JPH0634653B2 - Threshing control device for reaper harvester - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention ensures that the load of the threshing device falls within a set range based on the detection information of the load detection means that detects the load on the shroud of the threshing device. , Vehicle speed control means for controlling the traveling speed of the machine body, in the stem culm transport path from the slicing and mowing unit to the threshing device, and in the stem culm tip portion at the stem culm transport lower side part than the handling depth adjustment part Based on the detection information of the handling depth detecting means for detecting the position, the handling depth control means for controlling the handling depth so that the handling depth of the cutting culm is within the set range is provided, and in the cutting and reaping section. The raising device relates to a threshing control device for a harvester, which is configured to be driven by a drive system independent of a drive system of a traveling device.

[Conventional technology]

In the threshing control device of this type of harvesting harvester, in order to improve the efficiency of the threshing process, a vehicle speed control means for controlling the traveling speed of the machine so that the load on the handling barrel of the threshing device falls within the setting range, In order to prevent unhandled residue and clogging of stem culms, a handling depth control means for controlling the handling depth so that the handling depth in the threshing device is maintained at the set handling depth is provided. In the above, the vehicle speed control means and the handling depth control means are configured to control and operate independently of each other.

[Problems to be solved by the invention]

In the above-described conventional configuration, the vehicle speed control means and the handling depth control means are configured to be controlled and operated independently of each other. Therefore, there are the following inconveniences, and improvement is desired.

Explaining the handling depth adjustment in this type of device,
For example, as shown in FIG. 4, a threshing feed chain
The vertical transfer device (8) for delivering the cut stalks to (7) is vertically swung around the horizontal axis on the rear end side to form an auxiliary transfer device (9).
By changing and adjusting the support position of the cutting culm that is supplied from the direction of the culm, the result is a threshing feed chain.
The length from the stem-culm supporting position to the tip position in (7) is changed to adjust the handling depth.

On the other hand, since the triggering device in the triggering and mowing section is configured to be driven by a drive system independent of the drive system of the traveling device, the load on the handle cylinder is light and even if the traveling speed is increased or changed. , Since the drive speed of the triggering device does not change, the stem culm in the field causes it to be introduced to the mowing part in a forward leaning posture before the speedup, and the tip position after speedup is higher than the tip position before speedup. Will also be mowed in a low state (see FIG. 7).

As a result, the tip position of the conveyed cutting culm is on the shallower handling side than before acceleration, and the handling depth control means performs control operation to change and adjust the handling depth to the deeper handling side. Become.

However, if the culm length of the stem culm is originally long and the tip position is detected as a deep handling state, if the running speed is changed to an increased speed, the actual tip position of the conveyed culm will shift to the shallow handling side as described above. It may change and naturally approach the set handling depth range, and the control operation to the shallow handling side may be wasted.

If the handling depth control means operates unnecessarily, the durability of the device portion of each part for controlling the handling depth will be reduced.

The present invention has been made in view of the above circumstances, and an object thereof is to perform unnecessary control of the handling depth control means by linking the vehicle speed control means and the handling depth control means for control operation. To suppress.

[Means for solving problems]

The characteristic configuration of the threshing control device of the harvester according to the present invention is
When the load detected by the load detecting means is smaller than the setting range and the cutting depth of the cutting culm is on the deep-handing side of the setting range, the control of the handling depth control means is stopped. Thus, the switching means is provided for giving priority to the vehicle speed control means so as to increase the traveling speed of the machine body, and the operation and effect thereof are as follows.

[Action]

When the speed is increased while the handling depth is on the deeper handling side than the setting range, as described above, the stem culm is raised in the forward leaning position and is introduced into the mowing section to be trimmed, so the tip position in the deeper handling state is The position is naturally changed to the shallow handling side so as to approach the set handling depth side.

That is, when the load detected by the load detecting means is smaller than the set range and the handling depth of the cutting culm is on the deeper handling side than the setting range, the control of the handling depth control means is stopped. By giving priority to the increase of the traveling speed of the machine body, it is possible to suppress unnecessary operation of the handling depth control means.

