JPH03103119A - Combine - Google Patents

Abstract

PURPOSE:To properly take measures for trouble or maladjustment occurring after sensing ear tip positions by discriminating whether the extent of projected grain culms is a predicted extent of projection based on information about ear tip positions or a regulated state of threshing depth regulating means or not. CONSTITUTION:The extent of projection sensed with sensing means (S4) and (S5) for the extent of projection indicates a value obtained by subtracting the actual threshing depth from the culm length of grain culms. The set threshing depth is obtained from ear tip positions determined by ear tip sensors with a controller to operate threshing depth regulating means. The suitable threshing depth or extent of projection is predicted from information about ear tip positions or a regulated state of the threshing depth regulating means. A discriminating means discriminates whether the extent of projection indicated by the sensing means for the extent of projection is a predicted extent of projection or not.

Description

Detailed Description of the Invention [Industrial Application Field] The present invention provides a tip sensor for detecting the tip position of a shell culm during a conveyance path of the shell culm being conveyed to a threshing feed chain, and a handler for adjusting the handling depth. The present invention relates to a combine harvester that is provided with a depth adjusting means and a control device that operates the handling depth adjusting means to maintain the handling depth at a set depth based on the detection information of the tip sensor.

[Conventional technology]

In such a combine harvester, for example, as disclosed in Japanese Utility Model Application Publication No. 1-68738, an inverted U-shaped rod is provided in the vertical conveyance device of the reaping pre-processing section, and a pair of tip sensors are installed inside this inverted U-shaped rod. When the grain conveyed by the vertical conveyance device passes through the loop of the inverted U-shaped rod, it is brought into contact with the ear tip sensor to detect the ear tip position.

In addition, by vertically swinging this vertical conveying device around the rear horizontal axis, the receiving part at the starting end is moved up and down to change the supporting position of the husk being conveyed. When the culm is transferred to the chain, the holding position of the culm is changed to adjust the handling depth.

[Problem to be solved by the invention]

In a conventional combine harvester, the position of the ear tip is detected in the conveyance path before being introduced into the threshing device, and the handling depth is adjusted based on the detected information on the position of the ear tip. In other words, the actual handling depth is not detected and the handling depth is adjusted based on the detected information.

Therefore, if a trouble or maladjustment occurs after detecting the tip position, for example, when the grain is transferred from the vertical conveyance device to the threshing feed chain, the stock support position of the grain may shift and the grain may be introduced into the threshing device. If the handling depth does not reach the set depth, this cannot be detected and threshing continues at a state that is deviated from the set depth.

The present invention has been made by focusing on such difficulties in controlling the handling depth, and its purpose is to effectively deal with troubles and maladjustments that occur after detecting the tip position. It's about doing.

[Means to solve the problem]

The characteristic configuration of the present invention, which has been made to achieve the above object, includes a protrusion amount detection means for detecting the protrusion amount of the grains conveyed by the threshing feed chain from the threshing device; The present invention is characterized in that a determining means is provided for determining whether the protrusion amount is the predicted amount based on the information or the adjustment state of the handling depth adjusting means.

[For production]

The protrusion amount detection means detects the protrusion amount of the culm transported by the threshing feed chain from the threshing device. This amount of protrusion corresponds to the culm length of the shell culm minus the actual handling depth during threshing, and there may be problems or maladjustments between the time when the tip position is detected and when it is supported by the threshing feed chain. Even if the handling depth deviates due to this occurrence, the amount of protrusion as a result of the deviation will be directly indicated.

By the way, the control device determines the set handling depth based on the information from the tip sensor, and operates the handling depth adjusting means to adjust this handling depth to the set handling depth. Therefore, from the information from the ear tip sensor and the adjustment state of the handling depth adjusting means, it is possible to predict the handling depth or protrusion amount suitable for threshing the grain.

