JPS5942816A - Reaming harvester - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a reaping harvester, in particular, a conveying device that pinches and conveys the harvested husks in a reaping section and supplies them to a threshing device, and also includes a conveying device that pinches and conveys the husks that have been harvested in a reaping section and supplies them to a threshing device. A stock sensor that detects the presence or absence of a culm and a culm length sensor that detects the length of the grain culm are provided, and during reaping when the stock sensor is in a culm detection state, based on the culm length detection result by the culm length sensor. The present invention relates to a grain harvesting machine equipped with a control device that automatically adjusts the handling depth in the threshing device by changing and adjusting the clamping position of the conveying device with respect to the culm.

In conventional reaping and harvesting machines of this type, if the handling depth is adjusted immediately based on the detection result of the culm length sensor, the clamping position will be changed frequently, which will affect the longevity of the mechanism and the stock alignment when tying the waste straw. Since the morphology is not as good as '&l''e, the handling depth is adjusted without responding to the detected culm length change over a short period of time, and after the separation, the culm length is adjusted to the culm length just before the culm sensor detects the shell culm. Since the conveyance device was configured to be stopped at the clamping position based on the detection results, there were the following drawbacks.

That is, non-reaping medium i3? The culm holding position of the conveying device is stopped at the position just before the previous separation, and even if the culm length sensor detects red culm height, the handling depth is not automatically adjusted immediately. If the grain culm has changed significantly when the harvesting operation is started again, there is a disadvantage that the response of the handling depth adjustment will be delayed and it will not be possible to adjust the handling depth appropriately from the beginning of the harvest. It was.

The present invention was developed in view of the above-mentioned circumstances, and its object is to provide a reaping harvester that can appropriately control the automatic adjustment of the cutting depth even at the beginning of cutting.

In order to achieve the above object, the reaping/harvesting machine according to the present invention controls the control device at a predetermined time from the start of grain harvesting at the beginning of harvesting when the stock head senna first changes from a grain culm non-detection state to a grain culm detection state. The present invention is characterized by a change and adjustment operation of the shell culm clamping position of the conveying device.

The following excellent effects have been achieved with the number of feature configurations mentioned above.

That is, the adjustment operation of changing the culm holding position of the conveying device for adjusting the handling depth is performed faster at the beginning of cutting than during cutting, so that the VC is quickly controlled to the appropriate handling depth. At the same time, stable control is performed at an appropriate response speed even during the subsequent harvesting process, making it possible to reliably prevent the occurrence of plow residue 2 or clogging of the conveying device from the beginning of cutting.

Hereinafter, embodiments of the present invention will be explained based on the drawings.

Figure 1 is a side view of the front of the combine harvester, in which a harvesting part (1) is provided at the front of the machine body, and this reaping part (1) is provided for pulling out grain culms. A lifting device (2), 11 blades (3) for cutting the raised grain culms, and a lifting device (2) for collecting the cut culms and transporting them to the threshing device (5) at the rear of the tank body. ) has a gripping and conveying device (4) provided on the rear side. This conveying device (4) has a front stage (4a) that scrapes up the cut grain culms, and a rear stage (4b) that picks up the scraped grain culms and transports them rearward, where they are delivered to the feed chain (6) of the threshing section. ).

The handling depth of grain culms is determined by the distance between the clamping position of the feed chain (6) and the ear position, and the longer this distance, the deeper the handling becomes. Therefore, the handling depth is basically adjusted so that the gripping position of the feed chain (6) and the distance between the panicles remain constant, so the higher the culm, the more the feed chain (6) It is constructed to hold the high part of the culm.
In this embodiment, this adjustment is carried out by the transport device M(4).
The rear stage (4b) of this conveying device (4) has its front end swung up and down by an actuator to change the position where it holds the collected culms, and The rear end of the conveyed grain culm is delivered to the feed chain (6) without moving, and the relationship between the position of holding the shell culm at the rear stage of the conveying device (4) and the gripping position of the feed chain (6) is always constant. Similarly, the rear stage of the transport device (4) is rotatable around its rear fulcrum (Yl).

