JP3143328B2 - Threshing sorting controller - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention changes and adjusts a leak opening degree of an oscillating sorter for sorting processed products after threshing, and
The present invention relates to a threshing / sorting control device provided with a control means for changing and adjusting the blowing amount of a blowing means for blowing a sorting wind.

[0002]

2. Description of the Related Art In the above-described threshing / sorting control apparatus, the degree of leakage of a rocking sorter plate and the amount of air to be blown out are detected, for example, by the thickness of straw of a culm supplied to a threshing apparatus. Leakage of the oscillating sorter plate while controlling and adjusting to the target value set based on the supply amount information, and at the same time, with the operation amount set based on the layer thickness detection information of the processed material on the oscillating sorter plate The layer thickness of the processed material layer on the swinging sorting plate is too thin than the target layer thickness when controlling based on only the grain culm supply amount information by changing and adjusting the opening and the blowing amount of the sorting wind. Thick state
It is intended to avoid being controlled to be too thick or too thick. And, when the processed material layer is too thin than the target layer thickness, straw waste is mixed into the first object, and conversely, when the processed material layer is too thick than the target layer thickness, the third loss increases, and Problems such as damage to grains caused by excessive increase in the number of reductions were to be prevented as much as possible (for example,
See JP-A-5-328833.

[0003]

However, according to the above-mentioned prior art, since the target air flow rate of the sorting wind is directly set based on the supply amount of the grain culm and the thickness of the processed material layer, the swing sorting is not necessarily performed. There was a possibility that the flow rate was not adjusted to an appropriate value for the processed material leaking from the plate. In other words, in spite of the large amount of processed material leaking from the oscillating sorting plate in the state where the leak opening is open, if the sorting air volume is too small, the mixing of straw chips into the collected grains increases, If the amount of sorting air is too large, there is a possibility that grain loss due to out-of-machine release may increase, even though the amount of treated material leaking from the swinging sorting plate is small with the opening degree of the closing being closed.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to set a target air flow rate of a separation wind to an appropriate air flow rate state for a processing object leaking from a swing selection plate. Adjustment to overcome the disadvantages of the prior art.

[0005]

SUMMARY OF THE INVENTION A threshing / sorting control apparatus according to the present invention is directed to a blower means for changing and adjusting a leak opening degree of a swinging sorting plate for sorting a processed product after threshing and blowing a sorting wind. A control means for changing and adjusting the air blowing amount is provided, and the first characteristic configuration is that the control means comprises a layer thickness detecting means for detecting a layer thickness of a processed material on the swing sorting plate. Based on the information, the leakage opening of the swing sorting plate was changed and adjusted so that the layer thickness became the target layer thickness, and set in accordance with the leak opening of the swing sorting plate. The point is that the air blowing means is configured to be changed and adjusted so as to reach the target air blowing amount.

A second characteristic configuration is that a selection air volume changing means for changing the target air volume set based on a leak opening degree of the swing selection plate is provided.

A third characteristic configuration is that target layer thickness changing means for changing the target layer thickness is provided.

[0008]

According to the first feature of the present invention, the leakage opening of the swing sorting plate is changed and adjusted so that the layer thickness of the processed material on the swing sorting plate becomes the target layer thickness. The air blowing means of the selected air is changed and adjusted such that the air blowing amount of the selected air reaches the target air blowing amount set in accordance with the leakage opening degree of the swing selection plate whose change has been adjusted.

Further, according to the second characteristic configuration, the target air volume of the separation air set in accordance with the leakage opening of the swing selection plate adjusted and changed is changed by the selection air volume changing means. Then, the air blowing means of the selected air is changed and adjusted so as to have the changed target air blowing amount.

[0010] According to the third characteristic configuration, the target layer thickness of the processed material on the swing sorting plate is changed by the target layer thickness changing means, and the target material thickness of the processed material is changed. The leak opening of the swing sorting plate is changed and adjusted to be the layer thickness, and the target air volume set in accordance with the leak opening of the swing sorting plate whose change air volume is changed and adjusted as described above. The blowing means of the sorting wind is changed and adjusted so that

[0011]

According to the first characteristic configuration of the present invention, the target air volume of the sorting air is not directly set based on the cereal culm supply amount or the processed material layer thickness value as in the conventional case, but is changed. Since it is set according to the leakage opening degree of the moving separation plate, it is possible to maintain an appropriate air flow state for the processed material leaking from the oscillating separation plate, thereby Resolves problems with conventional technologies, such as an increase in the amount of straw waste mixed into collected grains when the sorting air volume is too small, and an increase in grain loss due to discharge outside the machine when the sorting air volume is too large for the amount of spilled material. I can do it.

Further, according to the second characteristic configuration, the target air flow rate of the separation wind set in accordance with the degree of opening of the swinging separation plate in accordance with the degree of leakage is determined by the operator or the like, for example, according to the crop condition. It is possible to change the selection air volume to a suitable one, thereby obtaining suitable means for implementing the first characteristic configuration.

