JPH03172116A - Automatic controller for threshing depth - Google Patents

Abstract

PURPOSE:To rapidly provide a proper threshing depth in starting reaping by providing a construction for regulating the posture of a vertical conveying chain so as to locate ear tips between sensing switches and taking over grain culms in the aforementioned state to a feed chain. CONSTITUTION:Although grain culms reaped with reaping parts (K) are transferred to a threshing part (D) with a vertical conveying chain 1, two sensing switches (H) and (M) are provided near an inlet of the threshing part (D) to sense ear tips with the aforementioned switches. Thereby, if the ear tips are long so that the ear tips may attain the sensing switch (H) present on the side far away from the vertical conveying chain 1 or a feed chain 2, the vertical conveying chain 1 is tilted to the outer lateral side of the machine body. Conversely, if the grain culms are short so that the ear tips will not attain the sensing switch (M), the vertical conveying chain 1 is raised to the inner lateral side of the machine body.

Description

【発明の詳細な説明】 本発明は収穫機の扱深さ自動調節装置に関し、特に制御
の安定性を高めた装置を提案したものであり、刈始め時
に迅速に適正扱深さとし、この間に汲胴の過負荷を招来
することがないようにした装置を提供することを目的と
する． 以下本発明をその実施例を示す図面に基づいて訂述する
。第１図は本発明に係る扱深さ自動調節装置（以下本案
装置という）を装備してなる収穫機の外観図であって、
刈取部Ｋによって刈取られた穀程は縦搬送チェイン１に
より脱穀部Ｄへ移送されるが、脱穀部Ｄの入口付近に２
つの検知スイッチＨ，Ｍを設けて、これらのスイッチに
て穂先を検知せしめ、縦搬送チェイン１又はフィードチ
ェイン２より遠方側（機体右方側）に在る検知スイッチ
Ｈに穂先が達する程に穀程が長い場合は縦搬送チェイン
１を機体外側方（左側方）へ傾倒させ、また逆に検知ス
イッチＭに穂先が達しない程に穀程が短い場合は縦搬送
チェイン１を機体内側方へ起立させて、つまり穂先が検
知スイッチＨ，Ｍ間に位置する如き状態にフィートチェ
イン１の姿勢を調節し、その状態で穀程をフィードチェ
イン２に受継がせるように楕成してある．つまり検知ス
イッチＭ，Ｈは刈取済の穀稈長ｌの長さセンサとして機
能する。[Detailed Description of the Invention] The present invention relates to an automatic handling depth adjustment device for a harvester, and proposes a device with particularly improved control stability, which quickly adjusts the handling depth to the appropriate depth at the start of mowing, and during this period, the handling depth is automatically adjusted. The purpose is to provide a device that does not cause overload on the torso. The present invention will be described in detail below based on drawings showing embodiments thereof. FIG. 1 is an external view of a harvesting machine equipped with an automatic handling depth adjustment device according to the present invention (hereinafter referred to as the device of the present invention),
The grains harvested by the reaping section K are transferred to the threshing section D by the vertical conveyance chain 1.
Two detection switches H and M are provided, and these switches detect the tip of the grain. If the grain length is too long, tilt the vertical conveyance chain 1 toward the outside of the machine (left side), and conversely, if the grain is so short that the tip of the grain does not reach the detection switch M, vertical conveyance chain 1 is raised toward the inside of the machine. In other words, the posture of the foot chain 1 is adjusted so that the tip is located between the detection switches H and M, and the feed chain 2 is configured to take over the grain in that state. In other words, the detection switches M and H function as a length sensor for the harvested grain culm length l.

