KR0127876B1 - Treshing & sorting equipment of grain in combine - Google Patents

Abstract

The layer thickness of the processed object on the rocking separation plate swinging up and down is more accurately detected, and the drop opening degree of the rocking separation plate is accurately adjusted based on the layer thickness detection information.

(Configuration)

Detection of the rocking sorting plate for sorting the processed material after threshing up and down, the layer thickness detecting means (SI) provided on the side of the fixed frame to detect the layer thickness of the processed material on the rocking sorting plate, and the layer thickness detecting means (SI). The layer thickness discrimination means 100 for discriminating the layer thickness of the processed material is set based on the information, and the layer thickness discrimination means 100 samples the detection information of the layer thickness detection means SI shorter than the oscillation period of the oscillation sorting plate. Sampling is carried out at periodic intervals, and for each cycle set in the same cycle as the swing selector, the layer thickness of the processed object is determined by, for example, obtaining an average value between the maximum value and the minimum value based on the sampling data sampled in the processing period. Also, the treatment cycle is changed in accordance with the fluctuation of the swing cycle of the swing selection plate.

Description

Threshing sorting device of combine

The present invention provides a rocking sorting plate for screening a processed material after threshing up and down, a layer thickness detecting means for detecting a layer thickness of the processed material on the rocking sorting plate, and an opening degree changing means for changing the fall opening degree of the rocking sorting plate. And it relates to a threshing selection apparatus having a control means for controlling the opening degree changing means.

(Conventional technology)

In the workpiece layer thickness detecting device, a layer thickness detecting means is rotatably supported, for example, in a posture in which swinging freely extends toward the rear of the gas, and a sensor bar disposed above the swing sorting plate, and the sensor bar contacting the workpiece. It consists of a layer thickness sensor consisting of a potentiometer, etc., which converts the angle swinged to the rear side of the gas into a layer thickness value, and isochronous due to the change in time due to the layer thickness detection value of the layer thickness sensor and the up and down fluctuations of the shaking screen. The layer thickness detection value was sampled at an appropriate time interval (for example, 100 ms) to determine the moving average value of the plurality of times of data as the layer thickness.

Further, in the threshing screening apparatus, the fall opening degree of the rocking screening plate is set so that the layer thickness of the processed object on the rocking screening plate is in an appropriate range based on the determined layer thickness detection information (for example, the information of the floor thickness detection value and the rate of change thereof). In this case, when the treatment layer is too thin, the mixing of straw crumbs into the first material or conversely, when the treatment layer is too thick, the loss of grain due to the increase of the third loss and the excessive increase of the second reduction amount To prevent unfavorable conditions such as damage (for example, see Japanese Patent Laid-Open No. 5-21).

In the above prior art, if the temporal fluctuation of the layer thickness of the processed material on the rocking separation plate is gentle, the difference between the layer thickness value obtained by the moving average and the actual layer thickness value is small and can be ignored. However, when the temporal fluctuation of the layer thickness of the processed material on the rocking separation plate becomes large, the difference between the layer thickness value due to the moving average and the actual layer thickness becomes large, and therefore it is impossible to accurately detect the layer thickness change in particular. Even if the drop opening degree of the swing selector is adjusted based on the layer thickness detection information, since the layer thickness of the processed product on the swing selector plate is greatly out of the appropriate range, the processed layer is too thick or thin. There was a risk of causing a bad condition.

(Summary of invention)

In view of the above circumstances of the present invention, the object of the present invention is to more accurately detect the layer thickness of a plate-shaped treatment plate that swings up and down, thereby accurately adjusting the fall opening degree of the rock-screen according to the layer thickness detection information. It is in doing.

The threshing sorting apparatus according to the present invention comprises a rocking sorting plate for sorting and treating the processed material after threshing, a layer thickness detecting means for detecting a layer thickness of the processed material on the rocking sorting plate, and a fall opening degree of the rocking sorting plate. And an opening degree changing means for changing, and a control means for controlling the opening degree changing means, wherein the control means comprises layer thickness discriminating means for discriminating the layer thickness of the processing based on detection information of the layer thickness detecting means. In the threshing sorting apparatus, the layer thickness determining means samples the detection information of the layer thickness detecting means at a sampling period shorter than the swinging period of the rocking separator, and at the same time, the layer thickness determining means uses the sampling data obtained by the sampling. And the layer thickness discrimination of the treatment is performed at the same period as the swing period of the swing sorting plate. Doing.

According to this characteristic configuration, the processed material after threshing on the rocking separation plate swings up and down accompanied by the up and down rocking of the rocking separation plate, and the detection information of the layer thickness detection means provided on the side of the fixing frame is used to detect the layer thickness of the processed rock. Varies with the swing cycle of the separator.

The periodically varying layer thickness detection information is sampled at a sampling period shorter than the swing period of the swing selector, and then, based on the sampling data sampled within the processing period for each period set to the same period as the swing selector, for example, The layer thickness of the workpiece is determined by the average value of the sampling data. By the above processing, the influence of the up and down fluctuations of the rock-screen selection plate on the layer thickness detection information is eliminated, and the detection information of only the layer thickness of the processed material is lost.

Therefore, it is possible to more accurately detect the layer thickness of the street object on the rocking separation plate that swings up and down by removing the influence of the rocking up and down movement of the rocking separation plate, thereby adjusting the drop opening degree of the rocking separation plate based on the layer thickness detection information. It is now possible to do exactly that.

In a preferred embodiment of the present invention, there is a case where the layer thickness of the processed material is determined by the average value of the maximum and minimum values of the sampled data sampled in the processing period for each period set at the same period as the swing selection plate. According to this, the layer thickness of a processed object can be discriminated by the average value of the maximum value and the minimum value of the sampled sampling data in a process period. According to this, the layer pressure of the processed object is determined by averaging the maximum and minimum values of the sampling data in the processing cycle. For example, the process is performed while securing the practical layer thickness detection accuracy compared to determining the layer thickness of the processed material by averaging all of the sampling data. The configuration can be simplified.