Further, according to the third characteristic configuration, the target layer thickness of the processed material on the oscillating sorting plate is changed by the judgment of an operator or the like, for example, the target layer thickness is increased and the target grain is reduced. To achieve a higher sorting accuracy by reducing the mixing of straw waste, etc., or to achieve a higher sorting efficiency by reducing the target layer thickness and minimizing the loss due to external discharge of grains. Can be appropriately selected, and thus suitable means for implementing the first or second characteristic configuration can be obtained.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a combine threshing apparatus will be described below with reference to the drawings. As shown in FIGS. 2 to 4, the combine includes a pair of right and left crawler traveling devices 1, a threshing device 2, a control unit 3, a reaping unit 4, and the like.

The cutting unit 4 includes a weeding implement 5, a raising device 6 for raising planted grain culm, a cutting blade 7 for cutting the root of the raised grain culm, and a cut and harvested grain culm for engaging and transporting. A vertical conveying device 9 and the like that pass to the feed chain 16 of the threshing device 2 on the rear side of the machine are provided in a state of being sequentially arranged. In addition, in order to detect the presence or absence of a harvested grain culm, a stock sensor S4 including a switch that is turned on when there is a harvested grain culm and is turned off when there is no harvested grain culm is provided at the start end of the vertical transport device 9. .

As shown in FIG. 4, the threshing apparatus 2 comprises
5, a feed chain 16 for supplying and transporting the stalks supplied from the mowing unit 4 to the handling room A, a cross flow fan 17 for discharging dust, and a sorting device for sorting processed material after threshing. B is provided. The sorting device B includes a toy 18, an oscillating sorting plate 19, a first material recovery unit (hereinafter, referred to as a first mouth) 20 for recovering the processed material after the sorting, and a second material recovery unit (hereinafter, referred to as a first material recovery unit).
21).

The grain culm supplied and transported to the handling room A by the feed chain 16 is threshed by the rotation of the handling drum 15. A receiving net 22 is provided in the lower part of the handling room A, and a single grain of the processed material after threshing leaks from the receiving net 22 to the swing sorting plate 19. Processed materials that could not be leaked from the receiving network 22
From the rear end part of the swing sorting plate 19.

The rocking sorter plate 19 is composed of a grain pan 23 located above the torch 18, a chaff sheave 24 located behind it, a grain sieve 25 located below it, and the like. While being transported backwards. The first mouth 20 and the second mouth 21
Each is equipped with a screw conveyor and has a chaff sieve 24
The grains leaked from the grain sieve 25 are collected from the mouth 20 and stored in a tank or the like. Chaff sieve 24
After the mixture of the grain and the straw chips dropped from the rear end of the grain sieve 25 or the back end of the grain sieve 25 is recovered at the second port 21, after a predetermined second reduction time (for example, about 3 seconds), the rocking sorting is performed. Board 1
Reduced to 9.

The chaff sheave 24 is, as shown in FIG.
A plurality of plate members 24a are arranged in the front-rear direction at predetermined intervals. Each plate-like member 24a is pivotally attached to the left and right side plates so as to be rotatable around the left and right axes, and the lower end is provided with a link 24b.
It is pivotally connected at. Therefore, when the link 24b is moved in the front-rear direction, the respective plate members 24a are simultaneously rotated, and the adjacent distance t between the respective plate members 24a is changed. The interval t corresponds to a leak opening (hereinafter, referred to as a chaff opening) in the swing sorting plate 19, and the change of the chaff opening is performed by rotating the sheave motor M1 in the forward and reverse directions. The rotation operation of the sheave motor M1 is converted into a front-back movement operation of the link 24b by a gear-type linkage mechanism 26, a swing arm 27, and a wire 28, and the chaff opening is changed as described above. It should be noted that a potentiometer-type chaff opening sensor S2 for detecting the chaff opening from the rotation angle of the swing arm 27 is provided.

The torch 18 functions as a blowing means for blowing the sorting wind, and the amount of the blown air is changed by changing the rotation speed of the torch 18. That is, the larger the number of rotations, the larger the amount of air blow. The change of the toy rotation speed is performed by performing a speed change operation of a split pulley type belt transmission 8 (see FIG. 3) described later by the toy motor M2. Note that a toy wheel rotation speed sensor S3 for detecting the number of rotations of the toy wheel 18 is provided on the rotation shaft 18a of the tow wheel 18.

In the configuration of the swing sorting plate 19, as the sheave motor M1 is driven to increase the chaff opening,
The amount of grains that leak downward in the chaff sheave 24 increases, and the processing capacity of the sorting device B increases. At this time, in order to prevent straw chips from being mixed into the grains collected at the first mouth 20, in order to increase the chaff opening degree, the air volume of the turtle is increased, that is, the turtle rotation speed is increased. The torsion motor M2 is driven.

Further, as shown in FIG.
A layer thickness sensor S1 for detecting the layer thickness of the above sorted product (eg, grains) is provided. The layer thickness sensor S1 resists the plate-like members T1 and T2 which are swingably suspended around the axis of the horizontal axis, and the rotation angle I of the plate-like members T1 and T2 to the rear (in the transport direction of the processing object). It consists of a potentiometer PM that converts to a value. When the layer thickness of the processing object is small, the plate-shaped member T1 contacts the processing object and rotates rearward, and when the layer thickness increases, the plate-shaped member T2 contacts the processing object and rotates rearward. Is configured.

