JP3725032B2

JP3725032B2 - Combine depth control device

Info

Publication number: JP3725032B2
Application number: JP2001005093A
Authority: JP
Inventors: 繁樹林
Original assignee: Kubota Corp
Current assignee: Kubota Corp
Priority date: 2001-01-12
Filing date: 2001-01-12
Publication date: 2005-12-07
Anticipated expiration: 2021-01-12
Also published as: JP2002204612A

Description

【０００１】
【発明の属する技術分野】
本発明は、刈取穀稈を脱穀装置に向けて支持搬送する搬送装置の穀稈搬送経路の途中箇所において、前記搬送装置による前記刈取穀稈の支持位置を稈長方向で変更して前記脱穀装置の扱室での扱深さを調節する扱深さ調節手段と、その扱深さ調節手段による扱深さ調節箇所よりも前記穀稈搬送経路の下手側箇所において、前記扱深さ調節手段による扱深さ調節状態を検出する扱深さ検出手段と、前記搬送装置にて搬送される前記刈取穀稈の存否を検出する穀稈存否検出手段と、前記穀稈存否検出手段にて前記刈取穀稈の存在が検出されている場合に、前記扱深さ検出手段にて設定適正扱深さ調節状態が検出される状態に維持するように前記扱深さ調節手段を作動させる適正扱深さ制御を実行する制御手段とが設けられたコンバインの扱深さ制御装置に関する。
【０００２】
【従来の技術】
上記コンバインの扱深さ制御装置では、搬送装置が刈取穀稈の株元側を挟持して支持搬送するように構成されるとともに、扱深さ調節手段が、搬送装置の穀稈搬送経路の途中箇所において、刈取穀稈の支持位置を稈長方向に変更して受け渡しする搬送部材を揺動作動させる電動モータ等にて構成されている。また、上記搬送装置にて搬送される刈取穀稈の存否を検出する穀稈存否検出手段が、例えば穀稈の株元に接当してその存否を検出する株元センサにて構成されるとともに、上記扱深さ調節箇所よりも穀稈搬送経路の下手側箇所に、例えば稈長方向に間隔を隔てて配置した一対のセンサを備えた扱深さ検出手段が設けられている。
【０００３】
そして、適正扱深さ制御を実行する制御手段としてのコンバインの制御装置が、上記株元センサにて刈取穀稈の存在が検出されている場合、即ち刈取作業を行っている状態では、上記扱深さ検出手段の一対のセンサのうち株元側センサが穀稈有りを検出する一方で穂先側センサが穀稈無しを検出する状態、即ち両センサの間に刈取穀稈の穂先が位置する状態を設定適正扱深さ調節状態として、その設定適正扱深さ調節状態が検出される状態に維持するように上記扱深さ調節用の電動モータを作動させて、脱穀装置の扱室で適正な扱深さ状態で扱き処理が行われるように制御している。
【０００４】
従来では、例えば特開平１０−５６８５０号公報に示されるように、圃場の枕地で刈取作業を終了するときに、刈取穀稈量の減少等に伴って搬送装置による穀稈の搬送状態が不安定になり、刈取穀稈が脱落するおそれがあるので、かかる穀稈の脱落（稈こぼれ）を防止するために、上記刈取作業の終了時には、扱深さ調節手段を強制的に一定量深扱き側に作動させるようにしていた。
【０００５】
【発明が解決しようとする課題】
しかしながら、上記従来技術では、刈取作業の終了時に扱深さ調節手段を一定量深扱き側に作動させているために、例えば刈取穀稈の稈長が長く、扱深さ調節状態が深扱き状態になり過ぎる場合には、脱穀装置での扱き負荷の増大や、穀稈の詰まり等のおそれがあり、一方、例えば刈り終わり時に刈取部を上昇させる刈り上げ作動が実行されて、刈取穀稈の稈長が徐々に短くなるような場合には、逆に扱深さ調節状態が浅扱き状態になって扱深さ量が不足し、扱き残しを生じるおそれがあった。
【０００６】
本発明は、上記実情に鑑みてなされたものであって、その目的は、上記従来技術の不具合を解消させるべく、刈取作業の終了時において、刈取穀稈の脱落を防止しながら、適切な深扱き状態に作動させることが可能となるコンバインの扱深さ制御装置を提供することにある。
【０００７】
【課題を解決するための手段】
請求項１によれば、前記制御手段が、前記穀稈存否検出手段にて刈取穀稈の存在から非存在への変化が検出されると、前記扱深さ検出手段にて前記設定適正扱深さ調節状態よりも設定量深扱き側の深扱き調節状態が検出される状態に前記扱深さ調節手段を作動させる強制深扱き作動を実行するように構成されている。
すなわち、前記制御手段が、搬送装置にて脱穀装置に向けて支持搬送される刈取穀稈の存在が検出されている場合には、前記適正扱深さ制御を実行するが、上記刈取穀稈の存在から非存在への変化が検出されると、前記扱深さ検出手段にて設定適正扱深さ調節状態よりも設定量深扱き側の深扱き調節状態が検出される状態になるように前記扱深さ調節手段を作動させる強制深扱さ作動を実行する。
【０００８】
従って、搬送装置にて搬送される刈取穀稈の非存在が検出されて、刈取作業の終了が判断されると、搬送装置による刈取穀稈の支持位置を稈長方向で変更して脱穀装置の扱室での扱深さを調節する扱深さ調節手段が、刈取作業時における設定適正扱深さ調節状態よりも設定量深扱き側に強制的に調節状態を変更されることになるので、刈取作業の終了時に刈り取られた刈取穀稈を、刈取作業時での支持位置よりも稈長方向で深扱き側に変更された位置で搬送装置にて支持させて、刈取穀稈が脱落しないようにすることができ、しかも、刈取作業時における適正な扱深さ量よりも設定量だけ深扱きの状態で扱き処理されるので、脱穀装置での扱き負荷の増大や穀稈の詰まり等の不具合を回避することができる一方、例えば刈り終わり時に刈り上げ作動されて、刈取穀稈の稈長が徐々に短くなるような場合でも、その稈長の変化に追従して適切な扱深さ状態を維持して、扱深さ量の不足による扱き残し等の不具合も回避することができ、もって、刈取作業の終了時において、刈取穀稈の脱落を防止しながら、適切な深扱き状態に作動させることが可能となるコンバインの扱深さ制御装置が提供される。
【０００９】
請求項２によれば、請求項１において、前記扱深さ検出手段が、前記刈取穀稈の稈長方向に所定間隔を隔てる状態で並置されて穀稈の有無を検出する株元側センサ及び穂先側センサを備えて、前記株元側センサが穀稈有りを検出する一方で前記穂先側センサが穀稈無しを検出する状態を前記設定適正扱深さ調節状態とし、且つ、前記株元側センサと前記穂先側センサが共に穀稈有りを検出する状態を前記深扱き調節状態として検出するように構成されている。