第２図は本案装置の油圧回路及びこれにより姿勢〈傾斜
角度〉が制御される縦搬送チェイン等を示す模式図であ
る。前述の検知スイッチＨ，Ｍの外にも縦搬送チェイン
ｌの中途には穀程の長短に拘わらずその通過を検知する
ための検知スイッチＬが配設されている。縦搬送チェイ
ン１はその傾例、起立による扱深さ調節のための駆動手
段としての曲圧シリンダ４の゜ロッド４ａと連結されて
いる。５は４ボート３位置切換型の電磁方向制御弁であ
って、ソレノイド５ｒへの通電により切換位置１−にな
ってロッド４ａが矢符で示す如く退入して縦搬送チェイ
ン１を起立させて、即ち深扱ぎ側ｌ＼調節し、逆にソレ
ノイド５ｌへの通電により切１ 換位置Ｉになってロッド４ａが進出して縦搬送チェイン
１を傾倒させて、即ち浅汲ぎ側へ調節ずるようにしてい
る。FIG. 2 is a schematic diagram showing the hydraulic circuit of the present device and the vertical conveyance chain whose attitude (inclination angle) is controlled thereby. In addition to the above-mentioned detection switches H and M, a detection switch L is provided in the middle of the vertical conveyance chain 1 to detect the passage of grains regardless of their length. The vertical conveyance chain 1 is connected to a rod 4a of a bending pressure cylinder 4 as a driving means for adjusting the handling depth by tilting or raising the chain. Reference numeral 5 denotes a 4-boat, 3-position switching type electromagnetic directional control valve, and when the solenoid 5r is energized, the switching position is set to 1-, and the rod 4a retracts as shown by the arrow to raise the vertical conveyance chain 1. In other words, the solenoid 5l is energized to reach the switching position I, and the rod 4a advances to tilt the vertical conveying chain 1, that is, adjust it to the shallow pumping side. That's what I do.

而して本案装置は以下に説明し、また第３図に示す電気
回路に特徴を有している。即ち第３図はンレノイド５１
，５ｒ励磁のための回路であって、ソレノイド５１．５
ｒは夫々スイッチ回ｎ３１１３　１　ｒにてボディアー
ス側がオン　オフされ、またバッテリ７の正４Ｉ＋ｌｌ
ｌはキースイッチ８にて共通してオ冫′・オフされるよ
うにしてある。キー、スイッチ８によって給電をオン・
オフされるラインには本案装置を作動させる際に閉路操
作する自動選択スイッチ３２の一端が接続され、他端は
検知スイッチＬ，Ｍ，｝−１の一端を一括してなる端子
及び電磁リレ３３の常開接点３３ａの一端に接続されて
いる。検知スイッチＬ，Ｍ，Ｈの他端は制御部３０に接
続されており、該制御部３０は穀程に接触して閉路する
検知スイッチＬ，Ｍ，Ｈの開閉状態を検出し得るように
している。The device of the present invention is characterized by the electric circuit described below and shown in FIG. In other words, Fig. 3 shows the lenoid 51.
, 5r excitation circuit, the solenoid 51.5
The body ground side is turned on and off at switch times n3113 1 r, and the positive 4I+ll of battery 7
l is commonly turned on and off by a key switch 8. Turn on the power supply using the key and switch 8.
One end of the automatic selection switch 32 that closes the circuit when the device is activated is connected to the line to be turned off, and the other end is connected to a terminal and an electromagnetic relay 33 that collectively connect one end of the detection switches L, M, }-1. is connected to one end of a normally open contact 33a. The other ends of the detection switches L, M, and H are connected to a control unit 30, and the control unit 30 is configured to be able to detect the open and closed states of the detection switches L, M, and H, which contact the grain and close the circuit. There is.

この制御部３０は後述する如き態様て深扱ぎ指令信号Ｒ
ＣＳ、浅汲ぎ指令信号ＬＣＳ及び初期信号ＩＮＳをハイ
レベルの信号として発するものであって、論理回路によ
り構成され、また自動操向等他の自動制御機能も備えた
収穫機においてマイクロコンピュータを搭載している場
合はこのマイクロコンピュータを用いて楕戒し得るもの
である。This control section 30 receives a detailed handling command signal R in a manner described below.
It emits the CS, shallow harvesting command signal LCS, and initial signal INS as high-level signals, and is composed of a logic circuit and is equipped with a microcomputer in a harvester equipped with other automatic control functions such as automatic steering. If you are doing so, you can use this microcomputer to practice the precepts.

