JPS6115201A - Actuator protecting device - Google Patents

Abstract

PURPOSE:To protect an actuator against the accidents such as the generation of heat, the burning damage, etc. due to the continuous energization, by stopping continuously the working of the actuator despite transmission of actuator drive signal in case the measurement value of a measuring means exceeds a set level. CONSTITUTION:A timer 39 of a microcomputer 35 integrates the periods of time during which a motor 13 is revolved in the same direction. This integrated time is stored in a RAM37, and the elapsed revolution time TF is compared with the set time F stored previously in a ROM36. In this case, the time F is set a little longer than the time during which a carrier matter works to the full within a range of revolutions and also it is absolutely impossible for the motor 13 to revolve continuously in the same direction in a normal working control mode. Therefore the drive of the motor 13 is stopped in a prescribed route in case TF>F is satisfied. Thus an actuator can be protected from an accident due to the continuous energization.

Description

Detailed Description of the Invention (a) Industrial Application The present invention relates to a protection device for actuators such as motors and solenoids, and more specifically, when an actuator operates for more than a set time, the output signal to the actuator is cut off to protect the actuator. The present invention relates to an actuator protection device.

(B) Prior Art Conventionally, in the protection of actuators used to operate control devices, for example, the protection of motors used for rotation adjustment of the handling depth adjustment conveyor of the handling depth control device of combine harvesters, A bimetallic circuit breaker was connected just before the motor, and when a current exceeding a certain level was passed through the breaker, the flow of current to the motor was interrupted. In other words, if the motor is continuously energized and continues to rotate in the same direction due to a malfunction of the switch or sensor connected to the motor, the rotation device that rotates the handling depth adjustment conveyor will rotate completely and become locked. However, at the same time, an abnormal current of 2 to 3 times the normal current flows to the circuit breaker connected just before the motor, and the breaker is deformed due to the high heat generated by the abnormal current and cuts off the flow of current. It protected the motor.

(8) Problems to be Solved by the Invention However, the circuit breaker is capable of automatically cooling down and returning to normal operation after a certain period of time has elapsed after cutting off the current, and when an abnormal current is caused to flow, the circuit breaker shuts off for 10 to 20 seconds. Because the cycle is repeated, the motor ends up being energized periodically and is not completely protected.

In addition, there is no special protection device for the solenoid for driving the side clutch used in the direction control device of the combine, so if the combine is left with the power on, it will be difficult to replace the paddy bag, etc. ■ The left direction sensor stopped while touching the plant during reaping; ■ The left direction sensor was turned on to check the automatic direction control device.
or - If the left direction sensor is inadvertently hit by your foot, etc., and the left direction sensor is turned on even once, and the automatic direction control is activated, unless the side clutch or automatic direction switch is turned off, The left solenoid continues to be energized. Furthermore, even during work, if a switch or sensor connected to a solenoid malfunctions, an erroneous signal may be sent to the solenoid and the solenoid may remain energized. If the solenoid is left energized for about an hour, it burns out and must be replaced. However, since the solenoid is expensive and installed inside the engine, replacing it is very troublesome.

(d) Means for Solving the Problems The present invention aims to solve the above-mentioned problems, and as shown in FIG. Sensors (tip sensor, direction sensor, etc.) that detect automatic control, automatic direction control, etc.), and actuators for driving control devices (handling depth adjustment conveyor, side clutch, etc.) that operate based on signals from the sensors (
In addition to the motor, solenoid, etc.), the control unit is equipped with a measuring means (timer, etc.) that counts up based on the actuator operation and adds up while the operation is connected, and a storage means (ROM, etc.) that stores preset values. ), and a comparison means for comparing the measured value by the measuring means and the set value by the storage means, and when the measured value exceeds the set value, even though the actuation signal is sent from the sensor to the actuator. ,
This is characterized by keeping the actuator in a stopped state.

(f) Effect With the above-mentioned means, even if the actuator is activated due to an erroneous signal being sent from the control unit due to sensor failure, etc., the signal from the sensor is maintained even if the activation time exceeds the set time. The actuator is held in a stopped state and protected regardless of the situation.

