JPH10155338A - Threshing depth controller for combine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a threshing depth controller capable of stabilizing a control operation while excellently maintaining the sensitivity of the long culm sensor and short culm sensor of a limit switch type. SOLUTION: In the long culm sensor H and short culm sensor M of the limit switch type for detecting the culm length of grain culms carried by a vertical carrying chain 44 and a combine for driving a motor 62 for position adjustment and adjusting the threshing depth position to a feed chain 5 of the vertical carrying chain 44 to an optimum position based on the detection state of the sensors, the ON operation or OFF operation of the long culm sensor H or the short culm sensor M is counted within fixed time, the motor for the position adjustment is driven at a high speed when the counted number of times is large, the motor for the position adjustment is driven at a low speed when the counted number of times is small, hunting is prevented and controllability is improved.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a combine depth control device.

[0002]

2. Description of the Related Art Conventionally, the position of a vertical transport unit for transporting grain culms to a threshing unit with respect to a feed chain is adjusted by a position adjusting motor, and the handling depth is automatically adjusted according to the culm length of the harvested grain culms. A handling depth control device is used to prevent the threshing unit from being overloaded and to be left behind. In the above conventional apparatus, the culm length of the harvested grain culm is detected by a limit switch type long culm sensor and a short culm sensor, and when both the long culm and the short culm sensor are ON, the culm is in a deep handling state, and the long culm sensor is OFF. When the short culm sensor is ON, it is determined that the handle is properly handled, and when both the long culm sensor and the short culm sensor are OFF, it is determined that the handle is shallow. Then, based on the result, the position adjusting motor is driven so as to be at the proper handling position.

[0003]

However, since the long culm sensor and the short culm sensor in the conventional apparatus are of the limit switch type, each time the grain culm touches, the ON operation or the OFF operation is repeated each time. When the position adjustment motor is driven based on this, there is a problem that hunting occurs and the control operation becomes unstable. On the other hand, if the sensitivity of the long culm sensor and the short culm sensor is reduced, the control operation will be delayed, causing inconveniences such as overloading the handling cylinder and leaving unhandled portions.

[0004] In view of such circumstances, an object of the present invention is to provide a handling depth control device capable of stabilizing a control operation while maintaining good sensitivity of a limit switch type long culm sensor and a short culm sensor. And

[0005]

According to a first aspect of the present invention, there is provided a handling depth control apparatus comprising: a grain conveying section having a lower conveying section and a vertical conveying section; a threshing section having a feed chain and a handling cylinder; and a vertical conveying section. A limit switch type long culm sensor and a short culm sensor for detecting the culm length of the grain culm to be detected, and a handling depth position of the vertical transport unit with respect to the feed chain based on a detection state of the long culm sensor and the short culm sensor. In a combine that automatically adjusts to an optimum position by driving a position adjusting motor, the ON operation or the OFF operation of the long culm sensor or the short culm sensor is counted within a fixed time, and when the number of counts is large, the position adjusting motor is used. Is driven at a high speed, and when the number of counts is small, the position adjusting motor is driven at a low speed. The handling depth control device according to claim 2, wherein the driving speed of the position adjusting motor is continuously changed in accordance with the number of times of the ON operation or the OFF operation of the long culm sensor or the short culm sensor. And The handling depth control device according to claim 3, wherein the driving speed of the position adjusting motor is changed stepwise in accordance with the number of times of the ON operation or the OFF operation of the long culm sensor or the short culm sensor. And The handling depth control device according to claim 4, wherein when the long culm sensor and the short culm sensor are both OFF and when both are ON, the count number of OFF and the count number of ON are compared. It is characterized in that the larger number is adopted as the detection state. The handling depth control device according to claim 5, wherein the position adjustment motor is a DC motor,
A chopper circuit is used as the rotation speed adjusting means of the DC motor, and the speed is adjusted by changing the duty ratio of the chopper circuit.