前記信号Ｆ’−　Ｃ　Ｓ及びＬＣＳと夫々ＡＮＤゲート
３４及び３５の一人力となっており、また初期信号ＩＮ
Ｓは増幅器３６にて増幅それ、電磁リレ３３の励磁電流
としてその励磁コイル３３Ｃに供給される。電磁リレ３
３の常開接点３３ａの他端は同常閉接点３３ｂの一端と
一括されＡＮＤゲート閉 ３４．３５の他方の入力となっている．常硼接点３３ｂ
の他端には、一定周期てデューテイ比が１′３〜１／２
のパルス信号を出力するパルス発生器３７が接続されて
いる。ＡＮＤゲート３４及び３５の出力は常閉のリミッ
トスイッチ３８及び３９を介してスイッチ回路３１１．
３１ｒの制御入力として与疋られるよう接続してある．
リミットスイッチ３８及び３９は夫々深扱ぎ側可動限及
び浅汲ぎ側可動限にて開路するように配したものであり
、ｉｉｈＪ３”回路或は可動部の保護のために設けたも
のである。ＡＮＤゲート３４及び３５夫々とリミットス
イッチ３８及び３９夫々との間には手動操作による扱深
さ調節のためのスイッチ４０及び４１の一端が接続され
ており、これらのスイ・ンチ４０及び４１の他端はキー
スイッチ８を介してノ〈・ンテリ７に連なっている． 叙上の如き横成によりＡＮＤゲート３４又は３５の出力
がハイレベルになるか又は手動操作用のスイッチ４０又
は４１か閉路された場きはスイッチ回路３１＋一又は３
１１が導通してソレノイド５ｒ又は５ｌを励磁し、これ
により縦搬送チェイン１を起立（又は傾倒）させ扱深さ
を深扱ぎ側（又は浅扱ぎ側）へ調節することになる。The signals F'-CS and LCS are connected to AND gates 34 and 35, respectively, and the initial signal IN
S is amplified by the amplifier 36 and supplied to the exciting coil 33C of the electromagnetic relay 33 as an exciting current. Electromagnetic relay 3
The other end of the normally open contact 33a of No. 3 is combined with one end of the normally closed contact 33b of No. 3, and serves as the other input of the AND gate closed 34 and 35. Regular contact 33b
At the other end, the duty ratio is 1'3 to 1/2 at a constant period.
A pulse generator 37 that outputs a pulse signal is connected. The outputs of AND gates 34 and 35 are passed through normally closed limit switches 38 and 39 to switch circuit 311.
It is connected so that it can be used as a control input for 31r.
The limit switches 38 and 39 are arranged to open at the deep handling side movable limit and shallow pumping side movable limit, respectively, and are provided to protect the iihJ3'' circuit or the movable part. One ends of switches 40 and 41 for manually operating depth adjustment are connected between the AND gates 34 and 35 and the limit switches 38 and 39, respectively. The end is connected to the input terminal 7 via the key switch 8. Due to the above-described configuration, the output of the AND gate 34 or 35 becomes high level, or the manual operation switch 40 or 41 is closed. Switch circuit 31+1 or 3
11 becomes conductive and excites the solenoid 5r or 5l, thereby raising (or tilting) the vertical conveyance chain 1 and adjusting the handling depth to the deep handling side (or shallow handling side).

而して検知スイッチＬ，Ｍ，Ｈの動作状態に応じて制御
部３０は第１表の如く信号ＲＣＳ，ＬＣＳを出力する。Accordingly, the control section 30 outputs signals RCS and LCS as shown in Table 1, depending on the operating states of the detection switches L, M, and H.

第　　　１　　　表 Ｌ，Ｍ，Ｈの欄において１は閉路、 一は開閉の別を問わないことを示し、 ＬＣＳの欄において１はハイレベル、 ベルを夫々示している． Ｏは開路、 またＲ．　Ｃ　Ｓ Ｏはローレ 即ち縦搬送チェイン１に穀程が存在せず検知スイッチＬ
が開路している間は無用の縦搬送チェイン１の駆動を行
うことがない．これに対して検知スイッチＬが閉路して
いる場きは、第２Ｆｒａに示した如く検知スイッチＭ，
Ｈが開路しているときには信号ＲＣＳを発して縦搬送チ
ェイン１を起立させ、また第５欄に示した如く検知スイ
ッチＭ，Ｈが閉路しているときには信号ＬＣＳを発して
縦搬送チェインｌを傾削させ、第３欄に示すように検知
スイッチＭが閉路、検知スイッチＨが開ｉ？８（ＲＣＳ
，ＬＣＳは共にローレベル）している状態とする。な才
３第４欄は特殊な場合であり、瞬時的に６ 現れる状況であるのでこの場合はＲＣＳ，ＬＣＳ共にロ
ーレベルとして縦搬送チェイン１を駆動しない。In the L, M, and H columns of Table 1, 1 indicates a closed circuit, 1 indicates whether the circuit is open or closed, and in the LCS column, 1 indicates a high level or a bell, respectively. O is open circuit, and R. CSO is roller, that is, there is no grain in the vertical conveyance chain 1, and the detection switch L is activated.
The vertical conveyance chain 1 will not be driven unnecessarily while the chain is open. On the other hand, when the detection switch L is closed, the detection switch M,
When H is open, the signal RCS is issued to make the vertical conveyance chain 1 stand up, and when the detection switches M and H are closed as shown in the fifth column, the signal LCS is issued to tilt the vertical conveyance chain 1. As shown in the third column, the detection switch M is closed and the detection switch H is opened i? 8 (RCS
, LCS are both at low level). The 4th column of 3 is a special case, where 6 appears instantaneously, so in this case, both RCS and LCS are set to low level and the vertical conveyance chain 1 is not driven.