〔The invention's effect〕

Therefore, by reasonably linking the vehicle speed control means and the handling depth control means, useless operation of the handling depth control can be suppressed, and the durability of the device parts of the respective parts for adjusting the handling depth can be improved. It became possible to suppress the decrease.

〔Example〕

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

As shown in FIG. 4, a pair of left and right crawler traveling devices
(1), thresher (2), the front part of the machine (V) equipped with the control part (3) is equipped with the raising and mowing part (4), thus forming a combine as a harvester. .

The mowing unit (4) is a raising device (5), a cutting blade (6) for cutting the root of the raising stem culm, and the threshing device for cutting the cutting stem culm.
Longitudinal transfer device that delivers to the threshing feed chain (7) of (2)
(8) and an auxiliary carrying device (9) for carrying the cut stems to the vertical carrying device (8).

As shown in FIGS. 5 and 6, the vertical transfer device (8)
Is a pinching and conveying device (8A) that pinches and conveys the root side of the cut culm.
And a locking and transporting device (8B) that locks and transports the tip side of the cutting culm
Consists of, and conveys the cutting stalks from the auxiliary transporting device (9) toward the rear of the machine in a standing posture, and the stalks for which the stalks for which the posture has been changed to a sideways-tilting posture at the transport end portion are provided for the threshing feed chain ( It is configured to be handed over to 7).

The end of the vertical transfer device (8) is pivotally attached to the base end side of the mowing part (4) so as to be vertically swingable around the horizontal axis (Q). Along with the
(9) by changing the supporting position of the cutting stem culm supplied to the culm direction, the position of the cutting culm passed from this vertical transfer device (8) to the threshing feed chain (7) is the culm direction. Is changed so that the handling depth in the threshing device (2) is adjusted.

The rocking operation configuration of the vertical transfer device (8) will be described. An electric motor (1
0) is provided, and a rack (12) is attached to an arm (11) pivotally mounted around the horizontal axis (Q).
A pinion (13) that meshes with 2) is attached to the electric motor (10).

In addition, an inverted U-shaped member (14) also serving as a frame of the vertical transfer device (8) and the arm (11) are interlockingly connected via a push-pull rod (15), and the electric motor (10) is positively connected. The vertical transfer device (8) is configured to swing up and down by performing a reverse operation.

Incidentally, in FIG. 5, (S ₀ ) is a stock origin sensor for detecting whether or not the stem culm is supplied to the conveying start end portion of the vertical conveying device (8).

As shown in FIG. 6, the inverted U-shaped member (14) located on the lower side in the stalk transfer direction with respect to the handling depth adjusting position has a pair of upper and lower stalk detecting sensors as handling depth detecting means. (S ₁ ),
(S ₂ ) is attached so as to be in contact with the stem culm conveyed by the vertical conveying device (8).

Each of the pair of stem culm detection sensors (S ₁ ) and (S ₂ ) has a sensor bar (16) that swings backward toward the lower side of conveyance due to contact with the stem culm.
The sensor bar (16) and a detection unit (17) that uses a switch to detect the backward swing of the sensor bar (16), and the tip side position of the cutting culm is a sensor (S ₁ ) arranged on the upper side that is the tip side. It is located between the sensor (S ₂ ) arranged on the lower side, and the state where only the lower sensor (S ₂ ) is ON to detect the presence of stalks is within the proper depth range. It is determined that there is, and both sensors
When (S ₁ ) and (S ₂ ) are ON, it is determined that the deep treatment side is present, and when both the sensors (S ₁ ) and (S ₂ ) are OFF, the shallow treatment side is set. It is configured to determine that there is.

Therefore, in the depth control described later, the vertical transfer device (8) is rocked so that only the lower sensor (S ₂ ) maintains the ON state.

However, in the following description, the sensor located above
(S ₁ ) is referred to as a long culm sensor (S ₁ ), and the sensor (S ₂ ) located on the lower side is referred to as a short culm sensor (S ₂ ).

