JPH0446529B2 - - Google Patents

Description

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

[Conventional technology]

In this kind of handling depth control device described above, during the conveying route of the cut stem culm to the threshing device, for example, the cut stem culm is placed in the conveying device portion that clamps and conveys the cut stem culm in the reaping section to the threshing device. A contact-type culm length detection sensor that comes into contact with the tip of the stalk and outputs an ON/OFF signal corresponding to the length of the reaped culm is installed, and based on the culm length detection result by this culm length detection sensor, the culm is transferred from the reaping section to the conveyance device. By changing and adjusting the stem culm delivery position, the tip position of the stem culm introduced into the threshing device via this conveying device is controlled so as to be at a proper handling depth position.

By the way, since the culm length of the stem culm varies, the culm length detection state of the culm length detection sensor changes intermittently. Therefore, if the handling depth is immediately controlled based on this intermittently changing culm length detection signal, temporary changes in culm length that do not require control or sensor malfunctions will also be tracked, and the handling depth adjustment Since the actuator operates frequently, which adversely affects the durability of the handling depth adjustment mechanism, the handling depth control does not respond to short-term changes in the detection state of the culm length detection signal output from the culm length detection sensor. Thus, a signal delay means was provided to delay the culm length detection signal for a predetermined period of time.

[Problem that the invention seeks to solve]

However, if a signal delay means is provided to remove the temporary change in the culm length detection signal, the control response of the handling depth control performed based on the delayed culm length detection information will also be delayed, which is disadvantageous in that the control response will be poor. It was hot.

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

[Means for solving problems]

In order to achieve the above object, the handling depth control device for a reaping harvester according to the present invention has the above-mentioned structure, and has the following features: [a] The handling depth control means determines the direction of change in the culm length detection state. It includes a change direction determining means and a delay means for delaying the response time of handling depth control.

[B] The change direction determining means determines whether the change in the culm length detection state of the culm length detection sensor is in the direction of the shallow handling side or the deep handling side among the operation required states of the handling depth control, or It is configured to determine whether there is a change from a state requiring operation of handling depth control to a stopped state.

[C] The delay means adjusts the response time of the handling depth control due to the change in the culm length detection state based on the change direction determination result by the change direction determination means.
The response time for the deep handling side delay, the response time for the shallow handling side delay, and the response time when the handling depth control changes to the stopped state are set to be shorter in this order.

A characteristic configuration includes the configurations described in [A] to [C] above.

The functions and effects of this characteristic configuration are as follows.

[Effect]

That is, as shown in FIG. 1, the culm length detection state change direction determining means 100 determines the direction of change in the detection states of the culm length detection sensors S ₁ and S ₂ , that is, from the operation required state of handling depth control to the stopped state. The delay means 102 determines whether the change is a change from a stop state to a state requiring operation or a change from a state requiring operation to a state requiring operation, and the delay means 102 determines whether the change is from a state requiring operation to a state requiring operation. The operation delay time of the actuator M for adjusting the handling depth by the handling depth control means 101 is adjusted so that the operation of the handling depth control is delayed.

Then, based on the change direction determination result by the change direction determination means 100, the delay means 102 divides the response time of the handling depth control due to the change in the culm length detection state into a response time β for the deep handling side delay, a response time β for the deep handling side delay, and a response time β for the shallow handling side delay. Since the response time α for the handling depth control and the response time γ for changing the handling depth control to the stopped state are set to be shorter in this order, the handling depth control means prevents overload from occurring on the handling cylinder. , the control response to the side of shallow handling is relatively quick.

〔Effect of the invention〕

Therefore, when the culm length of the reaped stem culm changes and the culm length detection state of the culm length detection sensor changes from a stopped state to a required state, the actuator is operated to change the current handling depth. Since the control response is delayed from the control response when the culm length detection state of the culm length detection sensor changes from the operation required state to the stopped state and the actuator operation is stopped,
Unnecessary control responses to temporary fluctuations in culm length can be suppressed, and when the fluctuations persist, the handling depth will be reliably adjusted. In addition, when the culm length detection state of the culm length detection sensor changes from the operation required state to the stopped state and the actuator stops operating, the control response of the stop control will be faster than when the actuator is operating, so it is no longer necessary. It is possible to prevent inconveniences such as hunting caused by large changes in handling depth.