As an actuator for vertically moving the rear Ail end of this conveyance device (4), as in this embodiment, a hydraulic cylinder +7) K is used as a link machine 1'bli i8.
In addition to the configuration configured to move 1, a motor etc. were used.

configuration is also commonly used.

Then, the information on the handling depth 't--the grain culm length to be adjusted is r
i+ is obtained from the culm length sensors (Si), (Sg), (S++) provided on the upper part of the pulling device (2), and these culm length sensors (Sl), '(St), (Ss
) is started when the stock sensor (So) provided below detects the grain culm.

Optical sensors may be used as these sensors, but in this embodiment, they are all configured to be mechanical sensors. That is, the lifting claw (2) of the lifting device 1''t(2)
By touching the sensor (not shown) as it moves upward,
t), (SIri, (Ss)). Therefore, the longer the grain culm length, the more signals are emitted from the sensors placed above. Ss).

By (S8), the grain culm length is detected step by step.

On the other hand, the plant sensor (So) installed below the lifting device (2) and apart from it detects whether or not there is a raised culm at the lifting device (M12). The grain culm raised by the raising device (2) enters the raising device (2) intermittently due to the gap between the stocks, and the grain culm length + :'t
(St') + (St) * (S++) is used to identify when to sample grain culm length.

FIG. 2 is a block diagram of the control system for automatic handling depth adjustment, which includes an input interface (9), an arithmetic unit (IL
The control device 04), which includes a timer 1 fill, a timer 2α, and an output interface α3, includes the culm length detection sensors (Sl) and (St).

(Ss) culm length detection signal 1 It is activated by the grain culm detection signal of the stock origin sensor (SO) and the grain culm non-detection signal fVc of this stock origin sensor (so 3), and outputs a signal of ''L level for a predetermined period of time. The output signal of the retrigger type one-shot multivibrator (15) generated from (Q) is connected to the activation signal of the culm length detection Ltl (
DO), a start switch (S, ) that instructs to start and stop the operation of the control device +14), and signals from a clamping position detector aη described later are input, and based on the information of these signals, Distinguish each work state of Mej + Picking up and Departing, and select the sampling value (ST) Th of the culm length according to each work state, and from this sampling 4M (ST), conveyance unit converted 11 is calculated as the target value of the clamping position of the device (4). After that, nl[
Note: 1ii'i' The output of the detector Oη which detects the shell culm clamping position from the attitude of the rear stage (4b) of the feeding device (4) (by comparing 1,1 and l'+il p1 day illusion) , Based on this result, the hydraulic cylinder (7) is fully activated, and this transfer device (4)
Adjust the posture of the rear stage (4, +)).

Then, the output value of the detector (1η coincides with Ll).
Store the sampling value (ST).

i Said "clamping position detector a'?" ), a potentiometer or rotary encoder is used, and the conveyor device (
2) It is attached to the rotation fulcrum of the rear stage or the actuator (7) to detect the handling depth f based on the attitude of the rear stage of the conveyance device (2).

If a potentiometer is used as the detector αη, the detection signal will be detected as shown in this embodiment. FIG. 4 is a flowchart of a program of the control device 0, which is constituted by a microcomputer.

This program basically samples grain culm length,
A target value (M) is set from the sample value (ST) and the change in the sample value, and the target value (goods) and the clamping position detector α
′? 1 output (Ll) is compared, and the rear stage (4b) of the conveying device (4) is adjusted so that the shell culm holding position becomes the target S value.

Step (1) is to initialize the handling depth setting at the start of a certain reaping operation, and also to initialize the handling depth settings at the start of the reaping operation, that is, at the beginning of reaping, when continuing the reaping operation after that, and when going on a different route. A step of determining the working state, the step being 01.
(When the stock sensor (So) is OFF and the output (Q) of the one-shot multivibrator aω is % Tl l
If it is in a non-reaping state after the actual harvesting operation is completed, all controls are set to the timing state, and the time elapsed from the start of reaping when the stock sensor (So) was first turned ON is monitored. A timer 1 (111) monitors the timer 1 to discriminate between the beginning of cutting and cutting, and generates a discrimination signal (Fl) for switching the processing procedure of the culm length sampling value (ST) in step (II+) described later.