The determining means determines whether the amount of protrusion indicated by the amount of protrusion detection means is the predicted amount of protrusion. If the kernel is introduced into the threshing device without any trouble or maladjustment after detecting the tip position, it is determined that the protrusion amount indicated by the protrusion amount detection means substantially matches the predicted protrusion amount; If trouble or maladjustment occurs, it is determined that the protrusion amount indicated by the protrusion amount detection means does not match the predicted protrusion amount.

The result of this determination is equivalent to indicating whether or not the handling depth control is being performed normally, and can be used to stop introducing the culm into the threshing device, issue an alarm, or change the handling depth adjustment means. It will be used as a basis for making decisions and making corrections.

〔Effect of the invention〕

According to the present invention, when controlling the handling depth, it is possible to prevent threshing at an inappropriate handling depth due to trouble or poor adjustment that occurs after detecting the tip position, and as a result, the It has become possible to demonstrate threshing performance.

〔Example〕

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

As shown in Figure 8, a pulling device (1), a reaping device (2)
), auxiliary conveyance device (3), vertical conveyance device (4), etc., is equipped with a pre-harvest treatment device (5), a threshing device (6), a straw binding device (7〉), a control section (8), etc. The traveling aircraft (
9) is attached to the front end of the unit so that it can be raised and lowered to form a combine harvester.

The reaping unit (1, 2.3) consisting of the pulling device (1), the reaping device (2) and the auxiliary conveyance device (3) is supported by the weeding frame (10). IO)
It also has a horizontal sliding structure that can integrally slide along the width direction with respect to the reaping pretreatment device (5).

As shown in FIG. 3, the vertical conveyance device (4) includes a bottom support conveyance device (4A) in the lower stage and a tip locking conveyance device (4A) in the upper stage.
4B), in which the vertical grain received from the auxiliary conveyance device (3) is supported on the stock side by the stock support support transfer device (4A), and the ear side is supported by the ear locking transfer device (4A). 4B
), then gradually raise it to its side and transport it backwards. Although not described in detail, the cutting height of the grains transported by the vertical transport device (4) is always maintained constant by automatic cutting height control of the reaping pre-processing device (5).

As shown in FIG. 5, the threshing device (6) is equipped with a threshing feed chain (11) on the outside, and has a handling cylinder (12) that rotates around the longitudinal axis inside. The handling cylinder (l2) is pivotally supported by the lid (6a) of the threshing device (6), and when the lid (6a) is swung upward and opened, the handling cylinder (12) is also integrated. moving upwards. In this threshing device (6), the husk released from the terminal end of the vertical conveyance device (4) is received at the starting end of the threshing feed chain (11), and the threshing device (6) receives the husk released from the terminal end of the vertical conveying device (4) at the starting end of the threshing feed chain (11), and while the stock is held in a horizontal position, the husk is threshed at the rear. At the same time, the grains are transported to the threshing device (6).
), the granulated part is thrown into the interior and transported to the rear while being handled by the handling cylinder (l2).

Next, a structure for controlling the handling depth of the combine harvester will be explained.

The vertical conveyance device (4), as shown in FIG.
It is provided so as to be able to swing freely around the horizontal axis (P) at the lower rear, and is used to operate the manual lever (13) back and forth and the first lever for operating the manual lever.
It is configured to swing in conjunction with the drive of the electric motor (M1). When the vertical conveyance device (4) is swung upward to move the starting end upward, the position of the stub support by the stub head support conveyance device (4A) is shifted to the tip side, and the stub head supporting device (4A) is swung downward. When the starting end is moved downward, the stock support conveyor (
The shareholder position under 4A) shifts to the shareholder side. This transfer of the stock support position in the stock support transfer device (4A) is usually a change in the stock support position by the threshing feed chain (11), which in turn leads to the transfer of the stock support position to the threshing device (6). The input amount, that is, the handling depth in the threshing device (6) will be changed. Therefore, here, the handling depth adjustment means is constituted by the vertical conveyance device (4), the first electric motor (M1), and its drive device (15).

