JPH0131844B2 - - Google Patents

Description

Detailed Description of the Invention The present invention relates to a harvesting machine equipped with a handling depth adjustment device, and more specifically, a harvesting machine equipped with an automatic handling depth adjustment that can follow sudden changes in grain culm length. Regarding.

The automatic handling depth adjustment device detects the length of the grain culm to be supplied to the threshing section, and adjusts the relative position of the grain culm and the handling barrel to achieve an appropriate handling depth. This is what I did. As a method of detecting the length of the grain culm to be supplied to the threshing section, the length of the grain culm during or after the handling depth adjustment is detected, and the detection result is used as a feedback signal to control the depth. There is a handling depth control method in which the length of the grain culm before adjusting the handling depth is detected and the relative position between the grain culm and the handling barrel is adjusted in advance. Even if the handling depth adjustment can follow small changes in the length of the grain culm being fed, there is a risk that it will not be able to follow sudden changes. The drawback was that it was difficult to control the depth of treatment. The present invention has been developed in view of the above circumstances, and it eliminates the drawbacks of both, makes it possible to follow rapid changes in grain culm length, and enables precise handling depth control, and improves control stability and adjustment performance. The purpose is to provide a harvester with improved performance.

The present invention will be described in detail below based on drawings showing embodiments thereof.

FIG. 1 is an external view of a harvester according to the present invention (hereinafter referred to as the present invention machine). In the figure, K is a reaping section located at the front of the machine and composed of a divider 91, a pulling device 92, a cutting blade 93, etc., and the grain culm cut by the reaping section K is not shown. Vertical conveyance chain 1 via upper and lower conveyor devices
The grain is then transferred to threshing section D. On one side of the raising device 92, sensors serving as a pre-culm length detection device for detecting the length of the grain culm to be harvested are installed from below at S ₁ , S ₂ , S ₃ ,
_S4 , and each sensor is arranged on the back side of the pulling device 92, that is, on the body side, so as to detect the culm length in the posture raised by the lifting device 92. The sensor _S1 located at the bottom is provided to detect the presence of grain culms to be harvested, and is located near the plant base. Sensors S ₂ , S ₃ , and S ₄ are arranged so that they can detect the length of the grain culm.
The height is determined appropriately, and the culm length can be identified and detected in four stages by each operation.

Near the entrance of the threshing section D, detection switches M and H, which are culm length detection devices that detect the long and short dimensions of the harvested grain culm, are arranged in the order of M and H from the vertical conveyance chain 1 side. If the grain tip is long enough to reach the detection switch H located on the far side (right side of the machine) from the vertical conveyance chain 1 or feed chain 2, the grain tip is detected by the vertical conveyance chain 1. to the outside of the aircraft (left side)
On the other hand, if the grain culm is so short that the tip of the grain does not reach the detection switch M, the longitudinal feed chain 1 is erected toward the inside of the machine body, so that the tip of the grain is located between the detection switches H and M. The configuration is such that the posture of the vertical conveyance chain 1 is rotationally adjusted and the feed chain 2 takes over in this state.

FIG. 2 is a schematic diagram showing the hydraulic circuit of the machine of the present invention and the vertical conveyance chain 1 whose attitude (inclination angle) is controlled thereby. The vertical conveyance chain 1 is connected to a rod 4a of a hydraulic cylinder 4 as a driving means for adjusting the handling depth by tilting and raising the chain. Reference numeral 5 denotes a 4-port, 3-position switching type electromagnetic directional control valve, which is set to the switching position by energizing the solenoid 5r, and the rod 4a retracts as shown by the arrow to raise the vertical conveyance chain 1 and move it into the deep position. It is adjusted to the handling side, and conversely, when the solenoid 5l is energized, it becomes the switching position, the rod 4a advances, and the vertical conveyance chain 1 is tilted, so that it is adjusted to the shallow handling side.