From steps (11) to (II+), the culm length sensor (Sl) to
sampling the grain culm length by (Ss), in step (!10) ii the step (
The monitoring time ('
The sampling period of the culm length is determined by switching the values h to T,), and short-term fluctuations in the sampling value (ST) are ignored.

That is, first, the stored sampling value (ST') and the current sampling value (ST) are compared to determine the direction of change in culm length, that is, whether it is a change to the deep handling side or a change to the shallow handling side. The above-mentioned time to be ignored is switched to two stages (Ta + Ta) H (Ta r Tm) as a whole, and only when the same grain length continues to be detected after this time has elapsed, as described below. In order to operate the actuator in step (IV), the sampling value (ST) of the culm length in ml
It is decided.

Then, there are two stages as a whole (
Tl * Ts) * (Ts e Ta) At the switching of the monitoring time '1, based on the discrimination signal (Fl), at the beginning of mowing, it is generally short ("r + + Ts) b. During mowing, it is long CTl1 I Ta), so that the actuator is activated as quickly as possible at the beginning of mowing.

Step (Iv) includes the steps (I+), (1
Based on the sampling value (ST) K determined in 10, the target value M of the culm clamping position is determined by the output value of the detector (171) (
After converting the units completely to correspond to the units of (), compare the current clamping position (Ll detected by the detector (171) with mJ 11 target value 1 to determine the grain culm clamping position). Said actuator to adjust and hydraulic cylinder (7) at (-
This is a step of sending an activation signal to the moving electromagnetic valve α9. A margin of error is set for this comparison.

If the difference between the target value M and the detected value (Ll) is less than 12yJ, the two are considered equal and the hydraulic cylinder (7) is stopped.

In this embodiment, the monitoring time of timer 1 (mI), that is, the setting at the beginning of cutting, is normally set to about S seconds, and each monitoring time (T1 to T4) of timer 2 (121) satisfies TI < Tt. It has the relationship of ≦Ta<Ta, and is shorter than the monitoring time of timer 1 (1υ).

In addition, the monitoring time after the stock sensor (So) is turned off, which is set by the one-shot multi-vibrator a9, is normally set to ~3 seconds, but in order to prevent malfunction, the vehicle speed is It may be configured to switch depending on the situation.

[Brief explanation of the drawing]

The drawings show an embodiment of the reaping and harvesting machine according to the present invention, and FIG. 1 is a front side view of the combine, FIG. 2 is a block diagram of the control system, and FIG. 8 is a flowchart showing the operation of the arithmetic unit. be. (1)... Reaping section, (4)... Conveying device, (5)... Threshing device, (141...
・Control device, (so) -- stock sensor, (S+
) ~ (Sa) ... river fl length sensor. −Anti

Claims (1)

[Claims] A conveying device (4) is provided which pinches and conveys the harvested husks in the reaping section (1) and supplies them to the threshing device (5). A stock origin sensor (SO) for detecting and a culm length sensor (81) for detecting the length of the grain culm are provided,
- During reaping when the stock origin sensor (So) is in the culm detection state, the culm length sensor (Sl) - (Ss)
- Based on the culm length detection result by (Sa), the conveying device (
A control device (141') that automatically adjusts the handling depth in the threshing device (5) by changing and adjusting the clamping position with respect to the culm (141'), Control equipment R (141t, IT stock sensor (So
) changes from the grain culm non-detection state to the detection state for the first time, and for a predetermined period of time from the start of reaping, the conveying device (4) changes and adjusts the culm holding position as quickly as possible during reaping. A reaping harvester, characterized in that it is configured to be started.