A start switch (
S1) is provided. In addition, as shown in Fig. 4, an inverted U-shaped sensor mounting frame (l4
), and inside this sensor mounting frame (l4), there is a tip sensor (Sz), (S3) that swings back and issues an ON signal when it comes into contact with the granulation part of the grain (these are the patent claims. A pair of upper and lower sensors are provided, constituting a handling depth sensor within the range of . These ear tip sensors (S2) and (Sa) detect which tip of the culm comes into contact when the culm being conveyed by the vertical conveyance device (4) passes through the loop of the sensor mounting frame (14). This is to detect the position of the tip of the grain depending on whether or not it is present.

As shown in FIG. 1, the tip sensors (S2), (S,
) is connected to the control device (H), and the detection signal is immediately output to the control device (H). Control device(
In H), under the condition that the start switch (S1) is ON, if both the tip sensors (S2), (S,) are ON, it is determined that the state is being handled deeply, and the first tip sensor in the lower row is activated. (
S2) is ON and the second tip sensor (S3) on the upper stage is OFF.
If this is the case, it is determined that the handling depth is appropriate within the set range, and if both the tip sensors (S2) and (S3) are OFF, it is determined that the handling depth is shallow. However, the determined state is not the actual state in the threshing device (6), but is a prediction that the culm will be threshed in that state when it is introduced into the threshing device (6).

Further, the control device (6) is connected to the drive device (15) of the first electric motor (M1), and a control signal is output to the drive device (15) based on the result of the determination.Control In the device (15), when it is determined that the state is in a deep handling state,
A control signal is output to drive the first electric motor (M1) so that the supporting position at the starting end of the vertical conveyance device (4) shifts to the tip side of the grain grain, and when it is determined that the handling depth is appropriate, , outputs a control signal to stop driving the first electric motor (M1) in order to maintain the current state, and when it is determined that the state is shallow handling, the clamping position at the starting end of the vertical conveyance device (6) is set to the position of the culm. A control signal is output to drive the first electric motor (M1) in order to shift to the stock side.

In short, the tip of the culm is a pair of tip sensors (S2),
(S3), and passes through the middle of the lower first tip sensor (S2
) is ON and the second ear sensor (S3) on the upper stage is OFF, the vertical conveying device (4) is oscillated to adjust the supporting position, and the handling depth in the threshing device (6) is maintained at the set depth. We are controlling the situation as much as possible.

When the handling depth is controlled, when the husk is transferred smoothly from the vertical conveyance device (4) to the threshing feed chain (l1), the appropriate state is maintained; ) by raising and lowering the vertical conveyance device (4)
When the positional relationship between the terminal end of the threshing feed chain (11) and the starting end of the threshing feed chain (11) changes, the threshing feed chain (l1)
The position of shareholder ownership also changes, and as a result, there may be a discrepancy between the set depth of ownership and the depth of ownership that is actually maintained.

Such deviations cannot be detected at all by the ear sensors (S2) and (S3), and therefore, there is a risk that inefficient threshing may continue until the deviations disappear.

The combine harvester has taken effective measures against this, which will be explained below.

As shown in FIG. 3, a first potentiometer (PMI) whose output value changes according to the swing angle is provided at a location corresponding to the horizontal axis (P) of the vertical conveyance device (4). be. The output value of this first potentiometer (PM,) indicates the stock support position in the vertical conveyance device (4), and is sent to the control device (}I) as predicted handling depth information. There is.

As shown in FIGS. 5 and 6, there is a rail near the threshing feed chain (11) on the outside of the threshing device (6) (the part that remains below even when the lid (6a) is opened). A member (16) is fixed in a state of protruding outward, and a sensor mounting portion (17) is attached to this rail member (16) so as to be slidable along the longitudinal direction. Sensor mounting part (l7
) is equipped with a pair of left and right stock end sensors (Ss) and (sa+) that swing backward and issue an ON signal when the stock end of the husk transported by the threshing feed chain (11) comes into contact with the main end.