A variable resistor 61 for detecting the handling depth control amount is installed at an appropriate position on the support rod of the vertical conveyance chain 1, and when the vertical conveyance chain 1 is tilted and stood up, the electric resistance is increased according to the angle of inclination. It is designed to indicate the value.

FIG. 3 shows a circuit for exciting the solenoids 5l and 5r, in other words, an electric circuit of the handling depth adjusting device. 10 is a battery, the negative electrode side of which is grounded to the body. The positive electrode line of the battery 10 is connected to the sensor via a key switch 11.
A parallel circuit of normally open contacts S _{2 a} , S _{3 a} , and S 4 a of S 2 , S ₃ , and S ₄ is connected, and a resistor is interposed between this connection circuit and the body ground to close each contact. This allows a high level signal to be obtained. normally open contact
S ₂ a is connected to one input terminal of three-input AND gates 12, 13, and 14, respectively, and a normally open contact S ₃ a
are connected to the negative logic input terminal of AND gate 12 and to the positive logic input terminals of AND gates 13 and 14, respectively. Furthermore, the normally open contact S ₄ a is AND
It is connected to the negative logic input terminals of gates 12 and 13, respectively, and to the positive logic input terminal of AND gate 14. That is, the AND gate 12 is a normally open contact S ₂ a
When S ₃ a and S ₄ a are open circuits and S 3 a and S 4 a are open circuits,
AND gate 14 connects all normally open contacts S ₂ a, S ₃ a,
When S ₄ a is closed, a high level signal is output. Therefore, if the length of the grain culm is short and does not reach any of the sensors S ₂ to _{S 4} ,
If the outputs of all AND gates 12, 13, and 14 are low level, reaching sensor S ₂ but not reaching sensor S ₃ , the output of AND gate 12 is high level, reaching sensor S ₃ . is sensor s ₄
AND gate 13 if the length is too long to reach .
If the output of the AND gate ₁₄ is at a high level and is long enough to reach the sensor S4, the output of the AND gate 14 becomes a high level.

The outputs of the AND gates 12, 13, and 14 are applied to the bases of switch transistors 18, 19, and 20 via on-delay circuits 15, 16, and 17, respectively. 3 is a variable resistor 31, 32, 33, 34, between the positive electrode of the battery 10 and the body ground.
35 are connected in series, and the emitters of each of the transistors 18, 19, and 20 are connected to the connection point P ₂ between the resistors 32 and 33 of the voltage divider 3, and the resistor 33.
and 34 connection point P ₃ , and the connection point P ₄ of resistors 34 and 35
, and the collector is connected to resistors 31 and 3 all together.
It is connected to the connection point _P1 of 2. transistor 1
8, 19, 20 are AND gates 12, 13,
14 is turned on when it becomes high level, and when all the transistors 18, 19, and 20 are turned off, the potential V ₁ at the connection point P ₁ of the voltage divider 3 with all the resistors connected in series. However, when the transistor 18 is turned on, the connection points P ₁ and P ₂ are shorted, that is, the resistors 31, 33, 34, 3
Similarly, when the transistor 19 is turned on, the potential V ₂ at the connection point P ₁ of the voltage divider 3 consisting of a series circuit of 5 is the potential V ₃ at which the connection points P ₁ and P ₃ are shorted, and when the transistor 20 is turned on has connection points P ₁ and P ₄
The short-circuited potential V ₄ (therefore, V ₁ >V ₂ >V ₃ >V ₄ ) is applied to the +input terminal of the differential amplifier 21 and the analog switch 26 .

The - input terminal of the differential amplifier 21 is connected to the intermediate terminal of the aforementioned variable resistor 61 connected as a potentiometer, and the potential V ₇ determined by the resistance value of the variable resistor 61 is connected to the - input terminal of the differential amplifier 21. −It is used as an input. Further, this potential V ₇ is input to the analog switch 25 . The variable resistor 61 is
Maximum value when vertical conveyance chain 1 is in the most upright position,
In the most tilted state, a minimum potential is output, and these values correspond to the output potentials V ₁ and V ₄ of the voltage divider 3, respectively.