(F) Embodiments Hereinafter, embodiments of the present invention will be described with reference to the drawings.

As shown in FIG. 2, the combine 1 has a machine body 5 equipped with an automatic threshing machine 2, a driver's seat 3, etc., and a front part equipped with a divider 6, cutting blades, etc. in the front of the machine body 5. A processing section 7 is arranged so as to be movable up and down. A left direction sensor 10 is installed on the divider frame 9a that supports the left divider 6a, and a right direction sensor 11 is installed on the divider frame 9b that supports the right divider 6b. Furthermore, the pre-processing section 7
A handling depth adjustment conveyor 12 is disposed so as to be rotatable based on the rotation of a handling depth adjustment drive motor 13 toward the threshing machine 2. By sensing the tip by the sensors 15, 1.6, the handling depth can be adjusted so that the culm is located at a proper position between the tip sensors 15 and 16. In addition, in order to prevent the rotation of the transport body 12 from exceeding the permissible range, a shallow handling side limit switch 17 and a deep handling side limit switch 19 are installed on the left side of the transport body 12, and a deep handling side limit switch 19 on the right side. When the carrier 12 rotates and contacts the limit switch 17 or 19, the power to the motor 13 is cut off. Furthermore, a main sensor 20 is attached to the carrier 12 to detect whether or not the culm is being fed m by the carrier 12. On the other hand, on the operation panel 21 of the driver's seat 3, there is an automatic handling depth switch 22 for switching to automatic handling depth control, an automatic handling depth pilot lamp 23 that lights up when the switch 22 is turned on, and an automatic handling depth control lamp 23 for switching to automatic handling depth control. A manual depth switch 25 that is operated by the operator, an automatic direction switch 26 that switches to automatic direction control, a direction automatic pilot lamp 27 that lights up when the switch 26 is turned on, and a side clutch lever 29 are provided. Further, the driver's seat 3 is provided with a pedal clutch switch 31 that is linked to the operation of the pedal clutch 30 and a reaping latch switch 33 that is linked to the operation of the reaping latch lever 32.

Next, a control block diagram of this embodiment will be explained based on FIG. The automatic handling depth switch 22 is turned on when the operator switches to automatic handling depth control, and inputs the signal to the inboard of the microcomputer 35. Further, the tip sensor 15 turns on when the culm carried by the carrier 12 touches it for deep handling, and inputs this signal to the inboard of the microcomputer 35. Further, the tip sensor 16 is turned on when the culm transported by the transport body 12 is not touched due to shallow handling, and this signal is input to the import of the microcomputer 35. Furthermore, the pedal clutch switch 31 and the reaping latch switch 33 are connected in series to the main sensor 20, and when the operator does not press the pedal clutch 30 and connects the reaping latch lever 32, the main sensor 20 Only when it is detected that the culm is flowing, that is, that the actual reaping operation is in progress, all the switches 31, 33 and 20 are turned on, and the signals are input to the microcomputer 35. The microcomputer 35 also includes a ROM (read only memory) 3.
6. A RAM (random access memory) 37 and a timer 39 are built-in, and an output signal from the outboard of the microcomputer 35 is sent to the limit switch 19 on the deep handling side.
The motor 13 that adjusts and drives the conveyor 12 through the normal rotation 5
lII! At the same time, another output signal is outputted to a relay 41 that controls the motor 13 in the reverse direction via a limit switch 17 on the shallow handling side.

Furthermore, a handling depth manual switch 25 is connected between the limit switches 17 and 19 and the microcomputer 35. Also,
Another output signal is output to the depth autopilot lamp 23.

Furthermore, the flowchart shown in FIG. 4 will be explained.

In step S1, it is determined whether the automatic handling depth control is on or off by turning on or off the automatic handling depth switch 22. If the automatic handling depth control is in the off state, the automatic handling depth pilot lamp 23 is turned off according to path a. Furthermore, the memories TF and TA in the RAM 37 of the microcomputer 35 are cleared, and the motor 13 is stopped. Further, when the machine is in the human state, that is, the automatic extraction depth control state, the handling depth automatic pilot lamp 23 is turned on, and the process proceeds to the next step S2.