The drive system for the crawler traveling device (1), the threshing device (2), and the raising and mowing section (4) will be described. As shown in FIG. 2, the engine (E) is the crawler traveling device (1). (18) and the threshing device (2)
In order to drive each of the handling cylinders (19) in each of them separately, they are interlockingly connected via a transmission belt (20).

Incidentally, the triggering device (5) in the mowing section (4) is a mowing mission (22) in which the output of the engine (E) is transmitted from the input side of the transmission (18) via a transmission belt (21). It is designed to be driven by the output of.

However, although not shown, the transmission (18) is a gear type using a friction type hydraulic clutch, and a rotary type control valve (23) for switching hydraulic oil to the hydraulic clutch is provided. It is configured to be able to perform four forward gear shifts (SS), (S), (F), (FF) and one reverse gear shift by switching with the shift motor (24).

In the figure, (S ₃ ) is a rotation speed sensor for detecting the rotation speed of the handling cylinder (19), and the handling cylinder is detected based on the detected rotation speed.
The load condition of (19) will be detected. That is, this rotation speed sensor (S ₃ ) corresponds to a load detecting means for detecting the load on the handling cylinder (19). Further, (S ₄ ) is a vehicle speed sensor for indirectly detecting the vehicle speed by detecting the switching position of the control valve (23) of the hydraulic clutch in the transmission (18) by the transmission motor (24).

As shown in FIG. 1, the pair of stem-culm detection sensors (S ₁ ),
Based on the detection information of (S ₂ ), while controlling the electric motor (10) for adjusting the handling depth, based on the detection information of the rotation speed sensor (S ₃ ), the transmission motor (24) A control device (25) using a microcomputer for controlling is provided.

That is, using the control device (25), the vehicle speed control means (100) for controlling the traveling speed of the aircraft (V), the handling depth control means (101) for controlling the handling depth, and the handling depth. Control means (101)
Each of the switching means (102) for controlling the vehicle speed control means (100) to operate with priority over the vehicle speed control means (100) is configured.

In the figure, (26) is a threshing switch for detecting the on / off operation of the threshing clutch lever (27).

Next, the operation of the control device (25) will be described based on the flowchart shown in FIG.

First, it is determined whether or not the threshing clutch lever (27) is turned on, and the stock origin sensor (S ₀ ) is in the ON state, and the stems are in the state of being conveyed, Both the threshing clutch lever (27) and the stock sensor (S ₀ ) are ON
Only when the vehicle is in the state, the vehicle speed control and the handling depth control are alternately repeated.

Then, based on the vehicle speed detection information of the sensor (S _4), or the shift position that is the vehicle speed is in any intermediate slow (S) or high speed (F) is determined, in each of the shifting state, the Based on the detection information of the rotation speed sensor (S ₃ ), the load state of the handling cylinder (19) is determined, and the vehicle speed control for changing and adjusting the traveling speed is performed according to the determination result.

That is, based on whether the rotational speed detected by the rotational speed sensor (S ₃ ) is within a preset rotational speed range set in advance corresponding to the set load state for the handling cylinder (19), the magnitude of the load is determined. Will be determined.

Then, the detected vehicle speed is low speed (S) or lowest speed (SS)
If the detected rotation speed of the rotation speed sensor (S ₃ ) is larger than the set rotation speed range, the shift position is changed to the one-step speed increasing side (F or S) and In the handling depth control, the flag for determining the state of the vehicle speed control is set to "A" corresponding to the speed increase change. If the speed is smaller than the set speed range, shift the gear position further to the low speed side (SS).
Change the stage deceleration.

However, if the detected vehicle speed is the minimum speed (SS), it cannot be operated at a lower speed than that, so the minimum speed (S
S) will be maintained.

If the detected rotation speed is within the set lower rotation speed range,
The current vehicle speed is maintained by resetting the flag without performing the gear shifting operation.