According to the above configuration, since the rotation angle I of the sensor bars T1 and T2 increases as the amount of the sorted material increases and the layer thickness increases, the thickness of the treated material is detected from the resistance value of the potentiometer PM. be able to. Accordingly, the layer thickness detecting means for detecting the layer thickness of the processed material on the swing sorting plate 19 (actually, the chaff sheave 24) is constituted by the layer thickness sensor S1.

The power transmission system is configured as shown in FIG. The power of the engine E is transmitted to the threshing device 2 via a threshing clutch 10 and transmitted via a traveling clutch 11 and a hydraulic stepless transmission 12 for shifting the vehicle speed to the transmission of the pair of left and right crawler traveling devices 1. Power is transmitted to the case 13 and power is transmitted to the reaping unit 4 from the transmission case 13 via the reaping clutch 14. The power transmitted to the threshing device 2 is transmitted to the rotating shaft 18a of the torch 18 via the split pulley type belt transmission 8, and
Although not shown, the handling cylinder 15, the feed chain 16,
It is transmitted as driving power for the swing sorting plate 19 and the like. The engine E is provided with an engine speed sensor S6 for detecting the number of rotations thereof, and the transmission case 13 is provided with a vehicle speed sensor S5 for detecting the number of rotations of the drive shaft to the crawler traveling device 1 and detecting the vehicle speed. In order to detect whether the threshing apparatus 2 is operating or not, a threshing switch SW1 for detecting the on / off state of the threshing clutch 10 is provided.

As shown in FIG. 1, a control means H comprising a microcomputer or the like is provided.
Includes the layer thickness sensor S1, the chaff opening degree sensor S2,
Each piece of detection information from the toy speed sensor S3, stock sensor S4, vehicle speed sensor S5, engine speed sensor S6, and threshing switch SW1 is input. In addition, the control panel of the control section 3 includes crop conditions of wheat, rice, and wet.
Crop change switch SW that selects and switches from conditions
2 and a toy control volume VR, and these information are also input to the control means H. The input information from the sensor or the like is A / D converted to
It becomes bit digital data. On the other hand, from the control means H, the above-described sheave motor M1 and torsion motor M2
Are output.

The control means H changes and adjusts the leak opening of the swing sorting plate 19 based on the information of the layer thickness sensor S1 so that the layer thickness of the processed material becomes the target layer thickness. In addition, the turret 18 is configured to be changed and adjusted so as to have a target air flow rate set in accordance with the degree of opening of the rocking sorter plate 19 in leaking. In addition, the above-mentioned adjustment of the leak opening degree and the air flow rate is performed in a predetermined control cycle (3 seconds corresponding to the above-mentioned second reduction time), and the thickness of the processed material deviates from the target thickness by a set value or more. In the case where the layer thickness of the processing object changes at a change rate equal to or higher than the set rate, a control cycle shorter than the predetermined control cycle, that is, a cycle that can be basically regarded as continuous control (250 ms as described later) ). More specifically, as shown in FIG. 27A, when the deviation of the detected layer thickness from the target layer thickness s0 is equal to or larger than the larger set value s2 of the set values in two levels (the left side of the figure). Part), and when the deviation of the layer thickness is between the set value s2 on the large side and the set value s1 on the small side and the rate of change is equal to or greater than the set rate Δs (right part of the figure), The control is performed. FIG. 27 (b) illustrates a change in the chaff opening before and after performing the leak opening adjustment shown in the above (a).

In the opening adjustment control, the control means H operates the sheave motor M1 with an operation amount determined based on the detected layer thickness of the layer thickness sensor S1 and the rate of change thereof, and It is configured to perform a change adjustment. As described later, the sheave motor M1
The torsion motor M2 is also operated according to the operation amount of. Specifically, the control means H stores the operation amount data obtained in advance based on fuzzy inference as the numerical value table as a numerical table, and selects the data in the numerical value table based on the operation amount data. In the fuzzy inference, one of two control rules (two numerical tables) set in accordance with the magnitude of the leakage opening in the swing sorting plate 19 is determined by the fuzzy inference. The operation amount data is obtained by selecting based on the opening degree of the chaff. Then, the control means H obtains the target values of the chaff opening and the toy rotation speed from the determined operation amounts, and sets the deviation between each target value and the detection value of the chaff opening sensor S2 or the toy rotation speed sensor S3 to zero. To control.

