JPH0125553Y2 - - Google Patents

Description

[Detailed description of the invention] The present invention is a reaping harvester, and more specifically, by changing the gripping position for the harvested grain culm while moving forward, the handling depth can be adjusted when feeding the grain culm to a threshing device. Provided with a conveyance device, a sensor for controlling handling depth that detects the position of the tip of the grain culm, and means for automatically adjusting the grain culm holding position of the conveyance device based on the detection result of the sensor, The present invention also relates to a reaping and harvesting machine that is provided with a removable binding device for binding waste straw after threshing.

In conventional reaping and harvesting machines of this type, for example, the culm length detection result is determined by a culm length detection sensor as a sensor for controlling the handling depth, which is installed in a lifting device that pulls up the introduced grain culm of the reaping section installed at the front of the machine. Based on this, the handling depth in the threshing device is automatically adjusted by adjusting the position of the conveying device holding the harvested grain culm,
Thereafter, the grain culms threshed by this threshing device are transported to the rear of the machine by a transport device installed on one side of the machine, and then tied into predetermined amounts as waste straw by a binding device installed at the rear of the machine. It was designed to be emitted as soon as possible.

However, if the grain culm holding position of the conveying device is immediately changed every time the detection result of the handling depth control sensor fluctuates, the roots of the waste straw bundled by the bundling device will become extremely uneven. However, this bundled and released waste straw does not stand up in the field but lies down, which has the disadvantage that subsequent processing becomes troublesome.

The present invention was developed in view of the above-mentioned circumstances, and its purpose is to prevent the piles of waste straw bundled and discharged by the binding device from becoming extremely uneven when the removably installed binding device is installed. The object of the present invention is to make it possible to control the handling depth as described above, and to improve the stock alignment of waste straw that is bundled and released.

In order to achieve the above object, the reaping harvester according to the present invention is provided with a means for detecting the attachment/detachment state of the binding device, and when the attachment state is detected, the handling depth control response of the conveyance device is made based on the detection result by the sensor. It is characterized in that it is provided with a control device that automatically sets the speed to a lower speed over a predetermined period of time.

Due to the above characteristic structure, the following excellent effects have been achieved. That is, when the binding device is attached, it is detected that it is attached, and based on the detection result, the response speed of the handling depth adjustment by the conveyance device is automatically adjusted based on the detection result of the sensor. Since it is set slowly over a predetermined period of time, the handling depth changes slowly, and as a result, the stock level of the waste straw that is bundled and discharged is improved.

Further, since a configuration is adopted in which it is automatically determined whether the binding device is attached or detached, there is no need to manually switch the handling depth control response speed when the binding device is attached or detached, which is extremely convenient.

Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 1, a threshing device 3 and a control section 4 are mounted on a fuselage 1 equipped with a pair of left and right running crawlers 2, and a hoisting device 5,
A reaping section consisting of a reaping device 6 and a conveying device 7 that merges the harvested grain culms and transports them to the threshing device 3 at the rear is equipped, and a binding device 8 is installed at the rear of the machine.
A combine harvester is configured as a reaping and harvesting machine.

The binding device 8 uses a string 13 supplied from a string supply section A through a brake mechanism 9, a deflection removing mechanism 10, a string guide pipe 11, etc. and whose one end is held in a string holder 12 to tie the waste straw after threshing. It is configured to bundle the fuel into predetermined amounts and release them sequentially to the rear of the aircraft.

The deflection removing mechanism 10 is provided with a bundling error sensor S0 for detecting bundling errors. This sensor S0 is composed of a mechanical switch that is turned on when an arm 10b is rotated by the operating force of a spring body 10a provided in the deflection removing mechanism 10 when a bundling error occurs. When a mistake occurs, a potential as a bundling mistake signal is transmitted to the control device 14, which will be described later.

The conveying device 7 is configured so that the gripping position of the grain culm can be changed so that the handling depth can be adjusted to suit the length of the grain culm. For example, in the combine harvester shown in FIG. 1, the conveying device 7 is swung about a fulcrum Y by a hydraulic cylinder 15, and changes the clamping position when receiving grain culms. On the other hand, the pulling device 5 is provided with a plurality of culm length sensors S ₁ , S ₂ , S ₃ as handling depth control sensors for detecting the position of the tip of the grain culm, and these sensors S ₁ , _S2 ,
The hydraulic cylinder 15 is controlled based on the grain culm length detection signal of _S3 .

The sensors S ₁ , S ₂ , and S ₃ are arranged in the order of S ₁ , S ₂ , and S ₃ from top to bottom on the upper part of the pulling device 5, and the grain culm stock is installed at the bottom of the pulling device 5. A stock sensor _S4 is provided to detect the stock price.

These sensors S ₁ , S ₂ , S ₃ , and S ₄ are composed of mechanical switches that turn on when the grain culm comes into contact with them, and when they come in contact with the grain culm, the potential as a grain culm detection signal is controlled. It joins the device 14.

The stock sensor _S4 is used to identify when to sample the grain culm length, and the control device 14 recognizes that a grain culm is present when the stock sensor _S4 is ON, and from this ON time, the control device 14 detects the grain culm length. are the grain culm length sensors S ₁ , S ₂ ,
The signals of these grain culm length sensors S ₁ , S ₂ , and S ₃ are sampled in anticipation of the time to reach S ₃ , and the grain culm lengths are classified into four ranks based on these input signals.
For each rank, the average grain culm length of that rank is set, and the actual detected grain culm length is regarded as the average grain culm length set in the rank to which the actual detected grain culm length belongs.