According to the first aspect of the present invention, since the adjusting motor is not driven by detecting the ON operation and the OFF operation of the sensor each time, hunting does not occur, and moreover, the detection operation is performed within a fixed time. At this time, the position adjusting motor is moved at a high speed, so that there is no delay in the control operation. Therefore, control stability and high followability are achieved.
According to the second aspect of the present invention, since the driving speed of the position adjusting motor is continuously proportional to the number of times of counting of the sensor, the control operation is smooth, and the stability and the followability are achieved in all regions. According to the third aspect of the present invention, the driving speed of the position adjustment motor may be stepwise, so that control software is simple and cost reduction is possible. According to the fourth aspect of the present invention, the shallow handling state in which both the long culm sensor and the short culm sensor are OFF and the deep handling state in which both are turned ON can be reliably distinguished, and the control operation is stabilized. According to the fifth aspect of the present invention, the speed of the DC motor can be easily and accurately changed continuously or stepwise by the ratio of the ON / OFF operation time of the switch, so that the control performance is improved.

[0007]

Next, embodiments of the present invention will be described with reference to the drawings. 4 is a schematic side view of a combine to which the present invention is applied, FIG. 5 is a schematic plan view of the combine, FIG. 6 is a side view of the cutting unit 3, FIG. 7 is a plan view of the cutting unit 3, and FIG.
Is a perspective view of the culm length sensors M and H, and FIG.
It is a perspective view of.

4 and 5, reference numeral 1 denotes a traveling device such as a crawler, and a machine base 2 is mounted on an upper surface of the traveling device 1. A mowing unit 3 and a grain culm transporting unit 4 are attached to the front of the machine base 2, and a feed chain 5, a handling cylinder 6,
A threshing unit composed of a processing drum 7, a grain tank 8 for storing threshed grains, a discharge auger 9 for carrying out grains in the grain tank 8, an operation cabin 12 including an operation operation unit 10 and an operator's seat 11, a combine The engine 13 which is a power source of the vehicle is mounted. Although not shown, a sorting unit and a straw processing unit are also provided. The reaping unit 3 includes a raising device 3a, a reaping device 3b, and a raking device 3c, and the grain culm transporting unit 4 has a lower transporting unit 4a and a vertical transporting unit 4b.

The reaper 3 will be described with reference to FIGS.
The reaper 3 includes a vertical output case 21 for supporting each part and transmitting a driving force, a horizontal output case 22 horizontally connected to a lower end of the vertical output case 21, and left and right sides of the horizontal output case 22. It has a raising drive case 23 connected upward from both ends, and a drive shaft for transmitting power to each part is connected and incorporated in each of the cases 21, 22, 23 by gears or the like. Further, a lifting cylinder 24 is connected to the vertical output case 21 between the vertical output case 21 and the machine base 2.
, That is, the cutting height can be freely changed.

The raising device 3a includes a weeding plate 25, a raising drive case 26 pivotally mounted on the upper end of a vertical driving case 23, and a raising and lowering device that moves up and down along the raising driving case 26. And a raising tine 27 for raising the cut culm. The cutting device 3b includes a cutting frame 28 projecting obliquely downward and forward from the lateral output case 22;
And a cutting blade 29 attached to the lower surface of the cutting frame 28. The root side of the grain stem raised by the raising tine 27 is cut by the cutting blade 29. The scraping device 3c is provided above the reaping device 3b, and is cut by a pair of left and right rake belts 31 and a pair of left and right star-shaped wheels 32 provided below the rake belt 31. The stalks that have been crushed are sent back. Since the combine according to the present embodiment is used for six strips, the combine includes three pairs (six pieces) of scraping belts 31 and a star-shaped wheel 32.

The lower transport section 4a and the vertical transport section 4b of the grain culm transport section 4 will be described with reference to FIG. 6 and FIG. The lower transport section 4a includes a lower right transport chain 41 and a right front upper transport tine 51 for transporting the right two cut grain culms diagonally to the left rearward, and a right lower transport chain 41 for transporting the central two cut harvest culm. And the central lower transport chain 42 and the central upper transport tine 52, which join near the middle position of the upper right upper transport tine 51, and the end positions of the right lower transport chain 41 and the right upper upper transport tine 51 by cutting the cut culm of the left two rows. It is composed of a lower left transport chain 43 and a left front upper transport tine 53 that join together.