In an even more preferred embodiment of the present invention, there is provided processing amount detection means for detecting the amount of the processing object falling from the threshing chamber to the swing sorting plate, and at the same time the control means has a suitable layer thickness of the processing unit. The opening degree changing means is controlled by an operation amount determined based on the layer thickness detection value of the layer thickness detection means, the rate of change thereof, and the information of the processing quantity detection means so that the control means controls the layer thickness detection value and its In the case where the rate of change is the same, the operation amount may be larger than the convenience when the amount of the processed water is small than when the amount of the processed water is large.

According to this characteristic configuration, when the amount of processing material falling from the feeding chamber to the oscillation screening plate is small, based on the layer thickness detection value of the processing layer and the rate of change thereof, than when the amount of processing material falling from the feeding chamber to the oscillating screening plate is large. The operation amount for changing the drop opening degree of the swing selector to be determined is increased, and the opening degree of the swing selector is adjusted with a larger operation amount.

Therefore, since the amount of processing materials falling from the dispatch chamber to the swing selector plate is small, for example, the drop opening degree of the swing selector plate is manipulated to the closed side (small side), for example, a process in which grains are stuck from the dispatch chamber. When grains are firmly attached to agglomerates or small branches of water, and they stay in the dropping part of the rocking separator plate, and the layer thickness of the processed material is rapidly increased or the increase rate thereof is increased, the fall opening degree of the rocking separator plate is also increased. If the agglomerate or the like in the state of stay is rapidly moved from the state of stay, or the layer thickness value of the process rapidly decreases or the rate of decrease is large, the fluctuation screen It is operated so that a fall opening degree may become a closing side (small side) earlier.

In still another preferred embodiment of the present invention, the control means (H) has a main opening control routine and an auxiliary opening control routine having different control periods for the opening degree changing means (M1), and the layer of the processing material. The auxiliary opening control routine is selected when the thickness deviates by more than a set value from an appropriate range, or when the layer thickness of the processing material changes at a change rate of more than a set rate.

According to this characteristic configuration, when the deviation of the layer thickness of the processing object on the rocking separation plate is smaller than the set value and the change rate of the layer thickness is smaller than the setting rate, for example, it is necessary to change the fall opening degree of the rocking separation plate. The fall opening degree of the swing selector is changed and adjusted on the basis of the layer thickness detection information in a predetermined control period set in a relatively long time in consideration of the time required for the control. On the other hand, when the layer thickness of the processed material on the rocking separation plate is out of a predetermined range or more than a predetermined value, or when the rate of change of the layer thickness is higher than a setting rate, the rocking separation plate is controlled based on the layer thickness detection information at a control period shorter than the predetermined control period. Drop opening is changed and adjusted.

Therefore, if the change in the layer thickness of the processing material on the rocking separator is small and the layer thickness detection value is relatively stable, the Hanfun which avoids the unnecessary change of the drop opening degree of the rocking separator is extremely small. The change is made in a short cycle and the change of the layer thickness of the treatment can be appropriately made. For example, the layer thickness of the treatment layer on the rocking sorting plate is compared with that of the control cycle in a constant cycle despite the magnitude of the change in the layer thickness. Can be kept in the proper range for the maximum force so that proper screening treatment can be performed.

Example

EMBODIMENT OF THE INVENTION Hereinafter, the Example at the time of applying this invention to the threshing apparatus of a combine is demonstrated based on drawing.

As shown in FIGS. 2 to 4, the combine includes a pair of left and right endless track traveling apparatuses 1, threshing apparatuses 2, control units 3, harvesting units 4 and the like. The harvesting section 4 has a grass basket (5), a device (6) for planting grain stems, a cutting blade (7) for cutting abandonment of the resulting grain cycle, and a cutting grain stem for conveying gas. The longitudinal conveyance apparatus 9 etc. which lead to the feed chain 16 of the threshing apparatus 2 of the back side are provided in the state arranged in order. Furthermore, at the start end of the vertical conveying apparatus 9, in order to detect the presence or absence of mowed grain stems, an abandoning sensor S4 consisting of a switch to be turned on when the mowed grain stem is turned on and off when not present is provided.

The threshing apparatus 2 is a feed chain 16 which feeds and conveys the grain stem supplied from the harvesting | reaping part 4 to the feed chamber A, which accommodates the feed cylinder 15, as shown in FIG. And a crossflow fan 17 for dust discharge, and a sorting device B for sorting the processed material after threshing. The sorting device (B) includes a fan 18, a rocking separator 19, a first collecting part (hereinafter referred to as No. 1 hole) 20 and a second collecting part (hereinafter referred to as "2") for recovering the processed materials after the sorting. And a hole 21).

The grain stem fed and conveyed to the feeding chamber A in the feed chain 16 is threshed by the rotation of the feeding cylinder 15. A water net 22 is provided in the lower part of the feeding chamber A, and grains which have been isolated from the processed material after threshing fall from the water net 22 to the oscillation sorting plate 19. The processed material which has not fallen in the water network 22 falls from the rear end of the water network 22 to the swing selector plate 19.

The swing selector plate 19 is composed of a conveying plate 23 located above the fan 18, a chaff body 24 located behind the fan 18, and a grain body 25 located below the fan 18, and after threshing. The processed material is conveyed to the rear while swinging up and down and sorted by specific gravity screening. The first hole 20 and the second hole 21 each have a screw conveyor, and the grains dropped from the rice hull 24 and the grain 25 are recovered from the first hole 20 and stored in a tank or the like.

The mixture of grain and straw flakes dropped from the rear end of the rice hull 24 or the rear end of the grain body 25 is recovered from the second hole 21 and after a predetermined second reduction time (for example, about 3 seconds). It is reduced to the swinging sorting plate 19.

As shown in Fig. 5, the rice hull 24 has a plurality of plate members 24a arranged in the front-rear direction at predetermined intervals. Each plate-like member 24a is conically joined to the left and right side plates around the left and right axial centers freely, and the lower end is rotatably supported by the link 24b. Therefore, when the link 24b is moved in the front-rear direction, each plate member 24a rotates at the same time, and the adjacent space | interval t of each plate member 24a changes.