すなわち、前記制御手段が、前記適正扱深さ制御においては、刈取穀稈の稈長方向に所定間隔を隔てる状態で並置された株元側センサと穂先側センサのうち、株元側センサが穀稈有りを検出する一方で穂先側センサが穀稈無しを検出する状態に維持するように前記扱深さ調節手段を作動させ、前記強制深扱さ作動においては、上記株元側センサと穂先側センサが共に穀稈有りを検出する状態になるように前記扱深さ調節手段を作動させる。
【００１０】
従って、扱深さ検出手段を稈長方向に所定間隔を隔てて並置した２個のセンサによって構成するとともに、その２個のセンサの穀稈有無の検出状態によって前記設定適正扱深さ調節状態と前記深扱き調節状態を検出するようにしたので、扱深さ検出手段を例えば穀稈に接当して揺動したときの揺動量で扱深さ調節状態を検出するアナログ式の揺動式センサで構成したり、あるいは、稈長方向に多数のセンサを並べてその多数のセンサのうちで穀稈を検出するセンサの位置で扱深さ調節状態を検出するようなものに比べて、装置構成を極力簡素化しながらも、扱深さ調節状態を適切に検出することができ、もって、請求項１の好適な手段が得られる。
【００１１】
請求項３によれば、請求項１又は２において、前記制御手段が、前記搬送装置による前記刈取穀稈の搬送距離を管理して、前記搬送装置による前記刈取穀稈の前記脱穀装置への搬送の終了が判別されるに伴って、前記強制深扱き作動の実行を停止するように構成されている。
すなわち、前記制御手段が、前記搬送装置による前記刈取穀稈の搬送距離を管理して、前記搬送装置による刈取穀稈の脱穀装置への搬送の終了が判別されるまでは前記強制深扱さ作動を実行するが、前記搬送装置による刈取穀稈の脱穀装置への搬送の終了が判別されると、前記強制深扱き作動の実行を停止する。
従って、刈取穀稈が脱穀装置へ搬送されてしまった後は、前記強制深扱さ作動の実行を停止させて、不必要に深扱さ調節状態に作動させることを回避することができ、もって、請求項１又は２の好適な手段が得られる。
【００１２】
請求項４によれば、請求項１〜３のいずれか１項において、前記制御手段が、前記強制深扱き作動を実行した後、前記扱深さ検出手段にて前記設定適正扱深さ調節状態が検出される状態になるように前記扱深さ調節手段を作動させる扱深さ復帰作動を実行するように構成されている。
すなわち、前記制御手段が、前記強制深扱き作動を実行した後、前記扱深さ検出手段にて前記設定適正扱深さ調節状態が検出される状態になるように前記扱深さ調節手段を作動させる。
従って、次に刈取作業を開始するときには、扱深さ調節手段の扱深さ調節状態が設定適正扱深さ調節状態に復帰しているので、例えば、次の刈取作業を開始するときに、扱深さ調節手段の扱深さ調節状態を設定適正扱深さ調節状態に復帰させるようなものに比べて、刈取作業を適正な扱深さ調節状態で迅速に開始することができ、もって、請求項１〜３のいずれか１項の好適な手段が得られる。
【００１３】
【発明の実施の形態】
以下、本発明に係るコンバインの扱深さ制御装置の実施形態について図面に基づいて説明する。
図１に示すように、コンバインは、左右一対のクローラ走行装置１、脱穀装置２、操縦部３等を備えた機体の前部に刈取部４を横軸芯Ｐ周りで昇降自在に連結して構成してある。
【００１４】
前記刈取部４は、植立穀稈を引き起こす引起し装置５、引き起こされた植立穀稈の株元を切断する刈刃６、刈取られた穀稈を寄せ集めて後方へ搬送する補助搬送装置７、刈取穀稈を徐々に横倒ししながら脱穀装置２のフィードチェーン８ａに受渡す縦搬送装置９等を備え、昇降用シリンダ１０の駆動により昇降揺動するよう構成してある。そして、通常の刈取作業では、刈取部４は地面に対して設定高さを維持するよう昇降制御されることになるが、操縦部３に設けた昇降レバー１１の手動操作によって昇降させることもでき、刈取部４を設定高さ以上上昇させた場合には、機械的な連係機構によって刈取部４に対する動力を自動的に遮断して刈取部４の駆動を停止させる刈取自動停止機構を備えてある。
【００１５】
前記縦搬送装置９は、穀稈の株元側を挟持搬送する株元搬送装置９ａ、穀稈の穂先側を係止搬送する穂先搬送装置９ｂ及び穂先案内板９ｃから成り、刈取部４の揺動軸芯Ｐと同一軸芯周りで揺動自在に支持してあり、ギア式減速機構付き電動モータＭ１〔以下、扱深さモータという〕によって揺動調節自在に設けることで、補助搬送装置７からの受け取り挟持箇所が稈長方向に変更され、脱穀装置２の扱室Ａにおける扱深さが変更調節できるよう構成してある。従って、刈取穀稈を脱穀装置２に向けて支持搬送する搬送装置Ｈが上記補助搬送装置７及び縦搬送装置９にて構成されるとともに、その搬送装置Ｈの穀稈搬送経路の途中箇所において、搬送装置Ｈによる刈取穀稈の支持位置を稈長方向で変更して脱穀装置２の扱室Ａでの扱深さを調節する扱深さ調節手段が上記扱深さモータＭ１にて構成されている。
【００１６】
前記縦搬送装置９の揺動支点部には、縦搬送装置９の現在扱深さ調節位置がどの位置にあるかを検出するポテンショメ−タ型の供給位置センサ１３を設けてあり、縦搬送装置９の駆動軸部分には、株元搬送装置９ａの穀稈搬送速度を検出する搬送回転センサ１９を設けている（図２参照）。又、縦搬送装置９の始端部には、前記搬送装置Ｈにて搬送される刈取穀稈の存否を検出する穀稈存否検出手段としての株元センサ１４を設けている。
【００１７】
さらに、上記扱深さモータＭ１による扱深さ調節箇所（補助搬送装置７から縦搬送装置９への穀稈の受け渡し箇所）よりも穀稈搬送経路の下手側箇所において、上記扱深さモータＭ１による扱深さ調節状態を検出する扱深さ検出手段Ｓが設けられている。具体的には、扱深さ検出手段Ｓは、刈取穀稈の稈長方向に所定間隔を隔てる状態で並置されて穀稈の有無を検出する株元側センサＳ２及び穂先側センサＳ１を備えている。尚、上記両センサＳ１，Ｓ２は穀稈が接触すると揺動してオン作動するスイッチ式からなり、穀稈が接触してオン作動したときに穀稈有りを検出し、穀稈が接触していないオフ状態のときに穀稈無しを検出するように構成されている。
【００１８】