The vertical transport unit 4b includes a vertical transport chain 44 for inheriting and transporting the root side of the six-row cut grain culm that joins the end of the lower right transport chain 41, and a six-row cut grain culm. It comprises a rear upper tine 54 for transporting the tip side and an auxiliary transport chain 45 provided at the end of the vertical transport chain 44 for inheriting and transporting the harvested grain culm to the feed chain 5 in an appropriate posture.

Next, the culm presence / absence sensor L and the culm length sensors M and H will be described. As shown in FIG. 9, the grain stalk presence / absence sensor L (hereinafter, referred to as an L sensor) has a long contact 55 directed sideways, and is a limit switch type that is turned on when the grain stalk contacts the contact 55. FIGS. 6 and 7
As shown in FIG. 7, the upper left cover 31a of the left middle right rake belt 31 is fixed to the upper surface. The cutting blade 29 senses the middle part of the uncut culm stalked by the raking belt 31 until immediately before cutting the root, and detects the start and end of the reaping work by the presence or absence of the culm on the middle left and right sides. It is supposed to. In this embodiment, three L sensors (left, middle, and right) are used in correspondence with the six-row cutting combine, but two or less L sensors or four or more L sensors are used depending on the number of combine lines.
A sensor may be used.

The culm length sensor includes a short culm sensor M (hereinafter, referred to as M sensor) and a long culm sensor H (hereinafter, referred to as H sensor). Fig. 8 also shows M sensor and H sensor
Has a long contact 55 directed downward as shown in FIG.
This is a limit switch type sensor that is turned ON when the grain stem touches the contact 55, and the mounting position in the left-right direction in the mounting box 56 is adjustable. And FIG.
As shown in FIG. 7, the hull 6 is attached near the handle in front of the handling cylinder 6 in the threshing unit, and is configured to detect the culm length of the grain culm fed to the handling cylinder 6 by the nipping and transporting of the vertical transport chain 44.
That is, the grain stalk a shown in FIG.
The length at which the sensor is turned off is at an appropriate handling depth position at which the handling cylinder 6 is neither overloaded nor left unhandled, and both the M sensor and the H sensor of the grain stalk b are turned on.
Overload due to excessive supply to
Both the M sensor and the H sensor of the grain culm c are turned off, and it is possible to detect that the unhandled state of the handling cylinder 6 appears.

A moving mechanism for moving the vertical transport chain 44 between the shallow handling side and the deep handling side is configured as follows. In FIG. 6, the feed start end of the vertical transport chain 44 is rotatably attached to the vertical output case 21 via a transport input case 61 also serving as a handling depth adjustment fulcrum shaft. A vertical position adjusting motor 62 for swinging the feed end portion of the vertical transport chain 44 between the deep handling position and the shallow handling position is attached to the vertical output case 21, and the position adjusting motor 62 and the vertical transport chain 44 are appropriately mounted. And a rotation-swing conversion mechanism. Then, by the forward / reverse control of the position adjusting motor 62, the feed end portion of the vertical transport chain 44 is moved closer to or away from the feed start end portion of the feed chain 5 so as to change the grain stalk handling depth by the handling drum 6. I have.

Although not shown, a potentiometer type handle depth position sensor for detecting the handle depth adjustment position of the vertical transport chain 44, a vehicle speed sensor and a cutting speed sensor are provided. The harvesting speed sensor is configured such that a pickup-type rotation sensor is attached to an input shaft that transmits the driving force of the engine to each section of the mowing unit 3, and the rotation of the input shaft causes the sensor to output a pulse to detect the rotation of the mowing unit 8. What was done is used.

Next, a description will be given of a combine depth control apparatus having the above-mentioned mechanical structure. FIG. 3 is a block diagram of the automatic handling depth control device of the present invention. In the figure, A is a controller using a microcomputer or the like. The ROM of the controller A has a memory for storing a control program such as automatic control of a working depth during operation, movement to a deep handling position, and return to a previous handling position.
M is a memory for temporarily storing input information and the like from each sensor, and the CPU is based on a program in the ROM and is operated using various kinds of information temporarily stored in the RAM, and is used for the position adjustment motor 62.
Is an information processing device for outputting a control signal to the CPU. The input port of the controller A has a vehicle speed sensor S1 for detecting the forward speed of the combine and a cutting speed sensor S
2. A handling depth position sensor S3, a handling depth automatic switch SW1 for automatically controlling a position adjusting motor, the L sensor, the M sensor, and the H sensor on the left middle and right sides are connected, and a handling position adjusting motor is connected to an output port. A drive circuit 63 for rotating the motor 62 forward and backward is connected.