The differential amplifier 21 outputs the difference between both inputs, and this difference signal is input to the polarity converter 22. The polarity converter 22 is a rectifier circuit that outputs a positive polarity when the input voltage is positive, and converts the polarity to positive when the input voltage is negative. A corresponding potential is output. This output serves as the + terminal input of the comparator 23.

An intermediate terminal of a variable resistor 64 connected as a potentiometer is connected to one terminal of the comparator 23, and a potential V ₆ determined by the setting value of the variable resistor 64 is input. This potential V ₆ is a potential based on the detection result of the culm length by the sensors S ₂ to _{S 4} (i.e., the output potential of the voltage divider 3), and a potential corresponding to the tilted position of the vertical conveyance chain 1 (i.e., the output potential of the variable resistor 61). V ₇ ) is large, and therefore the deviation between the culm length and the vertical conveyance chain 1 is significant, and the reference value can be used to judge that there is a risk that the movement of the vertical conveyance chain 1 will not be able to follow the culm length and a response delay will occur. is set as

The comparator 23 outputs a high-level signal when its + terminal input has a higher potential than its - terminal input, and this signal is given to the input terminal of a mono multi vibrator (hereinafter referred to as mono multi) 24. In addition, the input terminal of the monomulti 24 is connected to the normally open contact 7 of the timer 71, which has a limited closing time.
It is connected to the positive electrode line of the battery 10 via 1a. The timer 71 is connected to the positive line of the battery 10 via one normally open contact S ₁ a ₁ of the sensor S ₁ , and when the sensor S ₁ detects a grain culm, the normally open contact S ₁ a _{1 is} connected to the positive line of the battery 10 . When the circuit is closed, the clock circuit 71 of the timer 71
c is driven, the normally open contact 71a is closed for a predetermined period of time, and a high level signal is applied to the input terminal of the monomulti 24 for a predetermined period of time. The mono multi 24 outputs a high level signal for a certain period of time based on these signals and sends it to the electromagnetic relay 6.
2 excitation coil 62c and analog switch 25
and 26. mono multi 2
Another normally open contact S ₁ a ₂ of the sensor S ₁ is interposed between the power supply terminal of No. 4 and the positive electrode line of the battery 10, and when the sensor S ₁ detects a grain culm, the monomulti 24 is starting to work. A normally closed contact 62b of the electromagnetic relay 62 is interposed between a normally open contact 72a of an electromagnetic relay 72, which will be described later, and a positive electrode line of the battery 10.

The electromagnetic relay 72 is connected to the positive line of the battery 10 through a series circuit of another normally open contact S ₁ a ₃ of the sensor S ₁ and an off-delay circuit 73, and when the sensor S ₁ detects a grain culm. In this case, the normally open contact S ₁ a ₃ closes and excites the excitation coil 72c of the electromagnetic relay 72, which closes the normally open _contact 72a. If the current is exhausted, the excitation coil 72C is continuously excited for a certain period of time determined by the off-delay circuit 73, and the normally open contact 72a opens after a certain period _{of time from the opening of the normally open contact S1a3 .}

The analog switch 25 is turned on by the high level output of the monomulti 24 and outputs the output potential V ₇ of the variable resistor 61 to the + input terminal of the comparator 27 and the - input terminal of the comparator 28 . Also, analog switch 26 and mono multi 24
The voltage divider 3 is turned on at a high level output, and the output potential of the voltage divider 3 is applied to the + input terminal of the comparator 28 and the - input terminal of the comparator 27. The comparators 27 and 28 output a high-level signal when their + terminal input has a higher potential than the one-terminal input, and this output is excited when adjusting the vertical conveyance chain 1 to shallow handling. should solenoid 5
l. A switch transistor 6 for controlling the excitation of each solenoid 5r to be energized when adjusting to deep treatment.
8 and 69, respectively, and comparator 2
7 (or 28) outputs a high level signal, the switch transistor 68 (or 69) is turned on and the solenoid 5l (or 5r) is energized.