前記脱穀装置２には、前記縦搬送装置９から受け取った刈取穀稈を脱穀穀稈として扱き処理する扱室Ａの側方において、脱穀穀稈を扱室Ａの後方側に向けて挟持状態で搬送するために、フィードチェーン８ａと、これに対向する状態で図示しないコイルバネにてフィードチェーン８ａ側に付勢された挟持レール８ｂとが設けられ、さらに、上記挟持レール８ｂの前部側部分が、解除用シリンダ１２の作動によって、コイルバネの付勢力に抗してフィードチェーン８ａから離間した状態とコイルバネの付勢力によってフィードチェーン８ａに接近した状態に変更自在に構成されている。これにより、上記フィードチェーン８ａと挟持レール８ｂとで穀稈の株元側を挟持して搬送しながら穂先側を扱室Ａ内で扱き処理することができるとともに、挟持レール８ｂがフィードチェーン８ａから離間した状態では、挟持レール８ｂの前部側部分における穀稈に対する挟持力を解除して、脱穀穀稈の全稈を扱室Ａ内に投入して扱き処理することができる。
【００１９】
次に、制御構成について説明すると、図２に示すように、マイクロコンピュータを利用した制御装置ＣＵが設けられ、この制御装置ＣＵに、前記供給位置センサ１３、株元センサ１４、搬送回転センサ１９、穂先側センサＳ１、株元側センサＳ２、及び、後述の刈り上げ作業開始用の指示スイッチ１５の各検出情報が入力されている。一方、制御装置ＣＵからは、前記昇降シリンダ１０、扱深さモータＭ１、及び、解除用シリンダ１２に対する各駆動信号が出力されている。
【００２０】
前記制御装置ＣＵを利用して、前記株元センサ１４にて前記刈取穀稈の存在が検出されている場合に、前記扱深さ検出手段Ｓにて設定適正扱深さ調節状態が検出される状態に維持するように前記扱深さモータＭ１を作動させる適正扱深さ制御を実行する制御手段１００が構成されている。
具体的には、図３（イ）に示すように、前記扱深さ検出手段Ｓが、前記株元側センサＳ２が穀稈有りを検出する一方で穂先側センサＳ１が穀稈無しを検出する状態を設定適正扱深さ調節状態として検出するように構成されている。即ち、上記両センサＳ１，Ｓ２の間に穀稈の穂先が位置する状態になるように、扱深さモータＭ１を制御することで、植立穀稈の稈長にかかわらず扱深さが常に適切な状態に調節されるように構成している。
【００２１】
前記制御手段１００が、前記株元センサ１４にて前記刈取穀稈の存在から非存在への変化が検出されると、前記扱深さ検出手段Ｓにて前記設定適正扱深さ調節状態よりも設定量深扱き側の深扱き調節状態が検出される状態に前記扱深さモータＭ１を作動させる強制深扱き作動を実行するように構成されている。
具体的には、図３（ロ）に示すように、前記扱深さ検出手段Ｓが、前記株元側センサＳ２と前記穂先側センサＳ１が共に穀稈有りを検出する状態を前記深扱き調節状態として検出するように構成されている。即ち、上記両センサＳ１，Ｓ２が共に穀稈有りを検出する状態に扱深さモータＭ１を作動させて、刈取穀稈の穂先位置をより深扱き側に位置させることで、刈取作業の終了時に刈取穀稈の稈長が短くなるような場合でも、適切な扱深さ状態に調節するようにしている。
【００２２】
さらに、前記制御手段１００が、前記搬送装置Ｈによる前記刈取穀稈の搬送距離を管理して、前記搬送装置Ｈによる前記刈取穀稈の前記脱穀装置２への搬送の終了が判別されるに伴って、前記強制深扱き作動の実行を停止するように構成されている。
具体的には、前記搬送回転センサ１９にて検出される穀稈搬送速度に、前記株元センサ１４にて穀稈の存在から非存在への変化が検出されてからの時間を掛けることによって刈取穀稈の搬送距離が求められ、この刈取穀稈の搬送距離が、前記株元センサ１４の設置位置から前記フィードチェーン８ａの搬送始端部までの距離に達したときに、前記刈取穀稈の前記脱穀装置２への搬送が終了したと判別される。
【００２３】
そして、前記制御手段１００が、前記強制深扱き作動を実行した後、前記扱深さ検出手段Ｓにて前記設定適正扱深さ調節状態が検出される状態になるように前記扱深さモータＭ１を作動させる扱深さ復帰作動を実行するように構成されている。具体的には、前述のように、刈取穀稈の脱穀装置２への搬送の終了に伴って前記強制深扱き作動の実行を停止した後、直ちに、前記扱深さ検出手段Ｓにて前記設定適正扱深さ調節状態が検出される状態になるように前記扱深さモータＭ１を作動させている。
【００２４】
尚、このコンバインでは、畦際での刈り上げ作業を自動的に行うとともに、この刈り上げ作業で生じる極短稈の刈取穀稈が扱き残しにならないように構成されている。つまり、操縦部３に設けた刈り上げ作業開始用の指示スイッチ１５を操作すると、制御装置ＣＵが、刈取部４を自動的に上昇させるとともに扱深さモータＭ１を最深扱側に作動させ、且つ、前記解除用シリンダ１２を作動させて脱穀穀稈の挟持力を解除して、刈取穀稈の全稈を扱室Ａに投入するようにしている。
【００２５】
具体的には、制御装置ＣＵは、扱深さモータＭ１が最深扱き側に調節されている状態で、前記株元側センサＳ２及び穂先側センサＳ１が共に穀稈の非存在を検出すると、前記搬送回転センサ１９にて検出される穀稈搬送速度に、前記両センサＳ１，Ｓ２にて穀稈の非存在が検出されてからの時間を掛けることによって求められる搬送距離の情報に基づいて、前記株元側センサＳ２及び穂先側センサＳ１の配設箇所からフィードチェーン８ａの搬送始端部までの一定距離、刈取穀稈が搬送されたことを判断し、且つ、予め定められた一定速度であるフィードチェーン８ａの移動速度の情報に基づいて、フィードチェーン８ａの搬送始端部から前記挟持レール８ｂの挟持力解除位置まで穀稈を搬送するのに要する一定時間が経過したことを判断すると、前記解除用シリンダ１２を作動させて、穀稈に対する挟持力解除状態に切り換えるようにしている。
【００２６】
次に、制御装置ＣＵによる制御作動について図４〜図７に示すフローチャートに基づいて説明する。
株元センサ１４がオン状態であるときに、指示スイッチ１５が操作されると、刈取自動停止機構の作動を牽制して刈取部４を上昇させるとともに、扱深さモータＭ１を最深扱側に作動させてその状態を維持する〔ステップ１〜５〕。尚、株元センサ１４がオン状態で、指示スイッチ１５が操作されていないときは、適正扱深さ制御が実行される〔ステップ６〕。
【００２７】
そして、搬送回転センサ１９の検出値が０以外の値を検出し、且つ、供給位置センサ１３にて縦搬送装置９が最深扱側供給位置にあることが確認され、さらに、株元側センサＳ２及び穂先側センサＳ１が共にオフ状態で極短稈が搬送されてきたことが検出されると、搬送回転センサ１９の検出情報より穀稈が各センサＳ１，Ｓ２の配設箇所からフィードチェーン８ａの始端部までの一定距離搬送されたと判断され、更に、その時点からフィードチェーン８ａの始端部から挟持力解除位置までの搬送に要する一定時間が経過すると、解除用シリンダ１２を作動させて穀稈挟持力を解除し全稈投入状態に切り換える〔ステップ７〜１２〕。