In step S2, the main sensor 20, pedal clutch switch 31, and reaping latch switch 33 are turned on and off.
It is determined whether or not it is off, that is, during actual reaping work, and if even one is off, the motor 13 is stopped according to the path a,
If all three are on, the process advances to the next step S3.

In step S3, it is determined whether the handling depth is shallow or not by turning on/off the tip sensor 16, and if the handling depth is shallow,
The process proceeds to step S4 according to the Isb.

In step S4, the motor 13 rotates so as to rotate the conveyor 12 toward the deep handling side, and the process proceeds to the next step S5.

In step S5, the memory TA in the RAM 37 is cleared, and the process proceeds to the next step S6.

In ST2/36, timer 3 in microcomputer 35
In step 9, the elapsed time during which the motor 13 has been rotating in the same direction since step S4 is accumulated, stored in the TF in the RAM 37, and the process proceeds to the next step S7.

In step S7, the rotation elapsed time T F is determined in advance by R
It is compared with the set time F stored in OM36,
The set time Fi is set to be slightly longer than the time during which the conveying body 12 operates to its full rotation range, and is set to a time during which the motor 13 cannot continuously rotate in the same direction under normal handling depth control. has been done. And when setting I! If the elapsed time TF is larger than 1F (TF>F), the route ar
Motor 13 from ζ? If they are the same or smaller (TF≦F), the process returns to step S1.

Further, in step S3, if the tip sensor 16 is turned on away from the culm, the process proceeds to step S8 via route C.

In step S8, it is determined whether the handling depth is deep handling or not by turning on/off the tip sensor 15. If the handling depth is not deep handling, that is, the handling depth is adjusted to an appropriate position where the culm does not touch the tip sensor 15. If so, the motor 13 is stopped by path a. In addition, in the case of serious treatment, the process proceeds to the next step 9.

In step S9, the motor 13 rotates so as to rotate the carrier 12 toward the handling side, and the process proceeds to the next step 310.

In step SIO, the memory TF in the RAM 37 is cleared, and the process proceeds to the next step 311.

In step Sll, the timer 39 of the microcomputer 35
Then, the elapsed time during which the motor 13 has been rotating in the same direction since step S9 is accumulated and stored in the TA of the RAM 37, and the process proceeds to the next step 812.

In step 312, the rotation elapsed time TA is determined in advance by RO.
It is compared with the set time A stored in M36, but the set time A is set to be slightly longer than the time required for the transport body 12 to move to its full rotation range, and it is absolutely impossible to do so under normal handling depth control. The time is set so that the motor cannot rotate continuously in the same direction.

If the elapsed time TA is larger than the set time A (TA>A), the motor 13 is stopped according to path a, and if the elapsed time TA is the same or smaller (TA≦A), the process returns to step S1.

Then, even if the conveyor 12 is in the deepest handling state in the extraction depth control of this embodiment, the deep handling side ξ seat switch 19 is turned off due to poor adjustment or contact failure, and the motor 13 is continuously energized. Protection of the motor 13 in the case where the motor 13 is protected will be explained.

When the automatic handling depth switch 22 is turned on, the conveyor 12 is controlled by automatic handling depth control, that is, based on the tip sensors 15 and 16. In addition, even if the handling depth automatic switch 22 is in the ON state, the main sensor 20 and the pedal clutch switch 31 are not activated.
If even one of the reaping latch switches 33 is off, it is assumed that the reaping operation is not in progress, and the motor 13 is stopped. If the culm being transported by the transporting body 12 is in a shallow handling state where it does not touch the tip sensor 16, the transporting body 12 is moved to the deep handling side after passing through HIP, b, as shown in step S3. The motor 13 rotates to rotate.