On the other hand, one end of the normally open contact Ma and one end of the normally closed contact Mb of the detection switch M are collectively connected to the battery 1.
The normally open contact 72 of the electromagnetic relay 72 is connected to the positive electrode line of 0.
a, it is connected via the normally closed contact 62b of the electromagnetic relay 62. The other end of the normally open contact Ma is connected to the negative input end of the AND gate 66 via the normally open contact Ha of the detection switch H. In addition, the normally closed contact of detection switch M
Mb is connected to the negative input terminal of AND gate 67. The other power terminals of the AND gates 66 and 67 are connected to a pulse oscillator 65 interposed in the positive line of the battery 10.
outputs a high level signal in synchronization with the high level output of the pulse oscillator 65.
The outputs of the AND gates 66 and 67 are respectively applied to switch transistors 68 and 69 for controlling the energization of the solenoid 5l for tilting to the shallow handling side and the solenoid 5r for raising to the deep handling side. Further, between the solenoids 5l and 5r and the body ground, a manual switch 81 for shallow handling command and a manual switch 82 for deep handling command are connected in parallel with switch transistors 68 and 69, respectively.

Therefore, the control by switches M and H of the culm length detection device is intermittently controlled by the sensors S ₂ to _{S 4} of the pre-culm length detection device.
Since the control is performed continuously, the response speed of the control by sensors S ₂ to _{S 4} of the pre-culm length detection device is as follows:
This is faster than the response speed of the control by switches M and H of the culm length detection device.

The operation of the inventive machine constructed as described above is as follows. When the key switch 11 is turned on to start the reaping operation, the threshing operation is performed by automatically adjusting the handling depth.

First, at the beginning of mowing, the handling depth is adjusted using sensors S ₂ , S ₃ , and S ₄ . That is, when the sensor S ₁ detects a grain culm, all the normally open contacts S ₁ a ₁ , S ₁ a ₂ , S ₁ a ₃ are closed, and the timer 71 is activated by closing the normally open contacts S ₁ a ₁ .
The normally open contact 71a of the electromagnetic relay 62 is turned on for a certain period of time, and when the normally open contact _S1A2 is closed, the monomulti ₂₄ outputs a high level signal, and the normally closed contact 62b of the electromagnetic relay 62 is opened. Control by detection switches M and H is prohibited, analog switches 25 and 26 are turned on, and handling depth is controlled by sensors S ₂ , S ₃ and S ₄ . The grain culm lengths detected by the sensors S ₂ , S ₃ , and S ₄ are set to a predetermined level of potential by the voltage divider 3 and applied to the comparators 27 and 28, which are connected to variable resistors according to the position of the vertical conveyance chain 1. The solenoid _5l or 5r is energized so that the handling depth position corresponds to the grain culm length. In this case, if the grain culm length is long enough to reach the sensor S ₄ (or short enough not to reach any of the sensors S ₂ to _{S 4} ), the comparator 27 -
The + input of the input and comparator 28 is V ₄ (or
V ₁ ), and on the other hand, when the vertical conveyance chain 1 is in the upright (or tilted) position, the + input potential of the comparator 27 and the - input potential V ₇ of the comparator 28 are high potentials (or low potentials). , V ₄ <
V ₇ (or V ₁ > V ₇ ) and the comparator 27
(or 28) output is high level, the output of comparator 28 (or 27) is low level, solenoid 5l (or 5r) is energized, and vertical conveyance chain 1 moves to the shallow handling side (or shallow handling side) Leaning down (or standing up). This movement of the vertical conveyance chain 1 is performed until the vertical conveyance chain 1 reaches a predetermined position.