【００２８】
そして、全稈投入作動中（穀稈保持保持力解除中）に極短稈の穀稈搬送が終了して、株元側センサＳ２及び穂先側センサＳ１のうちいずれかのセンサがオン状態になると、各センサＳ１，Ｓ２の配設箇所からフィードチェーン８ａの始端部までの一定距離搬送され、且つ、フィードチェーン８ａでの搬送所要時間が経過した後、解除用シリンダ１２の保持力解除の作動を停止して通常の保持搬送状態に戻す〔ステップ１３〜１６〕。
【００２９】
株元センサ１４がオフ状態であり、且つ、穀稈保持保持力解除中でないときに、株元センサ１４がオン状態からオフ状態に変化した後であれば、供給位置センサ１３にて検出される縦搬送装置９の扱深さ調節位置を記憶する〔ステップ１６〜１７〕。次に、刈取穀稈の脱穀装置２への搬送の終了が判別されるまでは、前記強制深扱き作動を実行し、刈取穀稈の脱穀装置２への搬送の終了が判別されると、前記扱深さ復帰作動を実行する〔ステップ１８〜２０〕。
【００３０】
強制深扱き作動では、株元側センサＳ２及び穂先側センサＳ１が共にオン状態になるまで、扱深さモータＭ１を深扱き側に作動させ〔ステップ２１〜２２〕、両センサＳ１，Ｓ２がオン状態になると、その位置からさらに扱深さモータＭ１を設定時間深扱き側に作動させた後、停止させる〔ステップ２３〜２４〕。
【００３１】
扱深さ復帰作動では、前記記憶させた縦搬送装置９の扱深さ調節位置に達するまで、扱深さモータＭ１を浅扱き側に作動させ〔ステップ３１〜３２〕、上記扱深さ調節位置に達すると、扱深さモータＭ１の作動を停止させる〔ステップ３１〜３３〕。
【００３２】
〔別実施形態〕
上記実施形態では、扱深さ検出手段Ｓが、刈取穀稈の稈長方向に所定間隔を隔てる状態で並置されて穀稈の有無を検出する株元側センサＳ２及び穂先側センサＳ１を備えるように構成したが、これ以外に、例えば穀稈に接当して揺動したときの揺動量で扱深さ調節状態を検出するアナログ式の揺動式センサで構成したり、あるいは、稈長方向に多数のセンサを並べてその多数のセンサのうちで穀稈を検出するセンサの位置で扱深さ調節状態を検出するようなものでもよい。
因みに、上記アナログ式の揺動式センサでは、例えば所定の揺動量の位置を前記設定適正扱深さ調節状態に設定するとともに、その所定の揺動量の位置よりもさらに深扱き側に揺動した位置を前記深扱き調節状態の揺動位置として設定することになる。又、稈長方向に多数のセンサを並べるものでは、その多数のセンサのうちの例えば浅扱き側から中央位置までのセンサが穀稈を検出する状態を前記設定適正扱深さ調節状態に設定するとともに、その中央位置のセンサよりもさらに深扱き側の設定量のセンサまで穀稈を検出する状態を前記深扱き調節状態に設定することになる。
【００３３】
上記実施形態では、制御手段１００が、前記強制扱深さ作動を実行した後、直ちに、前記扱深さ復帰作動を実行するように構成したが、これに限るものではなく、次の刈取作業の開始時に、すなわち、株元センサ１４にて刈取穀稈の存在が検出されるに伴って、前記扱深さ復帰作動を実行するように構成してもよい。
【００３４】
【図面の簡単な説明】
【図１】コンバインの前部側面図
【図２】制御構成のブロック図
【図３】刈取穀稈の搬送状態を示す正面図
【図４】制御作動のフローチャート
【図５】制御作動のフローチャート
【図６】制御作動のフローチャート
【図７】制御作動のフローチャート
【符号の説明】
２脱穀装置
１４穀稈存否検出手段
１００制御手段
Ａ扱室
Ｈ搬送装置
Ｍ１扱深さ調節手段
Ｓ扱深さ検出手段
Ｓ１穂先側センサ
Ｓ２株元側センサ[0001]
BACKGROUND OF THE INVENTION
The present invention changes the support position of the harvested cereal masher by the transport device in the cocoon length direction in the middle of the culm transport path of the transport device that supports and conveys the chopped cereal toward the threshing device. A handling depth adjusting means for adjusting the handling depth in the handling chamber, and a handling depth by the handling depth adjustment means at a position lower than the handling depth adjustment position by the handling depth adjustment means at the lower side of the cereal conveyance path. Handling depth detection means for detecting a depth adjustment state, cereal presence / absence detection means for detecting presence / absence of the harvested cereal conveyed by the transport device, and the harvested cereal meal by the cereal presence / absence detection means In the case where the presence of the water is detected, proper handling depth control is performed to operate the handling depth adjusting means so as to maintain the state in which the set appropriate handling depth adjusting state is detected by the handling depth detecting means. Combined depth control with control means to execute Apparatus on.