このように扱深さ調節は穂先が検知スイッチＭ１−１間
に在る状態を扱深さの適正範囲としてこれを実現するよ
うに、換言すれば検知スイッチＭ，Ｈ間を不感帯として
縦搬送チェインを駆動すべく抽圧ジリンダを作動させる
。然るところ制御部６は検知スイッチＬが開路から閉路
に転じた時に、検知スイッチＭ，Ｉ−１が共に開路（又
は閉路）していた場合は初期信号ＩＮＳを発する．そし
て初期信号ＩＮＳは検知スイッチＭが閉路に転じる（又
は検知スイッチ｝−１が開路に転じる）か又は検知スイ
ッチＬがオフに転じる迄継続する。そしてこの動作は検
知スイッチＬ閉路してから１回だけ実行される。信号Ｉ
ＮＳが発せられると電磁リレ３３の励磁コイル３３Ｃは
励磁されるから常開接点３３ａが閉路し、この間ＡＮＤ
ゲート３４．３５の一方の入力は連続的にハイレベルと
なる。これに対して上述の条件が整い信号ＩＮＳが消滅
すると励磁コイル３３Ｃが消磁され常閉接点３３Ｌ｝が
閉路する。これによりパルス発生器３７の出力がＡＮＤ
ゲート３４．３５に与えられ、その一人力端は断続的に
ハイレベルになる，，ＡＮＤゲート３４　３５は上記一
方の入力端がハイレベルである間に信号ＲＣＳ，ＬＣＳ
を通過させ得るものであるから結局信号ＩＮＳが発せら
れている間における第１表の第２欄、第５欄の態様での
縦搬送チェイン１の起立、傾倒又は油圧シリンダ４の作
動は連続的に、また信号ＩＮＳ消滅後のそれは断続的に
行われることになる． 前述した信号ＩＮＳは刈始め、正確には自動選択スイッ
チが閉路し、また検知スイッチＬが閉路した状態が現出
されたときから穂先が不感帯に入った状態になる迄の間
に発せられる．従って第４図イ〜ボに示すように刈始め
の際に検知スイッチＬが閉路すると［第４図イコ、例え
ばソレノイド５ｒが第４（２Ｉボに示すように励磁され
、これによって縦搬送チェインは迅速に起立し、検知ス
イッチＭが穂先に接触して第４図口に示すように閉路し
不感・計に入る．爾後は信号ＩＮＳは発せられないから
、例えば長程が刈取られて、第４図ハに示すように検知
スイッチＨが閉路した場きには第４図二に示すようにソ
レノイド５１が断続的に励磁されて縦搬送チェイン１は
傾動して徐々に浅汲側へ調節される。そして次工程にお
いても同様の動作を行うことになる． こＪ）ように本発明の扱深さ調節装置は、刈取済穀稈の
長さ検知のためにセンサを２つだけ備え、一連の調節制
御開始後に、穂先が前記２つのセン正 サの間に位置する適厳扱深さになる迄の間は、扱深さ調
節のための駆動系の作動速度を高速とし、また爾後は該
駆動系の作動速度を低速とすべく構成したものであるか
ら、刈始め時には迅速に適正扱深さが得られ、深扱ぎに
よる扱胴３の過負荷を招来したり、また浅扱ぎによる扱
残しを招来することがない。扱深さが適正な範囲になっ
た後は緩やかに扱深さ調節を行うのでハンチングが防止
され安定した扱深さ調節が行える等、本発明は優れた効
果を奏する。なお手動調節は連続的に油圧シリンダを作
動させて行うように構戒してあるので緊急時の操作性も
損なうことがない．In this way, the handling depth is adjusted so that the state where the tip is located between the detection switches M1-1 is the appropriate range of handling depth.In other words, the vertical conveyance chain is adjusted with the dead zone between the detection switches M and H The extraction pressure cylinder is activated to drive the . However, if the detection switch M and I-1 are both open (or closed) when the detection switch L changes from open to closed, the control unit 6 issues an initial signal INS. The initial signal INS continues until the detection switch M is closed (or the detection switch }-1 is opened) or the detection switch L is turned off. This operation is executed only once after the detection switch L is closed. Signal I
When NS is generated, the excitation coil 33C of the electromagnetic relay 33 is energized, so the normally open contact 33a is closed, and during this time the AND
One input of gates 34 and 35 is continuously at a high level. On the other hand, when the above-mentioned conditions are met and the signal INS disappears, the excitation coil 33C is demagnetized and the normally closed contact 33L} is closed. As a result, the output of the pulse generator 37 becomes AND
AND gates 34 and 35 output signals RCS and LCS while one input terminal is at high level.
Therefore, while the signal INS is being issued, the vertical conveyance chain 1 is raised or tilted or the hydraulic cylinder 4 is operated continuously in the manner shown in columns 2 and 5 of Table 1. Also, after the disappearance of the signal INS, it will be performed intermittently. The signal INS mentioned above is generated from when the automatic selection switch is closed and the detection switch L is closed until the tip of the ear reaches the dead zone. Therefore, when the detection switch L is closed at the beginning of mowing, as shown in Fig. 4 I to B, for example, the solenoid 5r is energized as shown in Fig. 4 I, and the vertical conveyance chain is It stands up quickly, and the detection switch M contacts the tip of the ear, closing the circuit as shown in Figure 4 and entering the insensitivity meter.After that, the signal INS is not emitted, so for example, the longer part is reaped, as shown in Figure 4. When the detection switch H is closed as shown in FIG. 4C, the solenoid 51 is intermittently energized as shown in FIG. The same operation will be performed in the next step.As shown in J), the handling depth adjustment device of the present invention is equipped with only two sensors to detect the length of the harvested grain culm, and performs a series of adjustments. After the start of control, the operating speed of the drive system for adjusting the handling depth is set at high speed until the tip reaches the appropriate handling depth where it is located between the two sensors, and thereafter the drive system is operated at high speed. Since the operating speed of the system is configured to be low, the proper handling depth can be quickly obtained at the beginning of cutting, which prevents overloading of the handling cylinder 3 due to deep handling, and overloading due to shallow handling. There is no chance of leaving behind. The present invention has excellent effects, such as adjusting the handling depth slowly after the handling depth falls within the appropriate range, preventing hunting and allowing stable handling depth adjustment. Furthermore, manual adjustments are made by continuously operating the hydraulic cylinder, so operability in emergencies is not compromised.