On the other hand, when the current shift position is on the high speed side (F), only when the detected rotation speed is smaller than the set rotation speed range, after decelerating to the one step low speed side (S), the flag is decelerated. It will be set to "B" corresponding to the change.

Therefore, based on the detection information of the shift state as the current vehicle speed by the vehicle speed sensor (S ₄ ) and the detection information of the load state by the rotation sensor (S ₃ ), the process of shifting is performed by the vehicle speed control means (100 ) Will be supported.

Next, based on the detection information of the pair of stem culm detection sensors (S ₁ ) and (S ₂ ), the electric motor for adjusting the handling depth so that only the short culm sensor (S ₂ ) is in the ON state. Control the motor (10)
The handling depth will be controlled.

That is, it is determined whether the handling depth is within the set range based on whether only the short culm sensor (S ₂ ) is in the ON state.

Then, when both the long culm sensor (S ₁ ) and the short culm sensor (S ₂ ) are in the ON state, it is determined that the deep stalk is in the deep handling state,
When the vertical transport device (8) is operated to the shallow handling side, the shallow handling output processing is performed, and when both the long culm sensor (S ₁ ) and the short culm sensor (S ₂ ) are in the OFF state, the shallow handling is performed. It is judged that there is a state, and deep processing output processing for operating the deep processing side is performed.

However, when only the short culm sensor (S ₂ ) is in the ON state, it is judged that the handling depth is within the set range, and the control stop is performed to stop the electric motor (10) for adjusting the handling depth. Will be processed.

By the way, as shown in FIG. 7, when the vehicle speed is increased, as described above, the triggering device (5) is driven by a drive system independent of the drive system of the crawler traveling device (1). Since it is configured as described above, the triggering of the stem culm by the above-mentioned triggering device (5) is delayed, and the stem culms in the field are mowed in a forward tilted state, and as a result, the apparent culm length is shortened. State (state indicated by broken line in the figure)
Then, it is conveyed to the rear side by the vertical conveying device (8).

However, in the present embodiment, when the vehicle speed is low speed (S), the stem culm is properly induced with respect to the vehicle speed, and the difference between the apparent culm length and the actual culm length is reduced, and the cutting is performed in the upright state. Is set.

Therefore, the tip position of the stalks in the deep handling state in the vertical transfer device (8) is naturally changed to the shallow handling side by increasing the vehicle speed. If you do not do this, the handling depth will be closer to the setting range.

Similarly, since the cuttings are performed at a high speed, the stalks in which the apparent tip position is on the shallow handling side in the forward leaning state are changed to the deep handling side when the speed is switched to the low speed.

That is, when changing the vehicle speed, it may not be necessary to perform the handling depth control depending on the handling depth state. Therefore, in each process of the shallow handling output and the deep handling output, it is based on the state of the flag. When it is determined that the traveling speed has been increased or decreased, the adjustment of the handling depth is temporarily stopped for the set time, and the useless operation of the handling depth control is suppressed.

It should be noted that by temporarily stopping the handling depth control, the deep handling state is temporarily entered, but there is no problem because there is no leftover handling.

However, in the case where the control stop processing for temporarily suspending the adjustment adjustment of the handling depth for the set time continues twice, the control stop is released in order to prevent the load increase due to the continued deep handling state. Is done.

Therefore, based on the detection information of the pair of upper and lower stem culm detection sensors (S ₁ ) and (S ₂ ), a process of swinging the vertical transfer device (8) is performed by the handling depth control means (100). Will correspond,
When the vehicle speed is changed to the high speed side in the deep handling state, the processing for stopping the handling depth control is such that the load detected by the load detecting means is smaller than the set range, and the handling depth of the cutting stems is If it is on the deeper handling side than the set range, the handling depth control means (101) is controlled to stop, and the vehicle speed control means (100) is set so as to increase the traveling speed of the machine body (V). This corresponds to the switching means (102) which is preferentially controlled and operated.