This space | interval t corresponds to the fall opening degree (henceforth rice hull claw) in the rocking | flux sorting plate 19, and this change of rice hull opening degree is performed by rotating the body motor M1 to the forward-backward direction.

The rotational motion of the body motor M1 is converted to the forward and backward movement of the link 24b by the gear type linkage mechanism 26, the swinging arm 27, and the wire 28, thereby changing the rice hull opening degree as described above. .

Furthermore, a potentiometer type rice husk degree sensor S2 which detects rice hull opening degree from the rotational movement angle of the rocking arm 27 is provided. The fan 18 is for generating the sorting wind, and the change of the wind power is performed by changing the rotation speed of the fan 18.

In other words, as the rotation speed increases, the fan wind power increases. The fan rotation speed is changed by shifting the belt pulley 8 of the split pulley type described later (see FIG. 3) by the fan motor M2.

Furthermore, a fan rotation speed sensor S3 for detecting the rotation speed of the fan 18 is provided on the rotation shaft 18a of the fan 18.

In the constitution of the swing sorting plate 19, the larger the chaff opening degree by driving the body motor Ml, the larger the amount of grain falling on the lower side of the chaff body 24, thereby increasing the processing capacity of the screening device B. This becomes large. At this time, the fan motor (M2) is driven to increase the fan wind power, that is, to increase the fan rotation speed in accordance with the increase of the rice husk in order to prevent the mixing of straw crumbs in the grain recovered from the first hole (20). As shown in FIG. 6, a layer thickness sensor S1 for detecting the layer thickness of the sorted matter (grains, etc.) on the rice hull 24 is provided.

The layer thickness sensor S1 is a sensor bar T1, T2 (this corresponds to a contactor) and a sensor bar T1, T2, which are rotatably supported in a posture of swinging freely on the rear side of the body, to a processed material. The sensor bars T1 and T2 are configured from the potentiometer PM as a converting unit for converting the amount of oscillation to the gas rear side by contact, that is, the rotational angle of rotation I, into a resistance value (which corresponds to the layer thickness value). It is located above the rear center part of the rice hull 24, ie, the rocking | fluctuating sorting plate 19. As shown in FIG. When the layer thickness of the workpiece is small, the sensor bar Tl is rotated backward by contacting the workpiece, and when the layer thickness is increased, the sensor bar T2 is configured to rotate backward in contact with the workpiece.

According to the above configuration, the amount of the sorting material increases, and as the layer thickness becomes thicker, the rotational movement angle I of the sensor bars T1 and T2 increases, so that the layer thickness of the processed material can be detected from the resistance value of the potentiometer PM. have. Therefore, the layer thickness detecting means, which is provided on the side of the fixing frame and detects the layer thickness of the workpiece on the rocking separator 19, is constituted by the layer thickness sensor S1.

The power train is configured as shown in FIG.

The power of the engine E is transmitted to the threshing apparatus 2 through the threshing clutch 10, and at the same time, through the traveling clutch 11 and the hydraulic continuously variable transmission 12 for the vehicle speed shifting, a left and right pair of endless track travels. It is transmitted to the mission case 13 of the device 1, and power is transmitted from the mission case 13 to the example of the harvesting unit 4 through the harvesting clutch 14.

The power transmitted to the threshing apparatus 2 is transmitted to the rotating shaft 18a of the fan 18 through a split pulley type belt converting apparatus 8, and although not shown, the feeding cylinder 15 and the feed chain 16 are not shown. And the driving power of the swing selector plate 19 or the like. Further, the swing drive shaft of the swing selector plate 19 is provided with a rotation speed sensor S7 as detecting the rotation speed of the swing drive shaft as a swing cycle detection means for detecting the swing cycle thereof (see FIG. 1).

The engine speed sensor S6 is installed in the engine E and the vehicle speed sensor S5 detects the vehicle speed by detecting the rotation speed of the drive shaft to the crawler system 1 in the mission case 13. Threshing switch SW1 for detecting the ON and OFF states of the threshing clutch 10 is set in order to detect whether the threshing apparatus 2 is operating.

As shown in FIG. 1, the control means H is provided by a microcomputer or the like, and the control means H is provided with the above-described layer thickness sensor S1, rice husk degree sensor S2, and fan speed sensor ( S3), abandon sensor S4, vehicle speed sensor S5, engine speed sensor S6, rotation speed sensor S7, and detection information from threshing switch SW1 are input. In addition, the control panel of the control unit 3 is provided with a crop conversion switch (SW2) and a fan control volume (VR) for selecting and converting the crop conditions from the three conditions of barley, rice, wetting, control information ( H) is entered.

Furthermore, input information from the sensor or the like is A / D converted to 8-bit digital data of 0-255. On the other hand, from the control means H, the respective drive signals for the above-mentioned body motor M1 and fan motor M2 are output.

The layer thickness judging means 100 is used to determine the layer thickness of the processed material based on the detection information of the layer thickness sensor S1 using the control means H.

The layer thickness discriminating means 100 has a sampling period shorter than the oscillation period (e.g., 125ms) of the oscillation sorting plate 19, in which the detection information of the layer thickness sensor S1 is detected by the rotation speed sensor S7. For example, the thickness of the processed material is discriminated based on the sample data sampled in the processing period for each period set at the same period as the swing period of the swing selector plate 19 at the same time.

Specifically, the maximum and minimum values of sampling data in the processing period are defined as the layer thickness of the processing material.

The control means (H) controls the opening degree of the swing selector (19) to be changed to a predetermined control period so that the layer thickness of the processing material is within an appropriate range based on the information of the layer thickness determining means (100). Is done. At the same time, when the layer thickness of the processing material deviates by more than a set value from the proper range or when the layer thickness of the processing material changes at a rate of change above the setting rate, the swing sorting plate 19 is controlled at a control period shorter than the predetermined control period in the opening control. The auxiliary opening degree control to change and adjust the fall opening degree is performed.