The basics of the handling depth control by the controller A are as follows. Based on the detection results of the H sensor and the M sensor, the position adjusting motor 62 is automatically controlled to automatically control the depth of the harvested culm fed to the handling drum 6 to be substantially constant. When at least one of the sensors is turned on by the scraped grain culm, the start of the mowing operation is detected, and after the mowing operation is completed, the position adjusting motor 62 is driven to move the vertical transport chain 44 to the deep handling side. When the deep depth control and all of the left, middle, and right L sensors are OF
At F, the end of the mowing operation is detected, and the depth position immediately before the end of the mowing is stored as the depth data, and after the mowing operation is restarted, the position adjusting motor 62 is driven based on the stored depth data. Then, the previous handling position return control for automatically returning the vertical transport chain 44 to the handling depth position at the time of the previous operation is executed.

A feature of the present invention lies in the processing of the detection operation of the H sensor and the M sensor in the automatic control of the working depth during the work, and this is a relational diagram between the detection state of the culm length sensor and the control signal in FIGS. It will be described based on. In FIG. 1, when the cereal stalk is in the state of c, it is in the shallow handling position, and both the M sensor and the H sensor are in the OFF state. In FIG. 2, the state is indicated by reference numeral I. In this case, the vertical transport chain 44 must be moved to the deep handling side and corrected to an appropriate position. At this time, when the number of times of the OFF operation of the M sensor is small, the drive speed of the position adjustment motor 62 is reduced, and when the number of counts is large, the drive speed of the position adjustment motor 62 is increased. If the number of counts is large, it means that the degree of shallow handling is large. Therefore, by driving the position adjustment motor 62 at a higher speed, it is possible to move to the appropriate handling position faster and reduce the unhandled amount. it can.

In FIG. 1, when the grain stalk is in the state of b,
This is the deep handling position, and both the M sensor and the H sensor are in the ON state. In FIG. 2, the state is indicated by reference numeral III. In this case, the vertical transport chain 44 must be moved to the shallow side and corrected to an appropriate position. Then, at this time, when the number of counts within a certain period of the ON operation of the H sensor is small, the drive speed of the position adjustment motor 62 is reduced, and when the number of counts is large, the drive speed of the position adjustment motor 62 is increased. If the number of times of counting is large, it means that the degree of deep handling is large. Therefore, by driving the position adjustment motor 62 at a higher speed, it is possible to move to the appropriate handling position earlier and eliminate the overload state earlier. Can be.

In FIG. 1, when the grain stalk is in the state of “a”, it is in the proper handling position, the M sensor is ON, and the H sensor is O
This is the state of FF. FIG. 2 shows a state indicated by reference numeral II. In this case, there is no need to drive the position adjustment motor 62. In FIG. 2, the state indicated by the symbol IV indicates that the M sensor is OFF.
In this case, the H sensor is in an ON state, but this is a state that cannot be normally achieved. When this state occurs, the detection information of the M sensor and the H sensor is ignored, and the position adjustment motor 6
2 is stopped.

In the control device of the present embodiment, the state I and the state III in FIG. 2 may occur at the same time, but in this case, the count of the OFF operation of the M sensor and the H sensor The count numbers of the ON operations are compared, and the one with the larger count number is determined to be in the detection state, and the control operation of I or III is performed.

In the control of the present invention, the relationship between the count number and the delay time of the position adjusting motor 62 may be changed steplessly by making the position adjusting motor 62 continuously proportional to the count number. May be set, and the speed of the position adjustment motor 62 may be switched between high and low before and after the threshold, or the threshold may be set to two or more, and the speed of the position adjustment motor 62 may be changed to three or more stages.