These stock end sensors (S4) and (SS) indicate that the grain conveyed by the threshing feed chain (l1) is detected by the rail member (1).
When passing under 6), it is determined whether the stock end position of the grain is appropriate depending on which part the stock end comes into contact with, in other words, the protrusion of the grain from the threshing device (6). This is to detect whether the amount is appropriate. Assuming that the cutting height of the grain is constant or approximately constant through cutting height control, if it is detected whether or not the amount of protrusion of the culm from the threshing device (6) is appropriate, handling can be improved. It is possible to indirectly detect whether the depth is appropriate. Therefore, in this case, the control means (H) determines whether the handling depth (which may be the amount of protrusion of the culm) predicted based on the output of the first potentiometer (PM+) is the actual handling depth (the amount of protrusion of the grain). function as a determining means (H1) for determining whether the The above-mentioned cutting height control is performed by controlling the height above the ground to be maintained at the target height while detecting the height above the ground using an ultrasonic sensor provided in the cutting pre-processing device (5). Therefore, if the predicted value of the protrusion amount of the culm is changed by changing the target height above the ground, more accurate determination can be made.

In addition, the stock end sensors (S4) and (SS) are attached to the sensor mounting part (
17), and the distance between them can be changed in several stages. Furthermore, when installing the left (outer) second stock end sensor (S,), it is slightly shifted rearward than the right (inner) first stock end sensor (S,). This is because the culm sag due to gravity, and the contact point of the second stock end sensor (S5) becomes lower than the contact point with the first stock end sensor (S,), and the threshing feed chain (1
Considering that the conveyance path in 1) is slightly upward,
This is the result of height adjustment.

Pulleys (18) and (19) are pivotally supported at the proximal end and distal end of the rail member (16), respectively, and a wire (20) is wound around these pulleys. A second electric motor (M2) and a second potentiometer (PM!) are connected to the base end pulley (l8), and the sensor mounting part (l7) is connected to the wire (20). be.

The stock end sensors (34), (311), the drive device (21) for the second electric motor (M2), and the second potentiometer (PM2) are connected to the control device (H) as shown in FIG. It's connected. When this second electric motor (M2) is driven, the wire (20) rotates and the sensor mounting part (
l7) slides, and the stock end sensor (S4). (S6)
moves integrally in the inward and outward directions, and the stop position of the stock end sensor (S4), (!.) at this time is obtained from the output value of the second potentiometer (PM!).

Next, the overall operation of the control device (H) will be explained with reference to the flowchart in FIG. The operation here is
During control, it will be executed repeatedly at regular intervals.

First, with the start switch (S1) in the ON state, the first electric motor (
M1) is driven to control vertically swinging the vertical conveyance device (4). In other words, when both the first tip sensor (S2) and the second tip sensor (S3) are ON, it is assumed that the culm is long and the vertical conveyance device (4) is swung upward by a certain amount, When both the sensor (S2) and the second tip sensor (S3) are OFF, it is assumed that the distance is short and the vertical conveyance device (4) is swung downward by a certain amount, thereby turning off the first tip sensor (S2). is turned ON and the second tip sensor (S3) is kept OFF.

When the first tip sensor (S2) is ON, the second tip sensor (S2) is ON.
S,) is maintained OFF, the output value from the first potentiometer (PM+) is read, the output value is compared with the stored data, and the stock end sensor (S4), ( S5) Predict an appropriate detection position.

Then, a control signal is issued to the drive device (2l) of the second electric motor (M,), and the stock end sensor ('S4 冫. (ss
) is moved laterally to its detection position. Stock end sensor (S
Whether or not <) and (ss) have reached the target detection position is determined from the output value from the second potentiometer (PM2).