Specifically, as shown in Fig. 27 (a), when the deviation of the layer thickness detection value from the appropriate layer thickness range s0 is larger than or equal to the rust value s2 of the larger side of the two-step setting values (left part of the drawing) and The auxiliary opening degree control is performed when the deviation of the layer thickness is between the set value s2 on the large side and the set value s1 on the small side and the change rate is equal to or higher than the set ratio Δs (right part of the drawing). Further, in Fig. 27 (b), changes in rice hulls before and after performing the above auxiliary opening degree control are illustrated. The predetermined control period for adjusting the drop opening degree of the swing selector plate 19 in the opening control is set in the above-mentioned second reduction time (for example, 3 seconds) in the sorting device B, and in the auxiliary opening control. The control period of is basically set in a short period (250ms as described below) which is regarded as continuous control.

Further, in the opening control and the auxiliary opening control, the control means H operates the body motor M1 at an operation amount determined based on the layer thickness detection value of the layer thickness sensor S1 and the change rate thereof. It is configured to control the change of rice husks.

Furthermore, as will be described later, the fan motor M2 is also operated in accordance with the operation amount of the body motor M1. Specifically, the control means H stores the manipulated variable data previously obtained based on the fuzzy inference as a numerical value table, that is, selects data in the numerical value table based on the manipulated value data to determine the manipulated value and simultaneously purges the manipulated value data. In the reasoning, the oscillation sorting plate 19 is configured to select one of two control rules (two numerical tables) set corresponding to the magnitude of the drop opening degree based on the rice hull opening degree to obtain the manipulated variable data. have. Further, the control means (H) obtains the target values of the rice hull opening degree and the fan external water transfer from the determined operation amount, and controls to zero the deviation between each target value and the detected value of the rice husk opening degree sensor S2 or the fan rotation speed sensor S3. do. Control rules in the fuzzy inference will be described. Layer thickness deviation (body deviation and body deviation) which is a deviation of the layer thickness detection value (which has the same meaning as the sieve target value) with respect to the layer thickness target value (which has the same meaning as the sieve target value) of the processing as the arrangement element of the fuzzy map shown in FIG. And the layer thickness change amount (which has the same meaning as the body change amount), which is the amount of change in the layer thickness detection value within a predetermined time. Here, when the layer thickness detection value is larger than the layer thickness target value, the body deviation becomes a positive value, and vice versa.

In addition, when the layer thickness detection value increases, the body change amount becomes a positive value, and when the layer thickness detection value increases, the body change amount becomes a negative value. If the next rice husk is smaller than a predetermined opening (for example, 19mm), the main map (Fig. 24 (a)) is selected from the two prepared fuzzy maps, and if it is larger than the predetermined opening, the auxiliary map (Fig. 24 ( B)) to calculate the output of the rice hull opening degree, that is, the body motor M1, by fuzzy inference using the sieve deviation and sieve variation as a fuzzy variable of the anterior chamber. In other words, the membership function of the body deviation and the body-variation volume is shown in Figs. 23 (a) and (b), and the membership function of the manipulated variable for the rice husk dog degree which is the fuzzy variable in the latter part of the rule shown in Fig. 24 is shown in Fig. 23. As shown in (c), they are represented as a set of ideal singletons. Then, depending on the grade (also referred to as the fitness) for each membership function of the body deviation and the body variation, the output from one or more of the 25 rules shown in each map of FIG. 24 is obtained, and the output obtained from the appropriate rule is obtained. The value obtained by multiplying the deviation value or the smaller value of the grade of the variation amount is the output obtained from the rule.

When a plurality of outputs are obtained from a plurality of rules, these average values become final outputs. Furthermore, the output is also expressed as a positive 8-bit digital value, with the positive value indicating the manipulation in the direction of increasing the rice husk opening and the negative value indicating the manipulation in the direction of decreasing the rice husk opening. As can be seen from the control rule (twenty-fourth), in the main map (figure 24 (a)), which is selected when the chaff opening degree is smaller than a predetermined angle, the auxiliary map selected when the chaff opening degree is larger than the predetermined opening degree (first). Compared with (b) of the figure, the amount of manipulation of rice husks is large. In particular, under the condition that both the body deviation and the body change amount are large, the operation amount of the rice hull opening degree is set to be large. Thus, when the fall opening degree is small in the swing sorting plate 19, the operation amount to be determined based on the layer thickness detection value of the layer thickness sensor S1 and the change rate thereof is higher than when the fall opening degree is larger in the rocking sorting plate 19. It is comprised so that it may become large.

Next, the flow of threshing control by the control means H will be described based on the flowcharts shown in FIGS. In the main flow (FIG. 7), the initial setting process is first performed, and then the body detection process of processing the layer thickness detection data by the layer thickness sensor s1 and the setting process of the common data are performed. When the threshing switch SW1 is in the OFF state, after clearing various control flags and counters, a self-diagnosis unit for investigating abnormalities of sensors and parts is performed. On the other hand, when threshing switch SW1 changes from OFF state to ON state and a threshing operation | movement is started, threshing control process is performed every predetermined control period (250 ms), and the said self-diagnosis place is performed after that.

In the initial setting process (FIG. 8), it is checked whether data of the expanded position and the fully closed position of the rice hull 24 stored in the memory EEPROM are normal. On the basis of this, the upper limit position of the rice hull itself is set as the position on the side slightly closed from the open position of the data, and the lower limit position is set as the position on the side slightly open than the fully closed position of the data. Moreover, only when the difference between the upper limit position and the lower limit position is larger than the predetermined value (appropriate opening amount), the upper limit position is reinstalled as the position where the predetermined value (appropriate opening amount) is added to the lower limit position. On the other hand, if the expansion position and the expansion position data of the rice hull 24 in the memory EEPROM are not normal (for example, all zeros), the processing is processed as abnormal.