The control rules in the fuzzy inference will be described. As the array elements of the fuzzy map shown in FIG. 24, a sheave deviation which is a deviation of a detected layer thickness value from a target layer thickness value (a target sieve value to be described later) of the workpiece, and a change amount of the detected layer thickness value within a predetermined time period Is the sheave change (and therefore
This corresponds to the rate of change of the detected layer thickness). Here, the sheave deviation becomes a positive value if the detected layer thickness value is larger than the target layer thickness value, and a negative value if the detected layer thickness value is opposite. or,
The sheave change amount becomes a positive value when the detected layer thickness is increasing, and becomes a negative value when the detected thickness is decreasing. Next, when the chaff opening is smaller than a predetermined opening (for example, 19 mm), a main map (FIG. 24 (a)) of the two prepared fuzzy maps is selected, If it is larger, the auxiliary map (FIG. 24 (b)) is selected and the sheave deviation and the amount of sheave change are used as fuzzy variables of the antecedent part, and the operation amount of the chaff opening, that is, the output to the sheave motor M1 is determined. Ask for.

That is, the membership functions of the sheave deviation and the sheave change amount are shown in FIGS. 23A and 23B. Also, the membership function of the rule shown in FIG. The membership function of the manipulated variable is represented as a set of discrete singletons, as shown in FIG. Then, outputs from one or more of the 25 rules shown in each map in FIG. 24 are obtained in accordance with the grade (also referred to as the degree of conformity) of the sheave deviation and the sheave change amount with respect to each membership function. Then, the value obtained by multiplying the output obtained from the matching rule by the smaller value of the grade of the sheave deviation or the sheave change amount is the output obtained from the rule. When a plurality of outputs are obtained from a plurality of rules, an average value thereof is a final output. The above output is also represented by a positive or negative 8-bit digital value. A positive value indicates that the operation is performed in a direction to increase the chaff opening, and a negative value indicates that the operation is performed in a direction to decrease the chaff opening. .

As can be seen from the above control rule (FIG. 24), in the main map (FIG. 24A) selected when the chaff opening is smaller than the predetermined opening, the chaff opening is smaller than the predetermined opening. The auxiliary map selected when the size is also large (FIG. 24
As compared with (b)), the operation amount of the chaff opening is increased.
In particular, the setting is such that the operation amount of the chaff opening degree is large under the condition that both the sheave deviation and the sheave change amount are large. As a result, the layer thickness detection value of the layer thickness sensor S1 and the rate of change thereof when the leakage opening of the swing sorting plate 19 is small are larger than when the leakage opening of the swing sorting plate 19 is large. The amount of operation determined based on this is configured to be large.

Next, the flow of threshing control by the control means H will be described with reference to the flowcharts shown in FIGS. In the main flow (FIG. 7), first, after performing an initial setting process, a sheave detection process for processing the layer thickness detection data by the layer thickness sensor S1 and a setting process for common data are performed. And when the threshing switch SW1 is in the off state,
After clearing various control flags and counters, a self-diagnosis process for examining abnormalities of sensors and various parts is performed. on the other hand,
When the threshing switch SW1 is turned on from the off state and the threshing operation is started, a predetermined control cycle (250 m
A threshing control process is performed for each s), and then the self-diagnosis process is performed.

In the initial setting process (FIG. 8), the memory (E
It is checked whether the data of the fully open position and the fully closed position of the chaff sheave 24 stored in the EPROM is normal.
If it is normal, the upper limit position of the chaff opening degree adjustment is set to a position slightly closer to the closed position than the fully open position of the data, and the lower limit position is set to a position slightly closer to the open side than the fully closed position of the data. Set. Further, only when the difference between the upper limit position and the lower limit position is larger than a predetermined value (proper opening amount), the upper limit position is reset as a position obtained by adding the predetermined value (proper opening amount) to the lower limit position. On the other hand, if the data of the fully open position and the fully closed position of the chief sheave 24 in the memory (EEPROM) are not normal (for example, both are 0), it is processed as abnormal.

In the sheave detection processing (FIGS. 9 to 11), the detection value of the layer thickness sensor S1 is sampled at a predetermined cycle (5 ms), and the processing time (12) for detecting the minimum value and the maximum value is obtained.
Only at the first time (set to 5 ms), the sampling data is stored as minimum value data and maximum value data. Thereafter, when the detected value of the layer thickness sensor S1 to be sequentially sampled is smaller than the minimum value data, the minimum value data is updated with the detected value, and when the detected value is larger than the maximum value data, the maximum value data is updated with the detected value. Is continued until the processing time (125 ms) elapses. When the processing time (125 ms) elapses, the average value of the minimum value data and the maximum value data is obtained, and the sum W with the average value in the immediately preceding processing time is obtained. When the above processing is performed twice (that is, after 250 ms has elapsed), the layer thickness data at each processing time point, that is, the latest sheave detection value, the sheave detection value 250 ms before, and the sheave detection value 500 ms before, are respectively obtained. For the 250 ms data (2), 250 ms data (1) and 250 ms data (0) provided in the memory for storage, the 250 ms data (2) and 250 ms
The storage contents of the s data (1) are transferred to the 250 ms data (1) and the 250 ms data (0), respectively, and the half of the obtained sum W, that is, the latest sheave detection value is 25
0 ms data (2) is stored.