When the stock end sensors (S4) and (SS) reach their detection positions, the first stock end sensor (S,) and the second stock end sensor (S,) are activated.
Whether the stock end of the grain is passing through the middle of S, ), that is, whether the first stock end sensor (S4) is ON and the second stock end sensor (S6) is OFF. Detect. When both the first tip sensor (S2) and the second tip sensor (S3) are ON or OFF, the vertical conveyance device (
It is assumed that an abnormality occurred during the transfer from 4) to the threshing feed chain (11). If this abnormal condition continues for a set period of time, an alarm system using a buzzer (2
2) to immediately notify the operator.

As shown in FIG. 7, in the combine harvester, the threshed grain is passed from the threshing feed chain (11) to the waste straw chain (23) as waste straw, and then the waste straw is tied up by the waste straw chain (23). It is supported and transported to the device (7) and tied there. When tying waste straw, it is important to align the ends of the plants, so we use a waste straw binding device (7).
The position of the stock end of the waste straw is detected by sensors (S++) and (Sy) in front of it, and the waste straw binding device (7) is moved along the width direction to operate at an appropriate binding position.

However, since the position for detecting the stock end position of the waste straw is immediately in front of the waste straw binding device (7), there is a drawback that it is not possible to follow sudden changes in the stock end position.

Therefore, the positional relationship between the threshing feed chain (11) and the straw removal chain (23> is fixed, so there is almost no misalignment during delivery, and the removal straw chain (23>) depends on the amount of protrusion of the husk from the threshing device (6). Considering that the supporting position and stock end position are determined, the second potentiometer (P
The amount of protrusion of the culm obtained from M2) is measured using the waste straw binding device (
7) By using ゜ as prior information when moving horizontally, it is recommended to use it to improve the ability to follow sudden changes in the stock end position.

[Another example]

In carrying out the present invention, the control device (6) includes a tip sensor (
Based on the information of S2) and (S3), a control signal is output to the drive device (2l) of the second electric motor (M2), and when the first stock end sensor (S4) is ON, the second stock end sensor ( S
6) is controlled so that it is always maintained at the OFF position. At that time, the output values of the first potentiometer (PMI) and the second potentiometer (PM2) are compared, and if the difference exceeds the set range and continues for more than the set time, the alarm device (22) is activated. You may also do so.

Furthermore, in the case where the reaping parts (1, 2, 3) described in the above embodiment are provided so as to be slidable in the width direction with respect to the traveling body (9), the feed chain (11) can be adjusted by adjusting the slide movement. When the amount of protrusion of the grains conveyed can be changed and adjusted, the amount of protrusion detection means (S4)
, (si) may be used to automatically slide the reaping section (1, 2.3).

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of drawings]

The drawings show an embodiment of the combine harvester according to the present invention, FIG. i is a functional block diagram of the control system, FIG. 2 is a flowchart of handling depth control, FIG. Fig. 5 is a front view showing the mounting state of the ear tip sensor, Fig. 5 is a vertical cross-sectional front view of the upper part of the threshing device, Fig. 6 is a rear perspective view showing the mounting structure of the stock end sensor, and Fig. 7 is a plan view of the straw binding device. FIG. 8 is a side view of the combine harvester. (H)... Control device, (H+)... Discrimination means, (4), (15), (M1)... Handling depth adjustment means, (S2) , (S3)...Spike tip sensor, (S4). (Sg)... Protrusion amount detection means, (6)... Threshing device, (l1)...
・Threshing feed chain.

Claims (1)

[Claims] An ear tip sensor (
S_2), (S_3), handling depth adjusting means (4), (15), (M_1) for adjusting the handling depth, and the tip sensor (
Handling depth adjusting means (4), (15), in order to maintain the handling depth at the set depth based on the detection information of S_2), (S_3),
(M_1); and a control device (H) for operating the threshing feed chain (M_1).
11), protrusion amount detection means (S_4), (S_5
), and the amount of protrusion is determined by the tip sensor (S_2), (S_
3) or the handling depth adjusting means (4), (15),
A combine harvester provided with a determining means (H_1) for determining whether or not the protrusion amount is the predicted amount based on the adjustment state of (M_1).