In the body detecting process, that is, the layer thickness detecting process (FIGS. 9 to 11), the detection value of the layer thickness sensor s1 is sampled at a predetermined sampling period (5 ms), and the processing time for detecting the minimum value and the maximum value (125 ms). The sampling data is stored as the minimum value and the maximum value data only at the first time. Subsequently, when the detected value of the layer thickness sensor s1 which is sequentially sampled is smaller than the minimum value data, the minimum value data is updated with the detected value, and when the detected value is larger than the maximum value data, the processing for updating the maximum value data with the detected value is performed in the above processing time (125ms). Continue until). When the processing time (125ms) elapses, the average value of minimum and maximum data is calculated and the sum (W) of the previous processing time is obtained.

When the above processing is performed twice (i.e., after 250 ms elapses), the layer thickness data at each processing point, i.e., the latest body detection value, the body detection value of 250 ms and the body detection value of 500 ms, respectively, are stored in memory to store the data. (2) For 250 ms data (1) and 250 ms data (0), the contents of storage of 250 ms (2) and 250 ms data (1) are moved to 250 ms data (1) and 250 ms data (0), respectively. The latest body detection value of the obtained sum W, i.e., is stored in 250 ms data (2). Therefore, the above-described layer thickness discriminating means 100 is constituted by the above process, and the processing cycle for layer thickness discrimination corresponds to the processing time 125ms.

Next, the body deviation is calculated as the difference between the previously set body target value and the latest body detection destination (the contents of the 250 ms data (2)), and the body derivative value (change amount) is 500 ms before the body detection value (the 250 ms data ( 0) and the latest detector (contents of the 250 ms data 2). Further, the body target value is set different for each crop change condition of barley and rice described below. As described above (see FIG. 27), when the body deviation is greater than or equal to the larger set value among the set values set in two stages, and the body deviation is between the set value of the large side and the set value of the small side, the body differential value is set to the set value ( When higher than the set rate, the continuous control permission flag is turned ON to allow the threshing control process to be performed continuously (actually 250 ms) for three seconds on the original side. On the other hand, in the case other than the above, the continuous control permission flag is turned off.

Next, the latest body detection destination (the contents of the 250 ms data 2) is classified into five rank values, that is, ranks 0, 1, 2, 3, and 4 in order of decreasing detection value.

The new value may be obtained only when the ranked value is different from the value data in the memory that stores the previous value and continues five times in succession (ie, at least 250 ms × 4 = 1 second or more) in a control cycle of 250 ms. The body data is updated.

In the common data setting process (FIG. 12), the detected value of the fan control volume VR only changes when the detected value of the fan control volume VR exceeds the gaze width in the value of the fan volume data in the memory storing the detected data. It is updated as a value. Next, the state of the crop conversion switch SW2 is examined to set the mode values to 0, 1, and 2 according to the conversion positions of barley, rice, and wetting, respectively. When the body values are 0 and 1, as described later, the minimum opening degrees of the chaff 0 and the chaff 1 used for the body opening 1 are set. In threshing control process (FIG. 13), the crop conditions are first judged from the mode value, and when it is a wet mode, wet mode control (FIG. 14) is performed.

On the other hand, in the case of barley and rice mode, depending on the state of the abandon sensor (S4) and the content of the body weight as described below, if the layer thickness sensor (s1) in the event of a failure as follows: Either the control (FIG. 15) or the purge control (FIGS. 16 and 17) which performs the chaff opening adjustment based on the purge rule are executed.

And the chaff output distance and fan output processing which actually operate the body motor Ml and the fan motor M2 are performed with the adjustment operation amount set in each said control.

That is, when the abandonment sensor S4 is in the ON state in the barley and rice modes, the 6-second flag is set when the predetermined time (6 seconds) elapses after the change from OFF to ON. On the other hand, when the abandon sensor S4 is in the OFF state, the 8-second flag is set only when the state of zero is continued for 8 seconds after it is changed from ON to OFF (S4). This 8 second flag is reset when the abandon sensor S4 is turned ON). Next, it is examined whether or not the detection value of the floor thickness sensor S1 is normal. For example, if the failure of the floor thickness sensor S1 is judged due to a disconnection light or the like when the detection value is turned ON or a value expected to be at a power supply voltage, vehicle speed sensitive control is performed. Do it. If the layer thickness sensor S1 is normal, the purge control is performed when the continuous control permission flag is ON although the lower control period (3 seconds) has not elapsed when a predetermined control extraction (3 seconds) has elapsed. In the wet mode control (thin 14 degrees), the target value of the rice hull opening degree is set at the development position, and the fan rotation speed is calculated based on the fan volume data. That is, when the fan control volume (VR) is the standard position, the fan speed is the standard speed (for example, 1300rpm), and as the fan control volume (VR) is rotated from the standard position to the strong side or weak side, the fan speed is the standard The rotation speed is changed to the larger side or the smaller side.

When the calculated fan speed is smaller than the fan minimum speed (eg 1000 rpm), the minimum speed is set as the fan target speed and when the fan speed is larger than the maximum fan speed (eg 1500 rpm), the maximum speed is set. When the fan target rotational speed is between the fan minimum rotational speed and the fan maximum rotational speed, the arithmetic fan rotational speed is used as the fan target rotational speed.

In the vehicle speed-sensitive control (FIG. 15), the vehicle speed is, for example, 0 to 0.35 m / s, 0.35 to 0.55 m / s, 0.55 to 0.75 m / s, 0.75 to 0.95 m / s, and 0.95 m / s to Based on the output pressure of car speed vs. rice husk degree prepared in advance for each step of the vehicle speed classified from step 5, as shown in FIG. 26, the chaff of rice hulls is also calculated for each barley and rice mode.

The fan target rotational speed is calculated based on the rice hull opening degree target value by the rotational speed setting processing (Figs. 18 and 19) described later. In the fuzzy control (Figs. 16 and 17), the body deviation, which is a deviation of the body detection value (contents of the 250ms data 2) with respect to the body target value as the array element of the fuzzy map, and the body detection value before 500ms (the 250ms data) The sieve change amount which is the change amount of the latest sieve detection value (the content of said 250 ms data (2)) with respect to (0) content is calculated | required.