Now, after a predetermined period of time has elapsed, the normally open contact 71a of the timer 71 is opened, and the output of the comparator 23 is applied to the input terminal of the monomulti 24. On the other hand, due to the normally open contact S ₁ a ₃ of sensor S ₁ closing, the electromagnetic relay 7
No. 2 excitation coil 2C is excited and the normally open contact 72a
is closed, and since the monomulti 24 is not emitting a high-level signal, the normally closed contact 62b of the electromagnetic relay 62 remains closed, so when the grain culm reaches the vicinity of the entrance of the threshing section D, it is detected. switch M,H
The treatment depth is adjusted by That is, the grain culm is threshed without being affected by the length of the grain culm, and in the case of a short grain culm, the grain culm does not come into contact with the detection switch M, and the normally open contact Ma of the detection switch M is open, and normally closed contact Mb remains closed, so
The solenoid 5r is energized and the vertical conveyance chain 1
Stand up and intermittently move to the deep treatment side. The movement of the vertical conveyance chain 1 continues until the grain culm comes into contact with the detection switch M and is activated. In addition, if the transported grain culm does not reach the detection switch H but has the appropriate length to reach the detection switch M, the normally open contact Ma of the detection switch M is closed, the normally closed contact Mb is opened, and Since the normally open contact Ha of the detection switch H remains open, both the solenoids 5l and 5r are not energized, assuming that the handling depth is appropriate, and the vertical conveyance chain 1 maintains its position. Furthermore, if the grain culm being conveyed is long enough to reach the detection switch H, the normally open contacts Ma and
Ha is closed, and the normally open contact 91a of the electromagnetic relay 9
Also, the solenoid 5l is energized and the vertical conveyance chain 1 is intermittently tilted toward the shallow handling side. This tilting continues until the normally open contact Ha of the detection switch H is closed.

Under such conditions, if the potential difference between the detection result of the grain culm length by the sensors S ₂ to _{S 4} and the detection result of the inclination angle of the vertical conveyance chain 1 by the variable resistor 61 becomes large, for example, if the grain culm length is detected by the sensor S ₄ and the vertical conveyance chain 1 is at the deep handling position, when the grain culm reaches the threshing section D and the handling depth is controlled by the detection switches M and H, the vertical Since there is a risk that the handling depth position may not be able to follow the length of the grain culm due to a delay in the movement of the conveyance chain 1 (that is, there is a risk that the response will be delayed), the vertical conveyance chain 1 is moved in advance. There is. That is, the grain culm length is long enough to reach sensor S ₄ (or sensor S ₂ to _{S 4}
), the positive input potential of the differential amplifier 21 becomes V ₄ (or V ₁ ).
On the other hand, when the vertical conveyance chain 1 is at the most upright (or tilted) position or in a place close to this, the − input potential V ₇ of the differential amplifier 21 is low (or high), and the output potential of the differential amplifier 21 is V ₄ −V ₇ (or V ₁ −V ₇ )
Therefore, the output potential of the polarity converter 22 |V ₄ −V ₇ |
(or |V ₁ −V ₇ |) is compared with the set potential V ₆ of the variable resistor 64 by the comparator 23 . In this case, |V ₄ −V ₇ | (or |V ₁ −V ₇ |) is a large value, so |V ₄ −V ₇ |＞V ₆ (or |V ₁
-V ₇ | > V ₆ ), the output of the comparator 23 becomes a high level, and the monomulti 24 outputs a pulse signal with a constant time width (at this time, the normally open contact S ₁ of the sensor S ₁ a ₂ is closed,
It is now possible to oscillate a monomulti 24). The output of the monomulti 24 is applied to the excitation coil 62C of the electromagnetic relay 62 to excite it, and prohibits the detection switches M and H from adjusting the handling depth.

While the monomulti 24 is outputting a high level signal, the analog switches 25 and 26 are turned on, and the output potential V ₇ of the variable resistor 61 and the voltage divider 3
The potential V ₄ (or V ₁ ) is applied to the comparators 27 and 28. In this case, since V ₄ > V ₇ (or V ₁ < V ₇ ), the output of the comparator 28 (or 27) is high level, and the output of the comparator 27 (or 28) is high.
The output of solenoid 5r (or 5l) becomes low level, and the solenoid 5r (or 5l) is energized, and the vertical conveyance chain 1
is made to stand up (or lean) toward the deep treatment side (or shallow treatment side) for the time period of the high level output generated by the monomulti 24. As a result, the vertical conveyance chain 1 is moved to a position where no delay in response occurs, and stable handling depth adjustment becomes possible.