[0002]
[Prior art]
In the combine handling depth control device, the conveying device is configured to sandwich and support the stock side of the harvested cereal rice cake, and the handling depth adjusting means is provided in the middle of the cereal conveying route of the conveying device. In the place, it is comprised by the electric motor etc. which rock-operate the conveyance member which changes the support position of the harvested grain cocoon in the cocoon length direction, and delivers. Further, the cereal presence / absence detecting means for detecting the presence / absence of the harvested cereals conveyed by the conveying device is constituted by, for example, a stock source sensor that contacts the stock source of the cereal and detects the presence / absence thereof. Further, a handling depth detecting means provided with a pair of sensors arranged at an interval in the cocoon length direction, for example, is provided at a position on the lower side of the grain culm transport path with respect to the handling depth adjustment point.
[0003]
When the combine control device as the control means for executing the appropriate handling depth control detects the presence of the harvested cereal meal by the stock sensor, that is, when the harvesting operation is being performed, Of the pair of sensors of the depth detection means, the stock side sensor detects the presence of a pod while the tip side sensor detects the absence of the culm, that is, the state where the tip of the harvested cereal is located between both sensors Is set to the appropriate handling depth adjustment state, and the electric motor for adjusting the treatment depth is operated so as to maintain the setting appropriate treatment depth adjustment state. Control is performed so that the handling process is performed in the handling depth state.
[0004]
Conventionally, as shown in, for example, Japanese Patent Application Laid-Open No. 10-56850, when the harvesting operation is finished at the headland in the field, the transporting state of the cereal by the transport device is not accompanied by a decrease in the amount of reaped culm. Since it becomes stable and there is a possibility that the harvested cereals may fall off, at the end of the above harvesting operation, the handling depth adjusting means is forcibly handled by a certain amount to prevent the fallen (spilled spills) of such cereals. I was trying to act on the side.
[0005]
[Problems to be solved by the invention]
However, in the above prior art, when the cutting depth adjustment means is operated to the fixed depth side at the end of the cutting operation, for example, the culm length of the harvested cereal culm is long and the adjusted depth adjustment state becomes the deep handling state. If it becomes too large, there is a risk of increased handling load on the threshing device, clogging of the cereal, etc.On the other hand, for example, a mowing operation that raises the reaping part at the end of cutting is performed, and the culm length of the reaping cereal is increased. In the case where the length is gradually shortened, on the contrary, the handling depth adjustment state becomes a shallow handling state, the handling depth amount is insufficient, and there is a possibility that an unhandled portion may be generated.
[0006]
The present invention has been made in view of the above circumstances, and its purpose is to solve the above-described problems of the prior art, while preventing the falling of the harvested cereal meal at the end of the harvesting operation. An object of the present invention is to provide a combine depth control device that can be operated in a handle state.
[0007]
[Means for Solving the Problems]
According to claim 1, when the control means detects the change from the presence of the harvested culm to the non-existence by the cereal presence / absence detection means, the handling depth detection means causes the setting appropriate handling depth. A forced deep handling operation is performed to activate the handling depth adjusting means in a state in which the deep handling adjustment state on the set amount deep handling side than the depth adjustment state is detected.
That is, when the control means detects the presence of the harvested cereal rice cake that is supported and conveyed by the conveying device toward the threshing device, the appropriate handling depth control is executed. When a change from presence to non-existence is detected, the handling depth detection means detects the depth handling adjustment state on the set amount depth handling side rather than the set appropriate handling depth adjustment state. A forced depth handling operation is performed to activate the handling depth adjusting means.
[0008]
Therefore, when the absence of the harvested cereal cocoon conveyed by the conveying device is detected and the end of the reaping operation is determined, the support position of the harvested cereal cocoon by the conveying device is changed in the cocoon length direction to handle the threshing device. The handling depth adjustment means that adjusts the handling depth in the room forcibly changes the adjustment state to the set depth depth handling side rather than the set appropriate treatment depth adjustment state at the time of cutting operation. The harvested pestle harvested at the end of the work is supported by the transport device at a position that is changed to the deep handling side in the cocoon length direction from the support position at the time of the harvesting work, so that the harvested cereal meal does not fall off. In addition, since it is handled in the deep handling state by the set amount rather than the proper handling depth amount at the time of mowing, it avoids problems such as increased handling load and cereal clogging in the threshing device While cutting can be done, for example, at the end of cutting Even when the culm length of the harvested cereal culm is gradually shortened, it is possible to follow the variation of the culm length to maintain an appropriate depth of treatment and to leave behind due to lack of depth Thus, at the end of the harvesting operation, a combined depth control device for a combine that can be operated in an appropriate deep handling state while preventing the harvested cereal from falling off is provided. .
[0009]
According to claim 2, in claim 1, the handling depth detecting means is juxtaposed with a predetermined interval in the cocoon length direction of the harvested cereal cocoon, and the stock-side sensor and the tip A side sensor, wherein the stock side sensor detects the presence of a culm while the tip side sensor detects the absence of a culm as the set proper handling depth adjustment state, and the stock side sensor And a state where both the tip side sensors detect the presence of cereal pods are detected as the deep handling adjustment state.