Then, the iTA in the RAM 37 is cleared, and the elapsed time during which the motor 13 is rotating in the same direction is accumulated by the timer 39 in the microcomputer 35, and the TF in RA and Mg2 is
is stored in memory. At this time, the conveying body 12 is rotated to the deep handling side in conjunction with the rotation of the motor 13, but if the culm being conveyed is a short culm material and does not touch the tip sensor 16, the conveying body
2 is rotated to the deepest handling side and comes into contact with the deepest handling side limit switch 19. Even if the switch 19 continues to turn on due to improper adjustment or contact failure, the microcomputer 35
When the rotation elapsed time TF of the morada 13 accumulated by the timer 39 exceeds the set time F previously stored in the ROM 36 (TF)F), the power supply to the motor 13 is stopped. Furthermore, when a culm longer than the length that touches the tip sensor 16 is transported, it passes through the path a or C and is stored in the RAM 3.
9 of 7! , TF are cleared, and the stoppage of energization to the motor 13 is released. Note that the main sensor 20 and the pedal clutch switch 3 are used to release the power supply to the motor 13.
By turning off any one of the reaping latch switches 33, it is also possible to clear the TF by passing through the passage '#Ia.

Note that this embodiment also applies to the case where the conveyor 12 continues to be rotated to the shallowest handling side. In that case, the determination is made by comparing the memory TA in the RAM 37 and the set value A in the ROM 36. .

Further, in this embodiment, the motor 13 is protected by stopping the power supply to the motor 13, but it is more effective to notify the operator of the abnormality using a pilot lamp, horn, etc. at the same time.

Furthermore, in this embodiment, the motor 13 is protected based on the cumulative elapsed time during which the motor 13 rotates in the same direction, but the motor 13 may also be protected based on the coefficient of the number of inching times of automatic handling depth control. good.

Next, another embodiment of the present invention will be described based on FIGS. 5 and 6. In this embodiment, the protection device according to the present invention is used to protect the side clutch drive solenoids 42 and 43, which are used heavily in the direction control device of the combine harvester 1.

As shown in FIG. 5, the automatic direction switch 26 is turned on when the operator switches to automatic direction control, and sends the signal to the microcomputer 3.
5 is input into the import.

In addition, the side clutch lever switches 45,4'6 are normally on, and are turned off when the operator pulls and operates the side clutch lever 29 on the panel 21, and inputs the signals to the import of the microcomputer 35. There is. Further, when the right direction sensor 11a does not contact the sensor bar 11a with the culm, the switch RL is turned on and the signal is sent to the microcomputer 3.
When the culm comes into contact with the sensor bar 11a and is rotated slightly, the switches RL and RR are turned on.
are both turned off, and when the sensor bar 11a comes into deep contact with the shell culm and rotates significantly in the counterclockwise direction, the switch RR is turned on and the signal is input to the inboard of the microcomputer 35. Similarly, the left direction sensor 10 also has a sensor bar 10.
When a is not rotated, switch LR is turned on, when a is rotated a little, switches LR and LL are both turned off, and when a is rotated still further, switch LL is turned on, and the signals are respectively input to the microcomputer 35. I am typing. Furthermore, the potentiometer 47 outputs a value that is linked to the operator's operation of the continuously variable speed lever 49, and the output value is determined by the AD of the microcomputer 35.
In addition to being input to the boat, in conjunction with the output value, the dead zone of the direction sensors 10, 11, that is, the sensor bar 10a,
The operating time of a delay timer (not shown) connected to the switches LR and RL is adjusted based on the fact that lla does not contact the shell culms between the shell culms. Also, the microcomputer 35 has R
An OM 36, a RAM 37, and a timer 39 are built in, and an output signal is outputted to the horn 50 from the 7 out port of the microcomputer 35. Furthermore, another output signal is output to a directional automatic pilot lamp 27 which lights up to indicate automatic directional control.

Further, another output signal is output to the right solenoid 42 which causes the combine 1 to rotate to the right, and another output signal is output to the left solenoid 43 which causes the combine 1 to rotate to the left.

Furthermore, the flowchart shown in FIG. 6 will be explained.