In the present invention, the drive speed of the position adjusting motor 62 can be changed by any means. However, the position adjusting motor 62 is a DC motor and a chopper circuit for controlling a DC voltage when the switch is turned on and off. When the speed is adjusted by using, there is an advantage that the speed can be easily controlled by changing the duty ratio.

[0025]

According to the first aspect of the present invention, the sensor is turned on.
Since the adjustment motor is not driven by each detection of the operation and OFF operation, hunting does not occur, and when there are many detection operations within a fixed time, the position adjustment motor is moved at high speed, so control operation is delayed. Does not occur. Therefore, control stability and high followability are achieved.
According to the second aspect of the present invention, since the driving speed of the position adjustment motor is continuously proportional to the number of times of counting of the sensor, the control operation is smooth, and the stability and the followability are achieved in all regions. According to the third aspect of the present invention, the driving speed of the position adjustment motor may be stepwise, so that control software is simple and cost reduction is possible. According to the fourth aspect of the present invention, the shallow handling state in which both the long culm sensor and the short culm sensor are OFF and the deep handling state in which both are turned ON can be reliably distinguished, and the control operation is stabilized. According to the fifth aspect of the present invention, the speed of the DC motor can be easily and accurately changed continuously or stepwise by the ratio of the ON / OFF operation time of the switch, so that the control performance is improved.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of a handling position control operation in the present invention.

FIG. 2 is a relationship diagram between a detection state of a culm length sensor and a control signal.

FIG. 3 is a block diagram of a handling depth control device according to the present invention.

FIG. 4 is a schematic side view of the combine.

FIG. 5 is a schematic plan view of the combine.

FIG. 6 is a side view of the reaper 3 of the combine.

FIG. 7 is a plan view of the harvester 3 of the combine.

FIG. 8 is a perspective view of the culm length sensors M and H.

FIG. 9 is a perspective view of a grain stalk presence / absence sensor L.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling device 3 Cutting part 4 Conveying part 4a Lower conveying part 4b Vertical conveying part 5 Feed chain 6 Handling cylinder 44 Vertical conveying chain A Controller L Grain culm existence sensor M Short culm sensor H Long culm sensor

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[Procedure amendment]

[Submission date] January 28, 1997

[Procedure amendment 1]

[Document name to be amended] Drawing

[Correction target item name] Fig. 8

[Correction method] Change

[Correction contents]

FIG. 8

[Procedure amendment 2]

[Document name to be amended] Drawing

[Correction target item name] Fig. 9

[Correction method] Added

[Correction contents]

FIG. 9

Claims (5)

[Claims] 1. A grain conveying section having a lower conveying section and a vertical conveying section, a threshing section having a feed chain and a handling cylinder, and a limit switch type length detecting a culm length of the grain stem conveyed by the vertical conveying section. Based on the detection state of the culm sensor and the short culm sensor, and the detection state of the long culm sensor and the short culm sensor, the depth adjustment position of the vertical conveyance unit with respect to the feed chain is automatically adjusted to an optimum position by driving a position adjustment motor. In the combine, the ON operation or the OFF operation of the long culm sensor or the short culm sensor is counted within a fixed time, the position adjusting motor is driven at high speed when the number of counts is large, and the position is adjusted when the number of counts is small. A combine depth control device for driving an adjusting motor at a low speed. 2. The method according to claim 1, wherein the drive speed of the position adjusting motor is continuously changed in accordance with the number of times of ON operation or OFF operation of the long culm sensor or the short culm sensor. Combine handling depth control device. 3. The driving speed of the position adjusting motor is changed stepwise according to the number of times of ON operation or OFF operation of the long culm sensor or the short culm sensor. Combine handling depth control device. 4. The long culm sensor and the short culm sensor are both OFF.
4. The combine combiner according to claim 2, wherein the count of OFF and the count of ON are compared, and the larger count is adopted as the detection state. Handling depth control device. 5. The apparatus according to claim 1, wherein said position adjusting motor is a DC motor, a chopper circuit is used as a rotational speed adjusting means of said DC motor, and the speed is adjusted by changing a duty ratio of said chopper circuit. Item 5. The control device for a combine depth according to claim 1, 2 or 3.