That is, in the appropriate handling depth control, the stocker side sensor out of the stock side sensor and the tip side sensor that are juxtaposed at a predetermined interval in the cocoon length direction of the harvested culm The handling depth adjustment means is operated so that the tip side sensor detects the presence or absence of grain pods while detecting presence, and in the forced depth handling operation, the stock source side sensor and the tip side sensor Are operated so that both can detect the presence of cereal.
[0010]
Therefore, the treatment depth detection means is constituted by two sensors juxtaposed at a predetermined interval in the cocoon length direction, and the set appropriate treatment depth adjustment state and the above-mentioned are determined by the detection state of the presence or absence of the culm of the two sensors. Since the deep handling adjustment state is detected, an analog swing sensor that detects the handling depth adjustment state based on the amount of swing when the handle depth detection means is swung in contact with, for example, a grain Compared to the one that configures or arranges a number of sensors in the cocoon length direction and detects the handling depth adjustment position at the position of the sensor that detects the cereal among the many sensors, the device configuration is as simple as possible However, the handling depth adjustment state can be appropriately detected, and the preferred means of claim 1 can be obtained.
[0011]
According to Claim 3, in Claim 1 or 2, the control means manages the transport distance of the harvested cereal mash by the transport device, and transports the harvested cereal mash to the threshing device by the transport device. As the end of the operation is determined, the execution of the forced deep handling operation is stopped.
That is, the control means manages the transport distance of the harvested cereal meal by the transport device, and performs the forced deep handling operation until it is determined that the transport device has finished transporting the harvested grain meal to the threshing device. However, when it is determined that the conveyance device has finished conveying the harvested cereal meal to the threshing device, the execution of the forced deep handling operation is stopped.
Therefore, after the harvested culm has been transported to the threshing device, the execution of the forced deep handling operation can be stopped, and it is possible to avoid unnecessary operation of the deep handling adjustment state. The preferred means of claim 1 or 2 are obtained.
[0012]
According to Claim 4, in any one of Claims 1-3, after the said control means performs the said forced deep handling operation | movement, the said setting appropriate handling depth adjustment state in the said handling depth detection means The operating depth returning operation is performed to operate the operating depth adjusting means so as to be detected.
That is, after the control means executes the forced depth handling operation, the handling depth adjustment means is operated so that the set appropriate handling depth adjustment state is detected by the handling depth detection means. Let
Therefore, when the next cutting operation is started, the operating depth adjustment state of the operating depth adjusting means has returned to the set appropriate operating depth adjustment state. Compared to the one that returns the depth adjustment means to the appropriate depth adjustment state, the cutting operation can be started quickly with the right depth adjustment state. The suitable means of any one of claim | item 1 -3 is obtained.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment of a combine handling depth control device according to the present invention will be described with reference to the drawings.
As shown in FIG. 1, the combine is made by connecting a cutting part 4 to a front part of a machine body including a pair of left and right crawler traveling devices 1, a threshing device 2, a control unit 3 and the like so as to be movable up and down around a horizontal axis P. It is configured.
[0014]
The cutting unit 4 is a pulling device 5 that causes a planted culm, a cutting blade 6 that cuts the root of the planted culm, and an auxiliary conveying device that collects the harvested culm and conveys it to the rear. 7. A vertical conveying device 9 and the like that are handed over to the feed chain 8a of the threshing device 2 while gradually laying down the harvested cereal meal are provided, and are configured to swing up and down by driving the lifting cylinder 10. In a normal mowing operation, the mowing unit 4 is controlled to be raised and lowered so as to maintain a set height with respect to the ground. However, the mowing unit 4 can be raised and lowered by manual operation of the elevating lever 11 provided in the control unit 3. In addition, when the cutting unit 4 is raised more than a set height, an automatic cutting mechanism for automatically cutting off the power to the cutting unit 4 by a mechanical linkage mechanism and stopping the driving of the cutting unit 4 is provided. .
[0015]
The vertical transport device 9 includes a stock transport device 9a for holding and transporting the stock side of the grain straw, a tip transport device 9b for locking and transporting the stock tip side of the grain straw, and a tip guide plate 9c. Auxiliary transport device 7 is supported so as to be swingable about the same axis as the dynamic shaft core P, and can be swingably adjusted by an electric motor M1 with a gear-type reduction mechanism (hereinafter referred to as a handling depth motor). The receiving and clamping portion from the threshing device 2 is changed in the cocoon length direction so that the handling depth in the handling room A of the threshing device 2 can be changed and adjusted. Accordingly, the conveying device H that supports and conveys the harvested cereal toward the threshing device 2 is constituted by the auxiliary conveying device 7 and the vertical conveying device 9, and in the middle part of the cereal conveying path of the conveying device H, A handling depth adjusting means for adjusting the handling depth in the handling room A of the threshing device 2 by changing the support position of the harvested cereal rice cake by the conveying device H in the cocoon length direction is constituted by the handling depth motor M1. .
[0016]
The swinging fulcrum portion of the vertical conveying device 9 is provided with a potentiometer-type supply position sensor 13 for detecting the position at which the current handling depth adjustment position of the vertical conveying device 9 is located. The drive shaft portion of the device 9 is provided with a transport rotation sensor 19 that detects the corn straw transport speed of the stock transport device 9a (see FIG. 2). Further, at the start end of the vertical conveying device 9, a stock sensor 14 is provided as a grain stalk presence / absence detecting means for detecting the presence / absence of a harvested cereal mash conveyed by the conveying device H.
[0017]
Further, the handling depth motor M1 is located at a lower position on the grain transporting path than the handling depth adjustment position (the delivery position of the grain straw from the auxiliary transporting device 7 to the vertical transporting device 9) by the handling depth motor M1. A handling depth detecting means S for detecting the handling depth adjustment state by the is provided. Specifically, the treatment depth detection means S includes a stock-side sensor S2 and a tip-side sensor S1 that are juxtaposed in a state where a predetermined interval is provided in the cocoon length direction of the harvested culm and detects the presence or absence of the culm. . The sensors S1 and S2 are switch-types that swing and turn on when the cereal comes into contact. When the cereal comes into contact and is turned on, the presence of the cereal is detected and the cereal is in contact. It is configured to detect no wrinkles when there is no off state.