Furthermore, since the shallow handling side delay time is set shorter than the response time for the deep handling side delay, the problem of the deep handling state being maintained for a long time resulting in an overload state has been resolved. This has made it easier to carry out operations in good conditions.

〔Example〕

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

As shown in Fig. 4, a machine body V is equipped with a pair of left and right crawler running devices 1, and is equipped with a threshing device 2 and a control section 3. A reaping section 8 is provided, which is equipped with a conveying device 7 that joins the stem culms, clamps the stock base of the reaped stem culms, and conveys them to the conveyance starting end of the feed chain 6 of the threshing device 2. It is configured as a self-propelled combine harvester.

Further, as a means for detecting the start and stop of the reaping work and activating the handling depth control, by contacting the base of the stem culm introduced into the reaping section 8.
A plant base sensor S ₀ that turns ON/OFF is provided at the reaped stem culm confluence section of the reaping section 8 .

As shown in FIG. 5, the conveyance device 7 includes a stock gripping and transporting device 7 that pinches and transports stock clippings to be harvested.
a, an ear-end locking and conveying device 7b that transports and feeds the harvested stem culm to the feed chain 6 while changing its posture to a sideways posture in cooperation with the plant head clamping and conveying device 7a; a harvested stem and culm clamping rail 7c; A conveyance chain 7e equipped with a plurality of locking conveyance claws 7d, a U-shaped connecting member 7f that connects the reaped stem culm clamping rail 7c and the conveyance chain 7e at the center of the reaped stem culm conveyance path, and both the above-mentioned. It is composed of a link mechanism 9 and an electric motor M as an actuator for vertically swinging the transport devices 7a and 7b around a horizontal axis P near the end of the transport.

The handling depth of the reaped stem culm is determined by the distance between the stem culm clamping position of the feed chain 6 and the tip position, and the closer the stem culm clamping position is to the stock base, the deeper the handling becomes. By vertically swinging the conveying device 7 using the link mechanism 9 and the electric motor M, the handling depth can be adjusted by changing the position of the stalk culm to be clamped and adjusting the clamping position of the stalk culm conveyed to the feed chain 6. It is designed to adjust.

In addition, at the location where the tip of the stem culm corresponding to the long culm and the tip of the stem culm corresponding to the short culm pass, the tip of the stem corresponds to the length of the stem culm passing through. Two contact-type culm length detection sensors S ₁ , which detect the passing of long culms and short culms, which output an "H" level ON signal when the tip comes into contact with the tip, _S2 is provided.

As shown in FIG. 2, the stock sensor _S0 is turned on.
The actuation activates the handling depth control, and the control device 1
2, the state of each culm length detection signal P ₁ and P ₂ output from the two culm length detection sensors S ₁ and S ₂ (“L”
or "H"), the culm length is determined into three stages (long culm, appropriate, short culm), and based on the culm length determination result, only the culm length detection sensor S ₂ on the short culm side provided at the bottom is activated. The electric motor M
The motor is driven to rotate in forward and reverse directions. In addition, in Figure 2,
SW ₁ is an automatic/manual switching switch for controlling the handling depth, and 13 is an alarm for notifying the operator of malfunction of the culm length detection sensors S ₁ and S ₂ .

Next, based on the flowchart shown in FIG. 3, the operation of the control device 12, which controls the handling depth by driving the electric motor M in forward and reverse rotation, will be explained.

First, by determining whether or not the automatic/manual switching switch SW ₁ for the handling depth control is ON, handling depth control is performed only when the switching switch SW ₁ is ON and in automatic mode. It is configured to be activated (step #1).