[Another embodiment]

In the above embodiment, the case where the load of the handling cylinder (19) is detected based on the detection information of the rotation speed sensor (S ₃ ) for detecting the rotation speed of the handling cylinder (19) is illustrated as an example. The load may be detected based on a change in the number of revolutions (E), a change in the torque of the handling cylinder (19), and the specific configuration of the load detecting means can be variously changed.

Further, in the above-mentioned embodiment, by using a pair of contact type upper and lower grain culm detection sensors (S ₁ ) and (S ₂ ), the tip position of the transport stems in the vertical transport device (8) corresponds to the set handling depth. Although a case has been described as an example where it is detected whether or not it is within the set position range to be set, the specific configuration of the handling depth detecting means can be variously changed.

Further, in the above embodiment, the case where the processing for temporarily stopping the control operation of the handling depth control means (101) is not performed when the low speed (S) is switched to the lowest speed (SS) is illustrated. However, the control operation of the handling depth control means (101) may be temporarily stopped as in the case of switching from the high speed (F) to the low speed (S).

However, the vehicle speed at the lowest speed (SS) causes
If it is very slow with respect to (5), the culm may be cut backwards. When the stem culm is trimmed backward, the apparent culm length is shortened as in the case where the vehicle speed is switched from low speed (S) to high speed (F) and trimmed forward. As in the case of switching from low speed (S) to high speed (F), the flag may be set to "A" to suspend the control operation to the shallow handling side.

In the above embodiment, the vehicle speed control means (100) is operated by switching the gear position of the stepped transmission (8).
Although the case where the traveling speed is configured to be changed and adjusted is illustrated, for example, a hydraulic continuously variable transmission may be used, and various specific configurations for changing the traveling speed can be changed.

Further, in the above embodiment, the electric motor (10) is used as the actuator for vertically swinging the vertical transfer device (8), but a hydraulic cylinder or the like may be used, and the handling depth control means (101) may be used. Various modifications can be made to the specific configuration of each part constituting the above).

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

The drawings show an embodiment of a threshing control device for a harvesting harvester according to the present invention. Fig. 1 is a block diagram of a control configuration, Fig. 2 is a block diagram of a drive system, Fig. 3 is a flowchart of control operation,
Fig. 4 is a front side view of the harvesting and harvesting machine, Fig. 5 is an explanatory view of the handling depth adjusting mechanism, Fig. 6 is a front view of the mounting portion of the stem and culm detection sensor, and Fig. 7 is a handling depth by changing the vehicle speed. It is an explanatory view of the change in the height. (V) …… Aircraft, (S ₁ ), (S ₂ ) …… Handling depth detection means, (S ₃ ) ……
Load detection means, (1) …… traveling device, (2) …… thresholding device,
(4) …… Causing reaper, (5) …… Causing device, (1
9) …… Handling cylinder, (100) …… Vehicle speed control means, (101) …… Handling depth control means, (102) …… Switching means.

Claims (1)

[Claims] 1. The load of the threshing device (2) is set within a set range on the basis of the detection information of the load detecting means (S ₃ ) for detecting the load on the handling drum (19) of the threshing device (2). The vehicle speed control means (100) for controlling the traveling speed of the machine body (V), in the stalk transfer route from the raising and mowing unit (4) to the threshing device (2), and more than the handling depth adjustment point Depth detection means (S ₁ ) and (S ₂ ) for detecting the position of the tip of the stem culm at the lower side of the culm conveyance.
Based on the detection information, the handling depth control means (101) for controlling the handling depth so that the handling depth of the trimmed culm is within the setting range is provided, and the triggering device in the triggering reaper (4) ( 5) is a threshing control device for a harvester, which is configured to be driven by a drive system independent of the drive system of the traveling device (1), and is detected by the load detection means (S ₃ ). Load is less than the setting range, and, if the cutting depth of the cutting culm is deeper than the setting range, stop the handling depth control means (101), The vehicle speed control means (100) so as to increase the traveling speed of the aircraft (V).
A threshing control device for a reaper harvesting machine, which is provided with a switching means (102) for preferentially controlling and controlling.