Next, as described above, when the present rice hull is smaller than the predetermined opening degree (19 mm), the main map (Fig. 24 (a)) is larger than the predetermined opening degree. The output of the body motor M1 is obtained by fuzzy inference, which uses the body deviation and the body variation as the fuzzy variables of the front part.

Next, the state of the abandon sensor S4 is examined, and when it is in the ON state, the calculated manipulated variable is added to the current rice husk opening degree so that the royal opening also becomes a target value.

Furthermore, when the 6-second flag is set, that is, 6 seconds after the ON of the abandon sensor S4, the vehicle speed is classified into 5 stages in the same manner as the vehicle speed-sensitive control, and the chaff minimum opening for each vehicle speed stage is preset. It is calculated | required from the prepared map, and when the said rice hull opening degree target value is smaller than the chaff minimum opening degree, the chaff minimum opening degree shall be made into chaff opening degree target value.

On the other hand, when the abandonment sensor S4 is in the OFF state, in order to prohibit the change to the open side of the rice hull opening degree, it is checked whether the calculated operation amount is positive, and if it is positive, the operation amount is zero. Furthermore, when the 8 second flag is set, that is, when the state of the body value 0 is continued for 8 seconds after the abandonment sensor S4 changes from ON to OFF, the body weight set to the chaff opening target value is 1 or less ( In the case of 0 and 1), the chaff opening target value is set to the lowest chaff for the body 1, which is set as above, and when the body weight is 2 or more (2, 3, 4), each chaff opening target value is used as the current chaff.

And based on the obtained chaff opening target value, fan target rotation speed is computed by the below-mentioned fan rotation speed setting process (FIGS. 18 and 19). In the fan speed setting process (Figs. 18 and 19), the fan speed is calculated by the linear conversion formula for the rice hull opening degree, but this calculation is performed when the fan control volume VR shown in Fig. 25 is the standard position. Use the conversion equations for barley and rice modes. In addition, the minimum rotation speed tmin and the maximum rotation speed tmax of the fan speed are set corresponding to the fully closed side and the development side of the rice hull, and for reference, the fan adjustment volume (VR) is one division stronger than the standard position for the rice mode or The conversion formula when rotated to the weak side is displayed. Next, when the calculated fan rotation speed is smaller than the above fan minimum rotation speed (1000rpm), the minimum rotation speed is set as the fan target rotation speed, and when the fan rotation speed is larger than the maximum fan rotation speed (1500rpm), the maximum rotation speed is set as the fan target rotation speed. Shall be.

Thereafter, the fan target rotation speed is increased or decreased by the position of the fan adjustment volume VR, and when the rotation speed after the correction is smaller than the minimum rotation speed tmin in the conversion formula changed to the fan adjustment volume VR, the minimum rotation is performed. The number tmin is the fan target rotational speed, and when the number tmin is larger than the maximum rotational speed tmax, the maximum rotational speed tmax is the fan target rotational speed.

Next, it is determined whether or not the fan speed control for exhaust end is performed by whether or not the 6 second flag is in the OFF state. However, when the 6 second flag is ON, the fan target rotation speed at that time is determined. It is memorized as a fan rotating machine at the end of the cutting for use in hand control. 6 seconds after the abandon sensor (S4) is turned off, the flag changes to the OFF state, enters the fan number table fan speed control, and sets the fan speed as follows. That is, when the body value is 3 or more (3, 4), it is set to the fan speed at the end of the cutting, and when the body value is 2, it is set to the predetermined number of revolutions (eg 100 rmp) from the fan speed at the end of the cutting. When the value is 1, the minimum rotation speed tmin (see FIG. 25) is set in the conversion formula changed to the fan control volume VR. When the value of 0 is continued for 8 seconds (the above) When the 8 second flag is turned on, the minimum rotation speed (1000 rpm) is set.

In the rice husk output processing (FIG. 20), the current rice husk dog goal value is remembered as the previous rice husk dog goal value for the next time only when the current rice husk dog goal goal is different from the previous rice husk dog dog goal goal. Of rice hulls.

When the chaff opening target value is larger than the current chaff opening target, it is examined whether the body motor M1 is being output on the closing side. When the chaff opening target is output to the closing side, the output to the pole closing side is stopped. It is output in the opening direction only when the difference between the rice hull opening degree is larger than a predetermined value. Further, when the difference between the target value of the rice hull opening degree and the present rice husk opening degree is smaller than the predetermined value, the output in the closing direction is stopped for a predetermined period (for example, about 500 ms).

On the other hand, when the chaff opening target value is less than the current chaff opening degree, it checks whether the body motor M1 is outputting to the opening side, and when outputting to the opening side, the output to the opening side is stopped, and further, the chaff opening target value and the current chaff opening degree Outputs in the closing direction only when the difference is larger than the predetermined value. Furthermore, when the difference between the target value of the rice hull opening degree and the present rice husk opening degree is smaller than the predetermined value, the output in the opening direction is stopped for a predetermined period (for example, about 500 ms).

Then, the last rice husk degree control timer (3 seconds) is started.

In the fan output processing (Figs. 21 and 22), the end of the OFF time, that is, the motor driving cycle, at the same time the fan motor M2 is turned on and off (500 ms) while the current fan rotation speed exceeds 500 rpm. The following processing is performed based on the value of the fan speed deviation obtained by subtracting the current speed from the target speed when confirming the end of.

That is, when the rotation speed deviation is less than -100 rpm, it is checked whether the fan motor M2 is outputting in the strong direction, and when outputting in the strong direction, the output is stopped in the strong direction and then continuously output in the weak direction. . Specifically, the motor ON time in the weak direction is set to 500 ms (thus the motor OFF time is 0). When the rotational deviation is greater than 100 mm, it is checked whether the fan motor M2 is output in the weak direction. When the output is in the weak direction, the output is stopped in the weak direction, and then continuous output is performed in the strong direction.