[0018]
In the threshing device 2, the threshing pestle is sandwiched toward the rear side of the handling chamber A at the side of the handling chamber A where the harvested cereal received from the vertical conveying device 9 is treated as a threshing cereal. In order to convey, a feed chain 8a and a clamping rail 8b urged toward the feed chain 8a by a coil spring (not shown) in a state of facing the feed chain 8a are provided, and a front side portion of the clamping rail 8b The operation of the release cylinder 12 can be changed between a state separated from the feed chain 8a against the urging force of the coil spring and a state close to the feed chain 8a by the urging force of the coil spring. As a result, the tip side can be handled and handled in the handling chamber A while holding and transporting the stock side of the cereal with the feed chain 8a and the holding rail 8b, and the holding rail 8b can be removed from the feed chain 8a. In the separated state, the holding force with respect to the culm at the front portion of the sandwiching rail 8b can be released, and the whole cullet of the threshing culm can be thrown into the handling chamber A for handling.
[0019]
Next, the control configuration will be described. As shown in FIG. 2, a control unit CU using a microcomputer is provided, and the control unit CU includes the supply position sensor 13, stock sensor 14, transport rotation sensor 19, The detection information of the tip side sensor S1, the stock side sensor S2, and the instruction switch 15 for starting the mowing operation described later is input. On the other hand, the control device CU outputs drive signals for the elevating cylinder 10, the handling depth motor M1, and the release cylinder 12.
[0020]
When the presence of the harvested cereal is detected by the stock sensor 14 using the control unit CU, the set appropriate handling depth adjustment state is detected by the handling depth detection means S. The control means 100 which performs the appropriate handling depth control which operates the said handling depth motor M1 so that it may maintain in a state is comprised.
Specifically, as shown in FIG. 3 (a), the handling depth detection means S detects the presence of the culm while the stock source side sensor S2 detects the absence of the culm. It is configured to detect the state as a setting appropriate handling depth adjustment state. That is, the handling depth is always appropriate regardless of the length of the planted culm by controlling the treatment depth motor M1 so that the tip of the culm is located between the sensors S1, S2. It is configured to be adjusted to a proper state.
[0021]
When the control unit 100 detects the change from the presence of the harvested cereal meal to the non-existence in the stock sensor 14, the handling depth detection unit S is more than the set appropriate handling depth adjustment state. A forced deep handling operation is performed to operate the handling depth motor M1 in a state in which a depth handling adjustment state on the set amount depth handling side is detected.
Specifically, as shown in FIG. 3 (b), the deep handling adjustment is performed when the handling depth detecting means S detects that the stock source side sensor S2 and the tip side sensor S1 both detect the presence of cereals. It is configured to detect as a state. That is, by operating the handling depth motor M1 in a state where both the sensors S1, S2 detect the presence of the cereal, the tip position of the reaped grain culm is positioned on the deeper handling side, so that at the end of the reaping operation. Even when the length of the harvested cereal culm is shortened, it is adjusted to an appropriate handling depth state.
[0022]
Furthermore, the control means 100 manages the transport distance of the harvested cereal meal by the transport device H, and as the completion of the transport of the harvested cereal meal by the transport device H to the threshing device 2 is determined. Thus, the execution of the forced deep handling operation is stopped.
Specifically, reaping is carried out by multiplying the cereal conveyance speed detected by the conveyance rotation sensor 19 with the time after the change from the presence of cereal to non-existence is detected by the stock sensor 14. When the transport distance of the cereals is determined and the transport distance of the cereals reaches the distance from the installation position of the stock sensor 14 to the transport start end of the feed chain 8a, It is determined that the conveyance to the threshing apparatus 2 has been completed.
[0023]
And after the said control means 100 performs the said forced depth handling operation | movement, the said handling depth motor M1 will be in the state by which the said setting appropriate handling depth adjustment state is detected by the said handling depth detection means S. It is comprised so that the handling depth return operation which operates may be performed. Specifically, as described above, after the execution of the forced deep handling operation is stopped with the end of the conveyance of the harvested cereal meal to the threshing device 2, the setting is performed by the handling depth detection means S immediately after the execution of the forced deep handling operation is stopped. The handling depth motor M1 is operated so that an appropriate handling depth adjustment state is detected.
[0024]
The combine is configured so that the harvesting operation is automatically performed at the edge of the harvest, and the extremely short harvested cereal grains generated by the harvesting operation are not left unhandled. That is, when the instruction switch 15 for starting the mowing work provided in the control unit 3 is operated, the control unit CU automatically raises the mowing unit 4 and operates the handling depth motor M1 to the deepest handling side, and The release cylinder 12 is actuated to release the holding force of the threshing cereal meal so that the whole harvested culm meal is put into the handling chamber A.
[0025]
Specifically, when the control device CU detects the absence of cereals when both the stock side sensor S2 and the tip side sensor S1 detect the handling depth motor M1 being adjusted to the deepest handling side, Based on the information on the transport distance obtained by multiplying the cereal conveyance speed detected by the conveyance rotation sensor 19 with the time after the absence of the cereal is detected by the sensors S1, S2. It is determined that the harvested cereal has been transported for a fixed distance from the location where the stock source side sensor S2 and the tip side sensor S1 are disposed to the transport start end of the feed chain 8a, and the feed is at a predetermined constant speed. Based on the information on the moving speed of the chain 8a, it is determined that a certain time has elapsed to transport the cereal from the conveyance start end of the feed chain 8a to the clamping force release position of the clamping rail 8b. When, by operating the release cylinder 12, so that switching to clamping force releasing state for culms.
[0026]
Next, the control operation by the control unit CU will be described based on the flowcharts shown in FIGS.
When the indicator switch 15 is operated when the stock sensor 14 is in the on state, the operation of the automatic harvesting stop mechanism is restrained to raise the harvesting unit 4, and the handling depth motor M1 is actuated to the deepest handling side. To maintain the state [steps 1 to 5]. When the stock sensor 14 is turned on and the instruction switch 15 is not operated, proper handling depth control is executed [step 6].
[0027]
The detected value of the conveyance rotation sensor 19 detects a value other than 0, and the supply position sensor 13 confirms that the vertical conveyance device 9 is at the deepest handling side supply position. When it is detected that both the tip side sensor S1 and the tip side sensor S1 are in the off state, the culm has been fed from the location where the sensors S1 and S2 are arranged based on the detection information of the transport rotation sensor 19. When it is determined that a certain distance to the start end has been conveyed, and when a certain amount of time required for conveyance from the start end of the feed chain 8a to the nipping force release position has elapsed, the release cylinder 12 is operated to pinch the grain Release the force and switch to the full power-on state [Steps 7-12].