Next, a sheave deviation is obtained as a difference between a preset sheave target value and the latest sheave detection value (contents of the above 250 ms data (2)), and a sheave differential value (change amount) is calculated for 500 ms. Previous sheave detection value (25
It is determined as the difference between the 0 ms data (0) and the latest sheave detection value (250 ms data (2)). The sheave target value is set to a different value for each of the wheat and rice crop switching conditions described below. Then, as described above (see FIG. 26), when the sheave deviation is equal to or larger than the large set value among the set values set in two levels, large and small, and the sheave deviation is set to the large set value and the small set value. When the sheave differential value is between the set value and the set value is greater than the set value (corresponding to the set rate), the threshing control process, which is performed at intervals of 3 seconds in principle, is performed continuously (actually, at a control cycle of 250 ms). Turn on the continuous control permission flag to be permitted. On the other hand, in other cases, the continuous control permission flag is turned off.

Next, the latest sheave detection value (250 m
The s data (2) content) is divided into five stages of sheave values, that is, ranks of 0, 1, 2, 3, and 4 in ascending order of detection value. Then, the sheave value ranked above is
The state different from the sheave value data in the memory storing the previous sheave value is repeated five times in a control cycle of 250 ms (that is, at least 250 ms × 4 = 1 second or more).
Only in the subsequent case, the sheave value data is updated with the newly obtained sheave value.

In the common data setting process (FIG. 12), the detection is performed only when the detected value of the tongue adjustment volume VR changes from the value of the tongue volume data in the memory storing the detected data beyond the dead band width. The value is updated as a value in the toumi volume data. next,
The state of the crop switch SW2 is checked, and wheat, rice,
The mode values are set to 0, 1, and 2, respectively, according to the switching positions of wet and wet. Further, in the wheat and rice modes, when the sheave values are 0 and 1, the opening degree is described later. The minimum chaff opening for sheave value 0 and sheave value 1 used for setting is set respectively.

In the threshing control process (FIG. 13), first, the crop condition is determined from the mode value, and in the wet mode, the wet mode control (FIG. 14) is executed. On the other hand, in the wheat and rice modes, depending on the state of the stock sensor S4 and the content of the sheave value, the layer thickness sensor S
1 is a vehicle speed responsive control that adjusts the chaff opening and toumi wind according to the vehicle speed in the event of a failure (FIG. 15), and a fuzzy control that adjusts the chaff opening based on a fuzzy rule (FIGS. 16 and 17). Do one of them. Then, the chaff output processing and the toumi output processing for actually operating the sheave motor M1 and the toy motor M2 are performed with the adjustment operation amounts set in the above-described respective controls.

That is, when the stock sensor S4 is in the ON state in the wheat and rice modes, a 6-second flag is set when a predetermined time (6 seconds) elapses after the change from OFF to ON. The second flag is reset when the stock sensor S4 is turned off. On the other hand, when the stock sensor S4 is turned off, the sheave value remains 0 for 8 seconds after it changes from on to off. The 8 second flag is set only when (the 8 second flag is reset when the stock sensor S4 is turned on). Next, the layer thickness sensor S1
It is checked whether the detected value is normal or not. For example, if the detected value is 0 V or a value corresponding to the power supply voltage due to disconnection or the like, and the failure of the layer thickness sensor S1 is determined, the vehicle speed is determined. Perform sensitive control. If the thickness sensor S1 is normal,
Fuzzy control is performed when a predetermined control cycle (3 seconds) has elapsed and when the control cycle (3 seconds) has not elapsed but the continuous control permission flag is on.

In the wetting mode control (FIG. 14), the target value of the chaff opening is set to the fully open position, and the toumi rotation speed is calculated based on the toumi volume data. That is, when the toy adjusting volume VR is at the standard position, the toy rotating speed becomes the standard rotating speed (for example, 1300 rpm), and as the toy adjusting volume VR is turned from the standard position to the strong side or the weak side, the toy rotating speed increases. The standard rotation speed is changed to the large side or the small side. Then, the calculated toumi rotation speed is the toumi minimum rotation speed (for example, 1000 rpm).
m), the minimum rotation speed is set as the target rotation speed, and the maximum rotation speed (for example, 1500 rpm).
If it is larger, the maximum rotation speed is set as the target rotation speed, and if the rotation speed is between the minimum rotation speed and the maximum rotation speed, the calculated rotation speed is set as the target rotation speed.

In the vehicle speed sensitive control (FIG. 15), first, the vehicle speed is set to, for example, 0 to 0.35 m / s, 0.35 to 0.5.
5 m / s, 0.55 to 0.75 m / s, 0.75 to 0.
As shown in FIG. 26, the wheat and rice modes are divided into five stages of 95 m / s and 0.95 m / s, based on a vehicle speed versus chaff opening calculation map prepared in advance for each stage of the vehicle speed. Separately, a chaff opening target value is obtained. Then, in accordance with a tomumi rotation speed setting process (FIGS. 18 and 19) described later, in order to set a target air blowing amount of the toe muffler 18 according to the chaff opening degree,
The tom target rotation speed is calculated based on the chaff opening target value.