Specifically, the motor ON time in the strong direction is set to 500 ms (thus the motor OFF time is 0). When the rotation speed deviation is between -15 rpm and 15 rpm, the motor output is stopped because it is in the dead band. Specifically, the motor time (and therefore the motor off time is 500ms).

On the other hand, when the speed deviation is between -100 rpm and -15 rpm, and between 15 rpm and 100 rpm, the motor turns on the motor ON time Ton for intermittent driving to the speed deviation Hr and the engine speed sensor S6. Based on the engine speed Er, it calculates as follows. Furthermore, a1 is a predetermined gain factor.

Ton = alHr / Er

If the calculated ON time (Ton) exceeds 250 ms, the motor ON time is set to 250 ms, if it is less than 80 ms, the motor ON time is set to the calculated ON time when it is between 250 ms and 80 ms, and the motor OFF time is set from 500 ms. The time is set as the time obtained by subtracting the set motor ON time. When the rotation speed deviation is positive, the set motor ON time is set to the strong direction ON time, and when the rotation speed puncture is negative, the set motor ON time is set to the weak direction ON time. Finally, the fan motor M2 is driven with the above set motor ON and OFF times.

Another embodiment

Other examples are listed below.

In the above embodiment, the layer thickness of the processed material is determined on the basis of the sampling data of the layer thickness detection in the processing cycle set at the same period as the swinging cycle of the swing selector plate 19, and the average value of the maximum value of the sampling data is averaged. It is configured to make the layer thickness of the treatment, but is not limited thereto. For example, a value obtained by averaging all of the sampling data may be the layer thickness of the processed material.

In addition, in the above embodiment, the swing cycle of the swing separation plate 19 is sampled at 125 ms and the detection information of the layer thickness detection means (layer thickness sensor S1) is sampled. Although the cycle is set to 5 ms and the treatment cycle for layer thickness determination of the workpiece is set to be 125 ms which is the same as the swing cycle of the rocking separator 19, the cycles can be appropriately changed according to the conditions of the apparatus. In the above embodiment, on the premise that the swing period of the swing selector plate 19 does not fluctuate greatly, the swing selector for determining the layer thickness of the workpiece is based on the sampling data. Although it is set equal to the swing period (for example, 125ms) of (19), the swing is based on the information of the swing period detection means (speed sensor S7) in order to cope with a large variation in the swing period of the swing selector plate 19. The treatment cycle may be changed in accordance with the swing cycle of the sorting plate 19.

In the above embodiment, the swing period detecting means is constituted by a rotation speed sensor S7 for detecting the rotation speed of the swing drive shaft of the swing selector plate 19, but is not limited thereto.

For example, various sensors, such as a photoelectric or magnetic type, which directly detects up and down fluctuations of a part of the swing selector plate 19 can be used.

In the above embodiment, the operation amount for changing the drop opening degree of the swing selector plate 19 is determined by fuzzy inference based on the layer thickness detection value of the processed material and its rate of change, but not by fuzzy inference, for example, by PID control or the like. You may also do it. Furthermore, in the case where the determination of the manipulated variable is carried out by fuzzy inference, the above embodiment stores the manipulated variable data calculated in advance as a numerical table, but not the numerical table. The operation amount may be calculated and calculated from the thickness detection sheet and the information of the rate of change. According to this operation table method, there is a merit that the amount of stored information is less than that of the numerical table method. In the above embodiment, in the perch inference for obtaining the manipulated variable data, two control rules are set corresponding to the magnitude of the drop opening degree (rice husk opening degree) in the swing sorting plate 19. Instead of two control rules, for example, three control rules may be set in correspondence with the small and large openings. In the above embodiment, when the fall opening degree is small in the swing sorting plate 19, the layer thickness detecting means (total thickness sensor S1) is detected in the layer thickness detection value and the rate of change thereof when the fall opening degree in the rocking sorting plate 19 is larger. The operation amount to be determined based on the size is increased. In particular, it is indicated that the operation amount is increased in a condition where the body deviation and the body change amount are both large, but the present invention is not limited thereto. For example, in addition to the condition where the body deviation and body change amount are both large, the operation amount may be increased even in a condition where both the body deviation and body change amount are small.

The layer thickness detecting means, which is provided on the side of the fixing frame and detects the layer thickness of the workpiece on the rocking sorting plate 19, comprises a layer thickness sensor S1 composed of the sensor bars T1 and T2 and the converter (potentiometer PM) as in the above embodiment. It is not limited to). For example, various sensors such as an ultrasonic sensor disposed on the fixing frame side and arranged to detect the upper and lower positions of the treatment layer from above may be used.

In the above embodiment, the means for dropping the processed object while changing the drop opening degree in the swing sorting plate 19 is configured to change the opening degree of the rice hull 24, but is not limited thereto.

Instead of the chaff 24 of the above embodiment, for example, a mesh or slit-shaped opening is shielded by a shielding plate called a slide transport plate, and the slide transport plate is slid to change the shielding area of the opening, that is, the opening degree. good.

In the above embodiment, the fan rotation speed is changed according to the change in the drop opening degree of the swing selector 19. However, the fan rotation speed is not limited thereto. For example, the fan rotation speed is fixed to a predetermined rotation speed (that is, the fan motor M2). May be rotated in the forward / reverse direction only with the body motor M1 in the state of fixing to the predetermined rotation position.

In the above embodiment, the amount of the processing object detecting means for detecting the amount of the processing object falling from the feeding chamber A to the swinging sorting plate 19 is detected by the magnitude of the drop opening degree in the swinging sorting plate 19. Although it was comprised by the drop opening detection means (rice husk opening degree sensor S2), it is not limited to this. In other words, the large amount of processed water falling from the feeding chamber A to the swing selector plate 19 is considered to be due to the large amount of grain stem supplied from the cutting section to the feeding chamber A. It is also possible to comprise a grain stem supply amount detecting means for detecting by some of the grain stem supply amount of the processing chamber A. In particular, the grain stem supply amount detecting means is increased in proportion to the amount of grain stem supply, which is proportional to the vehicle speed, and may be constituted by the vehicle speed sensor S5 or the feed chain 16 to the feed chamber A. The grain stem supply amount may be detected from the stem thickness information by a stem thickness sensor such as a potentiometer for detecting straw thickness of the harvested grain stem to be conveyed and the conveying speed information of the feed chain 16.