By the way, the reason why the handling depth control is not started/stopped immediately by the ON/OFF operation of the stock sensor S ₀ is that this stock sensor S ₀ is not connected to the culm length detection sensor.
Since it is provided on the upper side of conveying the reaped stem culm than S ₁ and S ₂ , and the above-mentioned stock source sensor S ₀ is also intermittently turned ON/OFF by contact with the reaped stem culm,
It is set not to respond to temporary ON/OFF. Moreover, if the control is started immediately in response to the ON operation, the control will be started before the stem culm is conveyed to the culm length detection sensor S ₁ , S ₂ position. Therefore, the culm length detection sensors S ₁ and S ₂ are in the same culm length detection state as the short culm detection, and there is a problem that they may erroneously operate toward the deep handling side. In addition, if the control is immediately stopped in response to the OFF operation of the stock sensor S ₀ , the reaped stem culm remains in the conveyance path above the threshing device 2 at that point, causing a conveyance jam. There is a risk. Therefore, the response of the handling depth control is delayed for a predetermined period of time with respect to the ON/OFF operation of the stock sensor _S0 .

That is, after confirming that the changeover switch SW ₁ is on the automatic side, the stock sensor S ₀ is
Determine whether it is ON or not (Step #2),
If this stock position sensor _S0 is OFF, it is determined that the reaping work is in a stopped state, and the stock position flag indicating the work status is temporarily reset to "0" (step #3). Then, from the ON of the stock sensor S ₀
The stock delay time for delaying detection of a change to OFF is initialized to a predetermined time (step #4). Then, it is determined whether or not the stock origin flag is set to "1", and it is determined whether or not the actual reaping work has started (step #5).

If the stock price flag determined in the above (step #5) is reset to "0", the stock price delay time is counted down (step #6), and it is determined whether the remaining time has reached zero. (Step #7). When the stock delay time has been counted down to zero, the stock flag is set to "1" (step #8), and the operation of the electric motor M that swings the conveying device 7 up and down is stopped. End depth control (step #9).

On the other hand, if the stock origin flag determined in step #5 is set to "1", the culm length detection results by the two culm length detection sensors S ₁ and S ₂ from step #10 onwards, which will be explained below. Start processing depth control based on .

First, it is determined whether the culm length detection signal _P2 of the culm length detection sensor _S2 on the short culm side is at the "H" level or the "L" level (step #10), and then the culm length on the long culm side is determined. Culm length detection signal P ₁ from detection sensor S ₁
The length of the detected culm is determined by checking whether it is at the "H" level or the "L" level (step #11, step #12).

When the short culm side culm length detection signal _P2 is at the "L" level and the long culm side culm length detection signal _P1 is at the "L" level, it is determined that the detected culm length is a short culm, The culm length data X indicating this state is set to "0" (step #13), and if the long culm side culm length detection signal _P1 is at the "H" level, it is determined that the detected culm length is incorrect and the culm length is Set data X to "1" (step #14).

On the other hand, when the short culm side culm length detection signal P ₂ is at the "H" level and the long culm side culm length detection signal P ₁ is at the "L" level, it is determined that the detected culm length is the appropriate culm length. The _detected culm length is determined and the culm length data Set culm length data X to "3" (step #16).

Next, after checking whether the control state indicating the control state set in steps #20 to #29, which will be described in detail later, is "2" corresponding to the processing depth control stopped state (step #17 ), it is determined which state the culm length data X is in from "0" to "3" (step #18, step #19).

Thus, steps #10 to #19 constitute a change direction determining means 100 for determining the change direction of the culm length detection state.

If the control state is other than "2" and the culm length data Both the shallow handling side delay time α when changing to the shallow handling side and the deep handling side delay time β when changing the handling depth to the deep handling side are initialized and set in advance to their respective delay times. (Step #20), and the control state is set to the value of the culm length data X at that time (Step #21). In addition, each of the delay times α and β is determined so that β≧α is set in order to prevent overload during deep handling and to prevent untreated items during shallow handling.
It is set so that

When the control state is "2" and the culm length data X is "0", the deep handling side delay time β is counted down (step #22), and the remaining time is Check whether it has reached zero (Step #23). Then, when the deep treatment side delay time β becomes zero, the control state is set to the culm length data X at that point (step #24), and then this deep treatment side delay time β is initialized and set to the set time. (Step #25).

On the other hand, if the control state is "2" and the culm length data Check whether the time has reached zero (Step #27).
Then, when the shallow handling side delay time α becomes zero, the control state is set to the culm length data X at that point (step #28), and then this shallow handling side delay time α is initialized and set to the set time ( Step #29).

In step #20 to step #29, a delay means 102 is configured to delay the response time of the handling depth control.