On the other hand, the hydraulic circuit for the hydraulic cylinder 15 as an actuator that moves the conveying device 7 that adjusts the handling depth includes an electromagnetic valve 16 operated by a signal from the control device 14 and a pump 17 that sends pressure oil to the hydraulic cylinder 15. provided, solenoid valve 1
The expansion/contraction state of the hydraulic cylinder 15 is controlled by operating the forward/reverse solenoid 6. and,
This expansion/contraction state is detected by a potentiometer 18 provided at a fulcrum of the conveying device 7, which is one part of the movable part moved by the hydraulic cylinder 15.

Hereinafter, the handling depth control mechanism will be explained based on the block diagram shown in FIG. 2 and the flowchart shown in FIG.

The control device 14 is an I/O device mainly using a CPU 19.
It is composed of a port 20, a timer 21, and a memory 22. On the other hand, the potentiometer 18
The analog signal is converted into a digital signal by the A/D converter 23 and sent to the I/O port 20.
is inputted to the control device 14 via.

By the way, the wiring of the bundling error sensor S ₀ provided in the bundling device 8 is detachable so that it can be input to the control device 14 via the connector 24 when the bundling device 8 is attached to and detached from the aircraft body. , on the binding device side 24a of this connector 24,
At the same time, a wiring path _S5 is provided which automatically shorts when the wiring on the body side 24b is connected, and is configured to detect attachment and detachment of the binding device 8.

Then, according to the procedure shown below, when the binding device 8 is attached, the response speed of the handling depth control is automatically set to be slow for a predetermined period of time.

That is, when the control device 14 detects that the wiring path S ₅ is short-circuited by the connector 24, it sets the flag indicating that the bundling device 8 is attached to 1, and performs bundling based on the detection result of the bundling error sensor S ₀ . When a mistake occurs, the buzzer 25 is driven via the I/O port 20 to notify that the bundling mistake has occurred.

On the other hand, the start of grain culm reaping is sensed by the stock source sensor S ₄ ON, and handling depth control is started.

Based on the ON/OFF combination of the culm length sensors S ₁ , S ₂ , and S ₃ , a control signal is output from the I/O port 20 to the electromagnetic valve 16 via the buffer circuit 26 to drive the hydraulic cylinder 15 . The handling depth is controlled by swinging the conveying device 7 and moving its grain culm holding position.

When the Flag is set to 1, the electromagnetic valve 16 is intermittently driven with a slow pulse during a predetermined time monitored by the timer 21 when the culm length detection result changes, and the hydraulic cylinder 15
Therefore, the grain culm holding position of the conveying device 7 is changed more slowly than usual.

Further, when the binding device 8 is not attached, the Flag becomes 0, and the electromagnetic valve 16 is automatically driven with a normal fast pulse, so that the response speed of the conveying device 7 becomes faster.

By the way, the culm length sensors S ₁ , S ₂ , and S ₃ are sensors
When S ₄ is turned on, check whether it is turned on from the top and classify the grain culm length into four ranks.

Then, the output value α, β, γ, or δ of the potentiometer 18 when the hydraulic cylinder 15 is in an extended or contracted state that matches the average length of each rank is stored in advance in the memory 22 as the cylinder reference length Ls. I'll keep it.

Then, this reference length Ls is compared with the actual output L from the potentiometer 18, and a signal to operate the electromagnetic valve 16 is output. At this time, depending on the state of the Flag, the hydraulic cylinder 15 changes the speed at which it is driven.

Note that, instead of the mechanism driven by the electromagnetic valve 16 and the hydraulic cylinder 15, the conveyance device 7 has
It may be configured to be directly driven by a DC motor or the like.

In that case, the control signal output from the I/O port 20 will be a signal that drives the motor in a pulsed manner when Flag is 1, that is, when the binding device 8 is attached, and a signal that drives the motor continuously when Flag is 0. The present invention is not limited to the illustrative embodiments, as it can be easily implemented by only partially modifying the program.

[Brief explanation of drawings]

The drawings illustrate an embodiment of the reaping harvester according to the present invention, and FIG. 1 is an overall side view of the combine harvester, and FIG.
The figure is a block diagram of the control mechanism, and FIG. 3 is its flowchart. 3... Threshing device, 7... Conveying device, 8... Binding device, 14... Control device, S ₁ , S ₂ , S ₃ ... Sensor for controlling depth of handling.

Claims (1)

[Scope of utility model registration request] A conveying device 7 is provided which can adjust the handling depth when feeding the grain culm to the threshing device 3 by changing the clamping position for the harvested grain culm while moving forward, and detects the position of the tip of the grain culm. Sensors S ₁ , S ₂ , S ₃ for controlling the handling depth are provided, and means for automatically adjusting the grain culm holding position of the conveying device 7 based on the detection results of the sensors S ₁ , S ₂ , S ₃ is provided. A reaping harvester is provided with a reaping and removable binding device 8 for binding waste straw after threshing, and means for detecting the attachment/detachment state of the binding device 8,
When detecting the wearing state, the sensors S ₁ , S ₂ ,
A reaping/harvesting machine characterized in that it is provided with a control device 14 that automatically sets a handling depth control response speed of the conveyance device 7 to be slow for a predetermined period of time based on the detection result by _S3 .