In the fuzzy control (FIGS. 16 and 17),
As a fuzzy map array element, a sheave detection value for the sheave target value (contents of the above 250 ms data (2))
And the latest sheave detection value (the content of the 250 ms data (2)) with respect to the sheave detection value 500 ms before (the content of the 250 ms data (0))
And the sheave change amount, which is the change amount of Next, as described above, when the current chaff opening is smaller than the predetermined opening (19 mm), the main map (FIG. 24A)
If the opening is larger than the predetermined opening, the auxiliary map (FIG. 2)
4 (b), an output to the sheave motor M1 is obtained by fuzzy inference using the sheave deviation and the sheave change amount as fuzzy variables of the antecedent part.

Next, the state of the stock sensor S4 is checked, and when it is in the ON state, the above-mentioned manipulated variable is added to the current chaff opening to obtain a chaff opening target. Further, when the 6-second flag is set, that is, when 6 seconds have elapsed after the stock sensor S4 is turned on, the vehicle speed is divided into five stages as in the case of the vehicle speed-sensitive control, and each vehicle speed stage is divided. Is obtained from a map prepared in advance, and when the above-described target chiff opening is smaller than the minimum chaff opening, the minimum chaff opening is set as the target chaff opening.

On the other hand, when the stock sensor S4 is in the off state, it is checked whether or not the obtained operation amount is positive in order to prohibit the change of the chaff opening to the open side. To zero. Further, when the 8-second flag is set, that is, when the state of the sheave value 0 continues for 8 seconds after the stock sensor S4 changes from on to off,
The chaff opening target value is set to the minimum chaff opening for sheave value 0 set above. When the eight-second flag is in the reset state, when the sheave value is 1 or less (0 and 1), the chaff opening target value is set to the minimum chaff opening for the set sheave value 1 and the sheave value is 2 or more. (2, 3, 4)
The chaff opening target value is set as the current chaff opening. And
Based on each of the chaff opening target values thus obtained, a toumi target rotation speed is calculated by a toumi rotation speed setting process (FIGS. 18 and 19) described later.

Toumi rotation speed setting process (FIG. 18 and FIG. 1)
In 9), the toumi rotation speed is calculated by a linear conversion formula with respect to the chaff opening value, and this calculation is performed as shown in FIG.
The conversion formulas for the wheat mode and the rice mode when the tongue adjustment volume VR is at the standard position are used. The minimum rotation speed tmin and the maximum rotation speed tmax of the torsion rotation speed are set corresponding to the fully closed side and the fully opened side of the chaff opening degree. The conversion formula when the scale is turned one scale higher or lower than the scale is shown. Next, the calculated toumi rotation speed is equal to the aforementioned toumi minimum rotation speed (1000).
When the rotation speed is smaller than the maximum rotation speed (1500 rpm), the minimum rotation speed is set as the target rotation speed. Thereafter, correction of increase / decrease of the target rotation speed according to the position of the control knob VR is performed. When the corrected rotation speed is smaller than the minimum rotation speed tmin in the conversion formula changed by the control knob VR, the minimum rotation speed is determined. tmin is the target rotation speed, and the maximum rotation speed t
When it is larger than max, the maximum rotation speed tmax is set as the toy target rotation speed. As described above, the torsion adjustment volume VR is set based on the chaff opening degree.
8 functions as a selection air volume changing means for changing the target air volume.

Next, it is determined whether or not to perform the towing rotation speed control at the end of mowing based on whether or not the 6-second flag is in an off state. When the 6-second flag is on,
The target toumi rotation speed at that time is stored as the towing rotation speed at the end of cutting used in the towing rotation speed control at the end of cutting. When the stock sensor S4 is turned off and the 6-second flag changes to the off state, the cut-off turtle rotation speed control is started, and the turtle rotation speed is set as follows according to the sheave value. In other words, when the sheave value is 3 or more (3, 4), the tom rotation speed at the end of cutting is set. When the sheave value is 2, a predetermined rotation speed (for example, 100 rpm) When the number of revolutions is set to a small value and the sheave value is 1, the minimum number of revolutions t in the conversion equation changed by the tongue adjustment volume VR is set.
When the state in which the sheave value is 0 continues for 8 seconds (when the 8 second flag is ON), the minimum rotation speed (1000 rpm) is set.

In the chaff output processing (FIG. 20), the present chaff opening target value is changed for the next time only when the present chuff opening target value is different from the previous chaff opening target value. After the value is stored as a value, the above-described chaff opening target value is compared with the current chaff opening degree. When the target opening degree of the chaff is larger than the current opening degree of the chaff, it is checked whether or not the sheave motor M1 is outputting to the closing side. When outputting to the closing side, the output to the closing side is stopped. Output in the opening direction only when the difference between the chaff opening target value and the current chaff opening is larger than a predetermined value. When the difference between the chaff opening target value and the current chaff opening is smaller than a predetermined value, the output in the closing direction is stopped for a predetermined period (for example, about 500 ms). On the other hand, when the chaff opening target value is equal to or less than the current chaff opening, it is checked whether the sheave motor M1 is outputting to the opening side, and when outputting to the opening side, the output to the opening side is stopped. Only when the difference between the chaff opening target value and the current chaff opening is larger than a predetermined value, the signal is output in the closing direction. If the difference between the chaff opening target value and the current chaff opening is smaller than a predetermined value, the output in the opening direction is stopped for a predetermined period (for example, about 500 ms). Then, finally, a timer (3 seconds) for the chaff opening change control is started.