Now, the handling depth is adjusted by the detection switches M, H or the sensors _S2 to _S4 in this way, and when one stroke of reaping or all the reaping work is completed, the sensor _S1 detects the grain culm. is not detected and the normally open contact S ₁ a ₁ ,
S ₁ a ₂ and S ₁ a ₃ are all open, but the electromagnetic relay 72 is continuously energized for a predetermined time determined by the off-delay circuit 73, and its normally open contact 72a is opened after a predetermined time delay, so it is not detected. The processing depth can be adjusted continuously for a predetermined period of time using switches M and H, thereby preventing unprocessed parts.

In this way, the machine of the present invention performs control using sensors S ₂ to _{S 4} at the beginning of mowing to avoid response delays, and thereafter performs precise control using detection switches M and H and predicts response delays. In such a case, the cutting depth adjusting device is forcibly driven to perform stable control, and furthermore, at the end of cutting, control is performed by detection switches M and H to prevent untreated material.

As detailed above, in the present invention, control can be performed to follow minute changes in grain culm length, so precise handling depth control is possible, and
It is possible to stably adjust the handling depth without causing an overload on the handling cylinder due to deep handling or unhandling due to shallow handling by preventing a response delay in adjusting the handling depth. In addition, in the above-mentioned embodiment, if the discrepancy between the length of the grain culm and the position of the vertical conveyance chain 1 is significant,
Although the handling depth adjustment device is forcibly driven, the present invention is not limited to this, and for example, the handling depth adjustment device may be driven in a desired direction when the length of the grain culm changes suddenly. You can also use it as For example, sensor
The operation status from S ₂ to _{S 4} , that is, the culm length detection device is memorized sequentially, and when the new detection result is a predetermined ratio or more compared to the previous detection result, the handling depth device is moved in the required direction. It is also possible to have a configuration in which it is driven.

[Brief explanation of drawings]

The drawings show embodiments of the present invention.
The figure is an external view of the harvesting machine according to the present invention, FIG. 2 is a schematic diagram showing the main part hydraulic circuit, etc., and FIG. 3 is the same main part electric circuit diagram. 1... Vertical conveyance chain, 5... Solenoid valve, 5l, 5r
...Solenoid, 21...Differential amplifier, 22...Polarity converter, 23, 27, 28...Comparator, 24...
Mono multi, 25, 26...Analog switch, 6
2, 72...Electromagnetic relay, 65...Pulse oscillator, 71
...Timer, _S1 , _S2 , _S3 , _S4 ...Sensor, M, H...Detection switch.

Claims (1)

[Claims] 1. A handling depth adjustment device, which measures the length of the grain culm being transported by the grain culm transporting body constituting the handling depth adjustment device, or of the grain culm downstream thereof. A culm length detection device for detecting, an upstream culm length detection device for detecting the length of grain culms upstream of the grain culm conveyor, and operation control of a handling depth adjustment device based on the detection results of the culm length detection device. If a response delay is predicted while performing the operation control, the handling depth adjustment device is forcibly driven by control based on the detection result of the pre-culm length detection device. A harvesting machine characterized by: 2. The response delay prediction means includes a detector for the handling depth adjustment position of the grain culm carrier, a means for determining the amount of deviation between the detection result by the detector and the detection result by the pre-culm length detection device; 2. The harvester according to claim 1, further comprising means for comparing the amount of deviation with a predetermined reference value, and a response delay is predicted when the amount of deviation becomes larger than the reference value. 3. The harvester according to claim 1, wherein the response speed of the control system using the pre-culm length detection device is higher than the response speed of the control system using the pre-culm length detection device.