In step S1'3, it is determined whether the direction automatic control is on or off by turning on or off the direction automatic switch 26. If it is in the off state, the direction automatic pilot lamp 27 is turned off according to path d, and further, the microcomputer RA of 35
The RE memories TH and TM in M37 are cleared, the right direction solenoid 42 and the left direction solenoid 43 are turned off, and energization to the solenoids 42 and 43 is stopped. If the automatic direction control lamp 27 is in the ON state, that is, in the automatic direction control state, the direction automatic pilot lamp 27 is turned on, and the process proceeds to the next step 314.

In step 314, it is determined whether the culm is in contact with the sensor bar 108, that is, whether or not it is in the reaping state, by turning on and off the switch LR of the left direction sensor 10,
If it is in the reaping state due to contact with the culm, the flag becomes 1 according to the path e, and if it is not in the reaping state without contact, the process proceeds to the next step S15.

In step 315, it is determined whether the side clutch lever switches 45, 46 are on/off, that is, whether they are pressed in the automatic direction III or manually operated.If they are off, the flag becomes 0 according to the path f, and if they are on, the next step Proceed to 316.

In step 816, it is determined whether the flag is O or I;
Flag 0, i.e. side clutch lever switch 45.4
6 is off and in the manual operation state, or when the culm is not in contact with the sensor bar 10a and is not in the reaping state, the path d
The solenoids 42 and 43 are turned off, and the culm is in contact with the flag 1, that is, the sensor bar 10a, and is in the cutting state.
If the side clutch lever switches 45 and 46 are on and the automatic direction control state is in effect, the judgment is made by row cutting/separation determination (not explained in this embodiment), and in the case of row cutting, step S is performed.
Proceed to 17.

In step 317, it is determined whether the switch LR of the left direction sensor 1o is on or off, and if it is on, u #ig
As a result, a delay timer that operates in conjunction with the value of the potentiometer 47 is activated, and after a predetermined delay time corresponding to the vehicle speed has elapsed, the right direction solenoid 42 is turned on and the process proceeds to step S18.

At step 818, the RAM 37 in the microcomputer 35
The memory TH is cleared and the process proceeds to step S19.

In step S19, the elapsed time TM since the solenoid 42 was turned on is integrated by the timer 39 in the microcomputer 35, and the process proceeds to step S20.

In step S20, the elapsed time TM is determined in advance from RO
It is compared with the set time M stored in M36, and the set time M is set to a time length that cannot occur under normal control. Then, if the elapsed time TM is larger than the set time M (TM>M), the solenoid 42, 43 is turned off by path d, and if the elapsed time TM is the same or smaller (TM≦
M) is returned to step 313.

Further, in step S17, if the switch LR of the left direction sensor 10 is off, it is determined whether the switch LL is on or off based on the path, and if it is off, the solenoids 42 and 43 are turned off by the path d. If it is on, the left direction solenoid 43 is turned on and the process proceeds to step S21.

In step 821, the RAM 37 in the microcomputer 35
The memory TM of is cleared, and the process proceeds to step s22.

In step S22, the elapsed time TH since the solenoid 43 was turned on is integrated by the timer 39 in the microcomputer 35, and the process proceeds to step S323.

In step S23, the elapsed time TH is determined in advance by RO
The setting time stored in the M36)] is compared, but
The set time H is set to a length of time that cannot occur under normal control. Then, the elapsed time TH is longer than the set time H.
If (TH)H) is larger, the solenoids 42 and 43 are turned off by means ll8d, and if they are the same or smaller (
TH≦H), the process is returned to step 313.

Further, if it is determined in the row cutting/type determination subroutine that the cutting is separated, the process proceeds to step 824.

In step S24, it is determined whether the switch RL of the right direction sensor 11 is on or off, and if it is on, a delay timer operates according to the path i, and after a predetermined period of time has elapsed, the left direction solenoid 43 is turned on according to the path ll8h, and step 321
, 323.

Further, if the switch RL is off, the process proceeds to step s25.