In the torsion output process (FIGS. 21 and 22), when the current torsion speed exceeds 500 rpm and the on / off driving cycle (5
When the end of the off-time at 00 ms), that is, the end of the motor drive cycle, is confirmed, the following processing is performed based on the value of the toe rotation speed deviation obtained by subtracting the current rotation speed from the target rotation speed. That is, the rotation speed deviation is -100 rp.
If it is smaller than m, it is checked whether the torsion motor M2 is outputting in the strong direction. If it is outputting in the strong direction, the output in the strong direction is stopped, and then the output is continued in the weak direction. Specifically, the motor ON time in the weak direction is set to 500 ms (therefore, the motor OFF time is set to 0). The rotational speed deviation is 100
If it is larger than rpm, it is checked whether the torsion motor M2 is outputting in the weak direction. If it is outputting in the weak direction, the output in the weak direction is stopped, and then the output is continued in the strong direction. Specifically, the motor-on time in the strong direction is set to 500 ms (therefore, the motor-off time is 0). The rotation speed deviation is-
When it is between 15 rpm and 15 rpm, it is determined that the motor is within the dead zone, and the motor output is stopped. Specifically, the motor on time is set to 0 (the motor off time is therefore 500 ms)
To

On the other hand, when the rotation speed deviation is between -100 rpm and -15 rpm and between 15 rpm and 100 rpm, the motor-on time Ton for intermittently driving the motor is set to the rotation speed deviation Hr and the engine rotation speed. The calculation is performed according to the following equation based on the engine speed Er by the number sensor S6. Here, a1 is a predetermined gain coefficient.

[0049]

## EQU1 ## Ton = a1.Hr / Er

Here, the calculated on-time Ton is 250
If it exceeds ms, the motor-on time is set to 250 ms and 8
If it is smaller than 0 ms, it will be 80 ms, 250 ms and 80
When the time is between ms, the calculated on-time is set, and
The motor-off time is set as a time obtained by subtracting the set motor-on time from 500 ms. When the rotation speed deviation is positive, the set motor ON time is set to the strong direction ON time, and when the rotation speed deviation is negative, the set motor ON time is set to the weak direction ON time. Finally, the toumi motor M2 is driven during the set motor on and off times.

[Another embodiment] Hereinafter, another embodiment will be described.
In the above embodiment, the case where the target layer thickness of the layer thickness of the processing object is set to a predetermined value in advance has been described. However, in addition to this, for example, the target layer thickness for changing the target layer thickness by a judgment of an operator or the like. Changing means may be provided. More specifically, as illustrated in FIG. 28, when turning to the right around the standard target layer thickness (corresponding to the above-mentioned predetermined value) position, the layer becomes thicker than the standard, and when turning to the left, the layer becomes thicker than the standard. A manually rotating layer thickness change dial VR1 for changing the target layer thickness so as to reduce the thickness is provided, and the setting information is input to the control means H. When the target layer thickness is increased, the control means H controls and adjusts, for example, the opening of the chaff to the closed side and the rotation speed of the tongs to be increased. A state in which the mixing of straw chips and the like into the grains is reduced and the sorting accuracy is increased is selected, and when the target layer thickness is reduced, the chaff opening is set to the open side and the turtle rotation speed is reduced. Regulated and controlled
The state in which the loss due to the out-of-machine release of the grain is minimized is selected.

In the above embodiment, the layer thickness detection means (layer thickness sensor S1) is used to change and adjust the leakage opening of the swing sorting plate 19 so that the layer thickness of the processed material becomes the target layer thickness. With the manipulated variable determined based on the thickness detection value and its change rate, the leak opening change adjustment is performed. However, the present invention is not limited to this. For example, it is determined based only on the layer thickness detection value. The change of the leak opening may be adjusted with the manipulated variable.

When determining the manipulated variable for adjusting the change of the leak opening based on the detected value of the layer thickness of the processed material and the rate of change thereof, for example, instead of fuzzy inference as in the above embodiment, You may make it perform by PID control etc.
When the operation amount is determined by fuzzy inference, in the above embodiment, the operation amount data calculated in advance is stored as a numerical value table. A table may be stored, and the operation amount may be calculated and obtained from the information on the detected layer thickness and the rate of change thereof using a table for the calculation. According to the operation table method, there is an advantage that the amount of stored information can be reduced as compared with the numerical value table method. In the above embodiment, two control rules are set in the fuzzy inference for obtaining the manipulated variable data in accordance with the magnitude of the leak opening (chaff opening) in the swing sorting plate 19. In order to perform appropriate control, instead of two control rules, for example, three control rules may be set corresponding to the large, medium, and small leak opening degrees.