[0028]
Then, when the whole straw feeding operation is completed (while the grain holding / holding force is being released), the conveyance of the ultra short rice cake is finished, and any one of the stock source side sensor S2 and the tip side sensor S1 is turned on. Then, after a certain distance from the place where each sensor S1, S2 is arranged to the start end of the feed chain 8a and the time required for conveyance in the feed chain 8a has elapsed, the release force of the release cylinder 12 is released. Stop and return to normal holding conveyance state [steps 13-16].
[0029]
When the stock source sensor 14 is in an off state and the stock holding force is not being released, the stock position sensor 14 is detected by the supply position sensor 13 if the stock source sensor 14 has changed from the on state to the off state. The handling depth adjustment position of the vertical conveying device 9 is stored [steps 16 to 17]. Next, until the end of the conveyance of the harvested cereal meal to the threshing device 2 is determined, the forced deep handling operation is executed, and when the completion of the conveyance of the harvested cereal meal to the threshing device 2 is determined, The handling depth returning operation is executed [steps 18 to 20].
[0030]
In the forced deep handling operation, the handling depth motor M1 is operated to the deep handling side until both the stock side sensor S2 and the tip side sensor S1 are turned on [Steps 21 to 22], and both sensors S1, S2 are turned on. If it will be in a state, after operating the handling depth motor M1 further to the setting handling depth side from the position, it will stop [steps 23-24].
[0031]
In the handling depth return operation, the handling depth motor M1 is operated to the shallow handling side until reaching the stored handling depth adjustment position of the vertical conveying device 9 (steps 31 to 32), and the handling depth adjustment position is set. Is reached, the operation of the handling depth motor M1 is stopped [steps 31 to 33].
[0032]
[Another embodiment]
In the said embodiment, the handling depth detection means S is equipped with the stock | base_source side sensor S2 and the tip side sensor S1 which are juxtaposed in the state which leaves | separates predetermined spacing in the cocoon length direction of the cutting cereal cocoon, and detects the presence or absence of cereal cocoon. In addition to this, for example, it may be configured with an analog swing sensor that detects the depth adjustment state based on the swing amount when it swings in contact with the cereal basket, or there are many in the cocoon length direction. These sensors may be arranged side by side, and the treatment depth adjustment state may be detected at the position of the sensor that detects the corn flour among the many sensors.
Incidentally, in the analog swing sensor, for example, the position of a predetermined swing amount is set to the set appropriate handling depth adjustment state and swings further deeper than the predetermined swing amount position. The position is set as the swing position in the deep handling adjustment state. Further, in a case where a large number of sensors are arranged in the cocoon length direction, for example, a state in which the sensor from the shallow handling side to the center position among the many sensors detects the culm is set to the set appropriate handling depth adjustment state. The state in which the cereal is detected up to the sensor of the set amount on the deep handling side than the sensor at the center position is set to the deep handling adjustment state.
[0033]
In the above embodiment, the control unit 100 is configured to execute the operation depth return operation immediately after executing the forced operation depth operation. However, the present invention is not limited to this. You may comprise so that the said treatment depth return operation | movement may be performed at the time of a start, ie, the presence of the harvested grain cocoon is detected by the stock sensor 14.
[0034]
[Brief description of the drawings]
FIG. 1 is a front side view of a combine. FIG. 2 is a block diagram of a control configuration. FIG. 3 is a front view showing a state in which a harvested cereal is conveyed. FIG. 4 is a flowchart of control operation. FIG. 6 is a flowchart of the control operation. FIG. 7 is a flowchart of the control operation.
2 Threshing device 14 Grain presence / absence detection means 100 Control means A Handling room H Transport device M1 Handling depth adjustment means S Handling depth detection means S1 Tip side sensor S2 Stock source side sensor

Claims

In the middle part of the grain culm transport path of the conveying device that supports and conveys the harvested cereal meal toward the threshing device, the support position of the harvested cereal meal by the conveying device is changed in the cocoon length direction in the handling room of the threshing device A treatment depth adjusting means for adjusting the treatment depth, and a treatment depth adjustment state by the treatment depth adjustment means at a lower position on the grain transporting path than a treatment depth adjustment place by the treatment depth adjustment means The presence of the harvested cereals is detected by the cereal presence / absence detection means for detecting the presence / absence of the harvested cereals conveyed by the conveying device; Control means for performing appropriate handling depth control for operating the handling depth adjusting means so as to maintain a state in which the set appropriate handling depth adjustment state is detected by the handling depth detecting means when Is a combine depth control device equipped with Te,
When the control means detects a change from the presence of the harvested culm to the non-existence by the cereal presence / absence detection means, the control depth setting means sets more than the set appropriate handling depth adjustment state. A combine depth control device configured to execute a forced depth handle operation for operating the handle depth adjusting means in a state where a depth handle adjustment state on a quantity deep handle side is detected.

The handling depth detection means includes a stock-side sensor and a tip-side sensor that are juxtaposed in a state of being spaced apart by a predetermined interval in the cocoon length direction of the harvested cereal and detects the presence or absence of the cereal, and the stock-side sensor is The state in which the tip sensor detects the presence of corn sprouts while detecting that there is no corn spear is set to the set appropriate handling depth adjustment state, and both the stock source side sensor and the tip side sensor detect presence of corn spear The combine depth control device according to claim 1, wherein the combine depth detection state is detected as the deep handle adjustment state.

The said control means manages the conveyance distance of the said harvested cereal meal by the said conveying apparatus, and the said forced deep handling is handled as the completion | finish of conveyance to the said threshing apparatus by the said conveying apparatus is determined. The combine depth control device according to claim 1 or 2, wherein the operation depth control device is configured to stop the execution of the operation.

After the control means executes the forced depth handling operation, the handling depth control means operates the handling depth adjustment means so that the set appropriate handling depth adjustment state is detected by the handling depth detection means. The combined depth control device for a combine according to any one of claims 1 to 3, wherein the combined depth control device is configured to execute a depth return operation.