In step S25, it is determined whether the switch RR of the right direction sensor 11 is on or off, and if it is on, the right direction solenoid 42 is turned on according to the path g, and step 318
, 319. If the process advances to S20 and the switch RR is off, the solenoids 42 and 43 are turned off via path d.

Subsequently, in the direction control of this embodiment, the left direction sensor 1
Solenoid 4 in case the switch LR is turned off once by touching the sensor bar 10a of 0 without knowing it.
2.43 protection will be explained.

While the combine harvester 1 is stopped with the automatic direction switch 26 turned on, the operator accidentally removes the sensor bar 1.
When it touches 0g, the switch LR of the left direction sensor 10 is turned off, and at this time, of course, the side clutch lever switch 45 is turned off.
．． 46 is on, the flag of RAM 37 is 1.
become. Furthermore, the row cutting/row subroutine determines that row cutting has been performed, and at this time, the sensor bar Oa has returned to its original upright state, so the switch LR is on, and therefore, the sensor bar Oa has returned to its original upright state, so the switch LR is on, and therefore the sensor bar Oa has returned to its original upright state, so the sensor bar Oa has returned to its original upright state, so the switch LR is on, and therefore the sensor bar Oa has returned to its original upright state, so the sensor bar Oa has returned to its original upright state, so the switch LR is on, and the sensor bar Oa has returned to its original upright state. , after the set time of the delay timer has elapsed, the right direction solenoid 42 is turned on. and,
The memory TH in the RAM 37 is cleared, the timer 39 integrates the elapsed time TM since the right direction solenoid 42 was turned on, and the elapsed time TM is compared with the set time M stored in the ROM 37. Then, when the elapsed time TM becomes larger than the set time, the solenoid 42 is turned off by the path d, and the energization to the solenoid 42 is stopped and maintained in that state.

Further, when the combine harvester is operated again and the sensor bar 10a of the left direction sensor 10 comes into contact with the culm and the switch LR is turned off, the elapsed time TM is cleared through the route or d, and the de-energization of the solenoid 42 is canceled. Ru.

Although this embodiment has described the protection of the solenoids 42 and 43 in direction control, it can also be applied to control devices using solenoids such as cutting height control. Of course, the present invention can also be applied to control devices for similar work vehicles such as rice transplanters.

(1.) As described in detail, according to the present invention, the actuator 13
, 42, 43 exceeds the set time set in the storage means 36 of the control unit 35, the sensor 1.5
, 16, 10, and 11, the actuator remains stopped, so even if the actuator continues to be energized due to sensor failure or unexpected operation, the set time will not be exceeded. When the current is exceeded, the energization is stopped, and the actuator can be protected from accidents such as heat generation and burnout due to continuous energization. Furthermore, by changing the input to the control unit 35, the actuators 13, 42, 4
Actuator 13, 42, 43
No special parts are required for protection, and there is no cost increase. Furthermore, since the set time for stopping energization of the actuators 13, 42, and 43 is set to a time that would not occur during normal control, the protection device can be configured without affecting normal control.

[Brief explanation of drawings]

FIG. 1 is a functional block diagram showing the present invention, FIG. 2 is a plan view of a combine harvester to which the present invention is applied, FIG. 3 is a control block diagram showing an embodiment of the present invention, and FIG. 4 is a flowchart thereof. FIG. 5 is a control block diagram showing another embodiment of the present invention, and FIG. 6 is a flowchart thereof. 1... Combine harvester, 10, 11, 15, 16 sensor, 13, 42, 43 actuator, 3
5 control unit (microcomputer), 36 storage means (ROM)
, 39 Measuring means (timer)

Claims (1)

[Claims] (1) In a control device that has a sensor and an actuator and has a control unit that operates the actuator based on a signal from the sensor, the control unit is configured to count up based on the actuation of the actuator and while the operation continues. A measuring means for integrating, a storing means for storing a preset value, and a comparing means for comparing the measured value by the measuring means and the set value by the storing means are provided, and when the measured value exceeds the set value,
An actuator protection device configured to keep an actuator in a stopped state even though an activation signal is sent from a sensor to the actuator.