In the above embodiment, the layer thickness detecting means (the layer thickness sensor S1) is smaller when the opening degree of the swing sorting plate 19 is smaller than when the opening degree of the swing sorting plate 19 is larger. In order to increase the operation amount determined based on the layer thickness detection value and the change rate thereof, the operation amount is particularly increased under the condition that both the sheave deviation and the sheave change amount are large. It is not limited to this.
For example, in addition to the condition in which both the sheave deviation and the sheave change amount are large, the operation amount may be increased under the condition in which both the sheave deviation and the sheave change amount are small.

The layer thickness detecting means for detecting the layer thickness of the processed material on the swing sorting plate 19 is not limited to the contact-type layer thickness sensor S1 as in the above-described embodiment. For example, a transmission type optical sensor, It can be configured by various means such as using a non-contact type sensor such as an ultrasonic sensor.

In the above-described embodiment, the means for allowing the processed material to leak while changing the leak opening degree in the swing sorting plate 19 is configured to change the opening degree of the chaff sheave 24, but is not limited to this. . Instead of the chaff sheave 24 of the above embodiment, for example, a mesh-like or slit-like opening is shielded by a shielding plate called a slide Glenpan, and the slide Glenpan is slid to change the shielding area of the opening, that is, the opening degree. May be configured.

In the above embodiment, the blowing means for blowing the selected wind is constituted by the fan type toy 18, and the number of rotations of the fan is increased or decreased in order to change the blowing amount. It is not limited. For example, the above turtle 18
A part of the cover that covers the fan can be opened and closed, and when the opening / closing degree of the cover, that is, the opening area is increased, the air volume is reduced, and when the opening area of the cover is reduced, the air volume is reduced. It may be configured to increase.

In the above embodiment, the selection air volume changing means VR,
Further, the target layer thickness changing means VR1 is constituted by a rotary manual dial, but is not limited to this. For example, the target layer thickness changing means VR1 may be constituted by a slide type volume or a plurality of pushers corresponding to each change value. Various means such as a button switch can be used.

The present invention can be applied not only to the self-removing type combine as in the above embodiment but also to other types of combine such as a normal type combine, and also to a threshing apparatus other than the combine. .

Incidentally, reference numerals are written in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configuration of the attached drawings by the entry.

[Brief description of the drawings]

FIG. 1 is a block diagram of a control configuration of a combine according to an embodiment of the present invention.

FIG. 2 is a side view of a self-removing combine.

FIG. 3 is a schematic diagram of a power transmission mechanism.

FIG. 4 is a side perspective view of the threshing apparatus.

FIG. 5 is a view showing a chaff sheave and an opening changing means thereof;

FIG. 6 is a side view showing the structure of a layer thickness sensor.

FIG. 7 is a flowchart of a control operation.

FIG. 8 is a flowchart of a control operation.

FIG. 9 is a flowchart of a control operation.

FIG. 10 is a flowchart of a control operation.

FIG. 11 is a flowchart of a control operation.

FIG. 12 is a flowchart of a control operation.

FIG. 13 is a flowchart of a control operation.

FIG. 14 is a flowchart of a control operation.

FIG. 15 is a flowchart of a control operation.

FIG. 16 is a flowchart of a control operation.

FIG. 17 is a flowchart of a control operation.

FIG. 18 is a flowchart of a control operation.

FIG. 19 is a flowchart of a control operation.

FIG. 20 is a flowchart of a control operation.

FIG. 21 is a flowchart of a control operation.

FIG. 22 is a flowchart of a control operation.

FIG. 23 is a diagram showing a membership function of each variable in fuzzy inference.

FIG. 24 is a table showing rules in fuzzy inference

FIG. 25 is a graph showing a conversion formula for obtaining a toumi rotation speed from a chaff opening value.

FIG. 26 is a graph showing vehicle speed vs. chaff opening value in vehicle speed sensitive control.

FIG. 27 is a diagram illustrating auxiliary opening control.

FIG. 28 is an explanatory view showing a target layer thickness changing unit in another embodiment.

[Explanation of symbols]

 19 swing sorting plate 18 blowing means H control means S1 layer thickness detecting means VR sorting air volume changing means VR1 target layer thickness changing means

Continuation of front page (56) References JP-A-5-3718 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) A01F 12/32 A01F 12/48

Claims (3)

(57) [Claims] 1. A control for changing and adjusting a leak opening degree of an oscillating sorting plate (19) for sorting processed products after threshing, and for changing and adjusting a blowing amount of a blowing means (18) for blowing a sorting wind. A threshing / sorting control device provided with a means (H), wherein the control means (H) comprises a layer thickness detecting means (S1) for detecting a layer thickness of a processed material on the oscillating sorting plate (19). Based on the information, the leakage opening of the swing sorting plate (19) is changed and adjusted so that the layer thickness becomes the target layer thickness, and the leak opening of the swing sorting plate (19) is adjusted. A threshing / sorting control device configured to change and adjust the blowing means (18) so as to achieve a target blowing amount set correspondingly. 2. A threshing / sorting device according to claim 1, further comprising a selection air volume changing means (VR) for changing the target air volume set based on a leak opening degree of the swing sorting plate (19). Control device. 3. The threshing / sorting control device according to claim 1, further comprising a target thickness changing means (VR1) for changing the target thickness.