【図面の簡単な説明】[Brief explanation of the drawing]

図面は本発明の実施例を示すものであって、第■図は本
案装置を装備した収穫機の外観図、第２図は本案装置の
油圧回路等を示す模式図、第３図は本案装置の電気回路
図、第４図イ〜ホは動作説明のためのタイムチャートで
ある。 ■・・・縦搬送チェイン ２・・・フィードチェイン ５・・・電磁方向制御弁 ５１　　５ｒ・・・ソレノイド ３０・・・制御部、 ３７・・・パルス発生器、 Ｌ，Ｍ，Ｉ−Ｔ・・・検知スイッチThe drawings show embodiments of the present invention, and Figure 2 is an external view of a harvester equipped with the proposed device, Figure 2 is a schematic diagram showing the hydraulic circuit, etc. of the proposed device, and Figure 3 is the proposed device. The electric circuit diagram of FIG. 4A to FIG. 4E is a time chart for explaining the operation. ■... Vertical conveyance chain 2... Feed chain 5... Solenoid directional control valve 51 5r... Solenoid 30... Control section, 37... Pulse generator, L, M, I-T.・Detection switch

Claims (1)

【特許請求の範囲】[Claims] 　刈取済穀稈の長さを検知し、検知結果に基づいて扱深
さを自動調節する装置において、前記長さ検知のために
センサを２つだけ備え、一連の調節制御開始後に、穂先
が前記２つのセンサの間に位置する適正扱深さになる迄
の間は、扱深さ調節のための駆動系の作動速度を高速と
し、また爾後は該駆動系の作動速度を低速としたことを
特徴とする扱深さ自動調節装置。A device that detects the length of a harvested grain culm and automatically adjusts the handling depth based on the detection result is equipped with only two sensors for detecting the length, and after starting a series of adjustment controls, the tip of the grain reaches the The operating speed of the drive system for adjusting the handling depth was set at high speed until the proper handling depth located between the two sensors was reached, and thereafter the operating speed of the drive system was set at low speed. Features automatic handling depth adjustment device.