the response time of handling depth control is provided.
It consists of:

Thereafter, it is determined which of the states "0" to "3" the control state is in (step #30).

That is, when the control state is "0", the motor (M) is operated to the deep handling side (step #31);
If it is “1” or “2”, stop it (step #3
4. step #32), if it is “3”,
Activate the shallow handling side (step #33).

Therefore, the stalk culm clamping position of the conveying device (7) is maintained such that the tip of the stalk is located between the two upper and lower culm length detection sensors (Sl), and the threshing device (8)
The handling depth is automatically adjusted appropriately regardless of the length of the reaped stem culm.

By the way, if the control state is other than "l",
That is, if the culm length detection sensors (Sl) and (Sz) are operating normally, the alarm (13) that is intended to notify sensor malfunction is stopped (Ste?-Jlt35).
), the alarm delay time for determining whether or not to activate the alarm (13) is initialized and set to a predetermined time (step #36), and the handling depth control is ended. That's how it is. On the other hand, when the control state is "1", that is, the culm length detection sensor (s + ).

(SZ) malfunctions, the alarm delay time set in the step 36 is counted down (Step #37), and it is checked whether the remaining time has become zero (Step #38). . When the alarm delay time becomes zero, the alarm (13) is activated to notify the operator that the culm length detection sensors (S, ), (SZ) are malfunctioning. Yes (step #39).

Therefore, when the alarm (13) is activated, the operator can know that, for example, a stem culm has attached to the culm length detection sensors (Sl) and (SZ) and that they have begun to malfunction.

As mentioned above, the alarm (13) does not operate until a predetermined period of time has elapsed from the time when the malfunction was detected, and when the culm length detection sensors (Sl) and (SZ) detect the culm length normally, Since the check for the passage of time is initialized, the alarm (13) will not be activated due to a temporary malfunction.

Therefore, Step #17 to Step #39 explained above
The handling depth control means (101) is configured by this process.

[Another example]

In the above embodiment, the culm length detection sensors (St), (Sz
) is provided on the connecting member (7r) of the conveyance device (7), but it may also be provided on the triggering device (4) of the reaping section (8), etc., and the conveyance path of the reaped stem culms is It can be placed anywhere inside.

Further, in the above embodiment, the case where two culm length detection sensors are provided is illustrated, but a larger number of sensors may be provided to detect the culm length in multiple stages.

Further, in the above embodiment, the delay time of the control response of the handling depth control is different between the deep handling side and the shallow handling side, but the delay time may be the same.

4 Description of the Drawings FIG. 1 is a block diagram showing the configuration of the present invention. 2 and subsequent figures show embodiments of the handling depth control device for a reaping and harvesting machine according to the present invention, FIG. 2 is a block diagram showing a schematic configuration of the handling depth control system, and FIG. 3 shows the operation of the control device. FIG. 4 is a front side view of the combine harvester, and FIG. 5 is a front view of main parts of the conveying device.

(S+), (sz)... Culm length detection sensor, (α
), (β)...Response time of handling depth control, (2
)... Threshing device, (100)... Means for determining the direction of change in culm length detection state, (101)...
treatment depth control means, (102)...delay means;

Claims (1)

[Claims] Culm length detection sensor (S_1), (S
_2), and so that the position of the tip of the harvested stem culm introduced into the threshing device (2) is at the appropriate handling depth position,
A handling depth control device for a reaping/harvesting machine, comprising a handling depth control means (101) for controlling handling depth based on culm length detection results by the culm length detection sensors (S_1) and (S_2), A means for determining the direction of change in the culm length detection state for determining whether the change in the culm length detection state of the detection sensors (S_1) and (S_2) is a change in the operating required state or the stopped state of the handling depth control ( 100), and the operation of the handling depth control is delayed more when the culm length detection sensors (S_1) and (S_2) change from the state where the operation is required to the state where the operation is required than when the state is changed from the state where the operation is required to the state where the operation is required. Delay means (102) for delaying the response times (α) and (β) of the handling depth control by the handling depth control means (101) based on the change direction determination result by the change direction determination means (100). The handling depth control device of the reaping harvester is equipped with.