In addition, even when the said process quantity detection means is comprised by the fall opening degree detection means, it is not limited to the rice hull opening degree sensor S2 shown in the said Example, For example, in the said control means H, the rocking | fever sorting plate ( The driving amount from the reference driving state of the body motor M1, which is the drop opening degree changing means of 19), and the drop opening degree and the corresponding data of the swing selector plate 19 are stored, so that the corresponding data and the actual body motor M1 are stored. It is also possible to detect the drop opening degree of the swing selector plate 19 from the driving amount.

The present invention is not limited to the self-deleting combiner described in the above embodiment, but can be applied to other combines such as ordinary combines, and can also be applied to threshing apparatuses other than combines.

Moreover, although the code is recorded in the terms of the claims for convenience in contrast with the drawings, the present invention is not limited to the configuration of the accompanying drawings by the writing thereof.

1 is a block diagram of a control configuration of a combine according to an embodiment of the present invention.

2 is a side view of a self-deleting combine.

3 is a schematic diagram of a power transmission mechanism.

4 is a side perspective view of the threshing apparatus.

5 is a view showing a rice hull and its opening degree changing means.

6 is a side view showing the structure of the layer thickness sensor.

7 to 22 are flowcharts of the control operation.

FIG. 23 shows the membership function of each variable in fuzzy inference. FIG.

24 is a table showing rules in fuzzy inference.

FIG. 25 is a graph showing a conversion equation for calculating fan rotation speed from rice hulls.

Fig. 26 is a graph showing the vehicle speed chaff opening value in the vehicle speed sensitive control.

27 is an explanatory diagram for auxiliary opening control.

* Explanation of symbols for main parts of the drawings

19: rocking separator, S1: layer thickness detecting means,

100: layer thickness discrimination means, S7: rocking cycle detection means,

T1, T2: Sensor bar, PM: Potentiometer

Claims (12)

A rocking sorting plate 19 for sorting the processed material after threshing up and down, layer thickness detecting means S1 for detecting the layer thickness of the processed material on the rocking sorting plate 19, and the rocking sorting plate 19 Opening degree changing means M1 for changing the fall opening degree of the control means; and control means H for controlling the opening degree changing means M1, wherein the control means H detects the layer thickness detecting means S1. In the threshing-screening apparatus provided with the layer thickness discrimination means 100 which discriminates the layer thickness of the said processed object based on the information, The said layer thickness discrimination means 100 receives the detection information of the said layer thickness detection means S1. Sampling is performed at a sampling period shorter than the swinging period of the swinging separator 19, and at the same time, the layer thickness discriminating means 100 determines the layer thickness of the processed material using the sampling data obtained by the sampling. In the same cycle as the above swinging cycle of Threshing sorting device, characterized in that A swing cycle detection means (S7) for detecting a swing cycle of the swing sorting plate (19) is provided, and the detection signal of the swing cycle detection means (S7) is transferred to the control means (H). Threshing sorting device, characterized in that. 2. The layer thickness determining unit (100) according to claim 1, wherein the layer thickness determining means (100) sets a value obtained by averaging the maximum value and the minimum value of the detection value of the layer thickness detecting means (S1) within the processing period for the determination. Threshing sorting device, characterized in that. 2. The layer thickness detecting means (S1) is rotatably supported in a posture in which oscillation is freely stretched on the rear side of the body. Threshing characterized in that it is comprised from the conversion part PM which converts into the amount of rocking | fluctuation to the rear side of a gas by the contact of the processed object of the sensor bar T1, T2, and the sensor bar T1, T2, and the layer thickness value. Sorting device. The process quantity detection means (S2, S5) which detects the quantity of the processed object falling from the threshing-class chamber (A) to the said fluctuation sorting plate (l9) is provided, and the said control means (H) is a said The opening degree changing means M1 is an operation amount determined based on the layer thickness detection value of the layer thickness detecting means S1, the rate of change thereof, and the information of the distance quantity detecting means S2, S5 so that the layer thickness of the processing object is within the designated range. And in this case, the control means (H) increases the operation amount when the amount of the processed amount is smaller than when the amount of the processed amount is larger when the layer thickness detection value and the rate of change are the same. Device. 6. The threshing-out sorting apparatus according to claim 5, wherein the processing quantity detection means (S2, S5) detects the processing quantity by the drop opening value in the swing sorting plate (19). 6. The threshing sorting apparatus according to claim 5, wherein the processed water amount detecting means (S2, S5) detects the amount of processed water by the grain stem supply amount of the processing chamber (A). 6. The threshing separator according to claim 5, wherein the control means (H) stores the manipulated variable data previously obtained based on the fuzzy inference and determines the manipulated variable based on the manipulated variable data. 9. The threshing sorting apparatus according to claim 8, wherein in the fuzzy inference, one of a plurality of control rules set in correspondence with some of the amount of processing water is selected based on the amount of processing water to obtain the manipulated value data. . 2. The control means (H) according to claim 1, wherein the control means (H) has a main opening control routine and an auxiliary opening control routine having different control periods for the opening degree changing means (M1), and the information on the layer thickness detecting means (S1). A threshing-screening apparatus characterized in that any opening control routine is selected based on this. 11. The threshing separator according to claim 10, wherein the auxiliary opening degree control routine is selected when the layer thickness of the treatment is out of a predetermined range or more than a predetermined value or when the layer thickness of the treatment changes to a rate of change of more than a set ratio. . 5. The potentiometer according to claim 4, wherein the sensor bars T1 and T2 of the layer thickness sensor S1 are formed of a plate member, and the conversion part PM is a potentiometer obtained by converting the plate member rotational movement angle I into a resistance value. And the plate member is formed at an upper side near the rear center portion of the swing selector plate (19).