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

That is, when the control state is "0", the motor M is operated to the deep handling side (step #31), and when it is "1" or "2", it is stopped (steps #34 and #32). ), if it is "3", it is operated to the shallow handling side (step #33).

Therefore, the stalk culm clamping position of the conveying device 7 is maintained such that the tip of the stalk is located between the two upper and lower culm length detection sensors S ₁ and S ₂ , and the threshing device 8
The handling depth is automatically adjusted appropriately regardless of the length of the reaped stem culm.

By the way, when the control state is other than "1", that is, when the culm length detection sensors S ₁ and S ₂ are operating normally, the operation of the alarm 13 for notifying sensor malfunction is stopped (step 1). #35), initializing the alarm delay time for determining whether or not to activate the alarm 13;
A predetermined time is set (step #36), and the handling depth control is ended. On the other hand, if the control state is "1", that is, if the culm length detection sensors S ₁ and S ₂ malfunction, the alarm delay time set in step #36 is counted down (step #37). , check whether the remaining time has become zero (step #38). When the alarm delay time reaches zero, the alarm 13 is activated to notify the operator that the culm length detection sensors S ₁ and S ₂ are malfunctioning (step #39). ).

Therefore, when the alarm 13 is activated, the operator can know that, for example, a stem culm has attached to the culm length detection sensors S ₁ and S ₂ and that they have begun to malfunction. As mentioned above, the alarm 13 does not operate until a predetermined period of time has elapsed from the time when the malfunction was detected, and when the culm length detection sensors S ₁ and S ₂ detect the culm length normally, Since the check is initialized, the alarm 13 will not be activated due to a temporary malfunction.

In conclusion, the handling depth control means 101 is constituted by the processing of steps #17 to #39 described above.

Furthermore, although not shown in the delay means 102,
When the electric motor M is being driven to adjust the handling depth, when the culm length data X becomes "2", the electric motor M is stopped and the handling depth adjustment is stopped. A means is provided for setting the side delay time to a time shorter than the side delay time α.

[Another example]

In the above embodiment, the culm length detection sensors S ₁ and S ₂ are provided on the connecting member 7f of the conveying device 7, but they may also be provided on the raising device 4 of the reaping section 8, etc. It may be provided anywhere on the culm transport route.

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

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

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the configuration of the present invention. 2 and subsequent figures show an embodiment of the handling depth control device for a reaping harvester according to the present invention, FIG. 2 is a block diagram showing a schematic configuration of the handling depth control system, and FIG.
Figure 4 is a flowchart showing the operation of the control device.
The figure is a front side view of the combine, and FIG. 5 is a front view of the main parts of the conveying device. _S1 , _S2 ...culm length detection sensor, α, β, γ...response time of handling depth control, 2...threshing device, 100...means for determining change direction of culm length detection state, 101...handling depth control means, 102... Delay means.

Claims (1)

[Claims] 1. Culm length detection sensors S ₁ , S ₂ that detect the culm length of stem culms
and controls the handling depth based on the culm length detection results by the culm length detection sensors S ₁ and S ₂ so that the position of the tip of the harvested culm introduced into the threshing device 2 is at the appropriate handling depth position. A handling depth control device for a reaping/harvesting machine, comprising a handling depth control means 101 for controlling the cutting depth, and further comprising the configurations described in [A] to [C] below. [B] The handling depth control means 101 includes a change direction determining means 100 for determining the direction of change in the culm length detection state, and a change direction determining means 100 for determining the change direction of the culm length detection state, and response times α, β, and γ for handling depth control.
and delay means 102 for delaying. [B] The change direction determining means 100 determines whether the change in the culm length detection state of the culm length detection sensors S ₁ and S ₂ is
It is possible to determine whether the operating state of handling depth control is in the shallow handling side or the deep handling side, or whether there is a change from the operating required state of handling depth control to the stopped state. It is configured. [C] Based on the change direction determination result by the change direction determination means 100, the delay means 102 changes the response times α, β, and γ of the handling depth control due to the change in the culm length detection state to a deep handling side delay. The response time β, the response time α for the shallow handling side delay, and the response time γ when the handling depth control changes to the stopped state are set to be shorter in this order.