JPS5819245B2 - Threshing depth control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an improvement of a device for controlling the handling depth of a threshing section in a carp pine that automatically reaps and threshes the culms of rice, wheat, etc.

In recent years, small combine harvesters suitable for small-scale agriculture in Japan have been developed and are being put into practical use one after another.Generally, they have a structure shown in the side view in Figure 1, with a weeding cover 2 and A clipper-shaped reaping section 3 is integrally provided, and a height sensor 4 is provided below it for detecting the distance to the ground and determining the height of the reaping section 3, and the distance to the ground detected by the height sensor 4 is Accordingly, the hydraulic mechanism 5 is driven to control the height of the entire tip section including the weed cover 2 and the cutting section 3.

In addition, the cut culm is carried upward by a chain-shaped culm conveying device 6, supplied to a culm conveying chain 7, and then delivered to the threshing section 8 by its rotational movement, similar to a general threshing machine. The tips of the ears are threshed by a rotating handling cylinder.

In addition, if the relative relationship of the ear tip to the handling barrel during threshing is too deep or too shallow, complete threshing will not be achieved. A sensor 9 is provided to detect the tip and root of the ear tip, and depending on the detection status, the height of the culm supply to the culm conveying chain 7 of the culm conveying device 6 is adjusted by a supply adjustment cylinder 10 using a hydraulic mechanism. ing.

However, in order to avoid bunching phenomenon during control, damage to various parts due to sudden movement, instability of control action, etc., the height reduction and supply adjustment of the tip section including the reaping section 3 are performed in accordance with the control described below. The device performs pulse control, that is, intermittent control.

However, the above-mentioned intermittent control has the drawback of causing inconvenience in the following cases.

That is, as shown in Fig. 2, at corner 12 of field 11, it becomes necessary to turn from the direction indicated by arrow 13 to direction 14, and in this case, first make a curve in direction 15, and then
Move backward in the direction of 16, then move forward in the direction of 14.

Therefore, in this case, the area around the field is likely to be disturbed by one crawler as shown in FIG. There was a risk that it would plunge into the ground and damage this part.

In addition, A in Fig. 3 is just before starting to move forward from 16 to 14 in Fig. 2, B is on the convex part 21 of the earth, and C is over the convex part 21 and plunges the grass cover 2 into the ground. At A, the height sensor 4 detects a large distance from the ground and controls the height of the tip to be small, and at B, the height sensor 4 detects a large distance from the ground, and controls the height of the tip to be small, and at B, the height sensor 4 detects a large distance from the ground. Reaping is started at a higher height, but the tip is lowered excessively than when the combine 1 is in a horizontal state.

At C, even if the height sensor 4 detects that the distance to the ground is small, combined with the excessive lowering of the tip at B, the control to increase the height of the tip cannot be done in time, and the weed cover 2 is pushed into the ground. There is.

As mentioned above, although conventional step control has the advantage of being able to perform stable control, it lacks coordination and has major defects that cause problems especially when dealing with uneven ground. A method has been proposed in which the height of the tip is continuously controlled in the direction of increasing just before the above-mentioned defect occurs.

However, if the tip is raised rapidly by continuous control, the cutting of the culm 22 at this time becomes shallower,
Since the stem attached to the tip becomes short, if it is fed as is to the mill threshing section 8, it will result in the inconvenience of being cut into crosspieces.

In addition, as shown in Figure 4, corner 12 of field 11 is
When reaping while turning as shown in the figure, even if there is a change in the growth of the culm during each reaping process, the correct handling depth is maintained by the responses of the depth sensor 9 and the supply adjustment cylinder 10 described above. However, as shown in Fig. 5, after reaping the long part 17 of the stem in good growth condition, the tip is raised significantly by manual operation and the tip is cut through the U-turn path 18 to remove the long part 17 of the stem in poor growth condition. When the cutting starts at the short part 19 of the stem, if the supply adjustment cylinder 10 is intermittently controlled, the response will be in time. There was a drawback that there was some unfinished business.

As shown in Figure 6, even when reaping the area W near the ridge 23, the tip is raised automatically or manually due to the upheaval of the ground. Similarly, it had the disadvantage of being stuck on the board.

The purpose of the present invention is to fundamentally solve the above problems and drawbacks. Equipped with a control circuit that continuously controls the plowing depth in the threshing section in the direction of deep plowing when rising beyond the range, and keeps the plowing depth at an appropriate level at all times in response to changes in the cutting situation. The purpose of this invention is to provide a one-board depth control device that can control the depth of a single board.

Hereinafter, the present invention will be explained in detail with reference to FIG. 7 showing an embodiment.

FIG. 7 shows a side view of the height sensor 4, in which an actuator 33 is always urged toward the ground 34 and protrudes rotatably from the side of the switch box 32 from which the cord 31 is led out, and the distance between the actuator 33 and the ground is When G is normal, it is within the rotation angle θn, and when the ground distance G is a dog, the rotation angle θd is within the range of rotation angle θn.
When the ground clearance G is small, the rotation angle θU is obtained, and further,
When the ground clearance G exceeds the rotation angle θU and becomes abnormally small, the rotation angle θe falls within the range of rotation angle θe, and a switch (described later) provided in the switch box 32 is activated corresponding to each of these rotation angles, and the tip is raised or Sends a descending signal.

However, within the range of rotation angle θn, none of the switches operates and no signal is sent.

Further, a predetermined cam mechanism is interposed between the switch and the actuator 33, and the switch is operated as described later.

FIG. 8 shows an automatic mowing height control system including a height sensor 4, a control unit CTU using an electronic circuit, and valve drive solenoids 5H-U and 5H-D of the hydraulic mechanism 5;
In addition, a culm culm SSF is installed inside the weed cover 2 in FIG.
, a solenoid 5F- for driving a valve that moves the deep skewer sensor 9 and the supply adjustment cylinder 10 up and down near the 8-person threshing section.
D, 5F-8, shows a block diagram of the automatic handling depth control system in which the control unit CTU turns on and off the solenoid based on the signal given by the on/off of the switch Ku#Kd in the height controller 4. 5H-U voice passes current to SR-ri, solenoid 5
When power is applied to H-U, the tip rises, solenoid 5H-D
When energized, the tip will drop.

In addition, when detecting a shell culm by turning on the shell culm sensor SSF, the control unit CTU sends current to the solenoids 5F-D and 5F-8 based on the signal given by turning on and off the switch Sd*Sa of the depth sensor 9. Through
Deep handling due to energization of solenoid 5F-D, solenoid 5
When F-3 is energized, the supply adjustment cylinder 10 moves up and down so as to form a crosspiece.

In both cases, a predetermined current is passed through the power source B.

Further, the switch SW is for manually controlling the height of the tip, and the switch ACH is an automatic control switch for determining whether or not to operate based on the signals from the height sensor 4 and depth sensor 9. .

FIG. 9 is a circuit diagram showing the automatic cutting height control system electronic circuit in the control unit CTU, and the area surrounded by the broken line is the continuous control circuit used as part of the present invention.
First, conventional intermittent control will be explained.

First, after turning on the switch ACH, when the switch SW is turned from N to D, the input of the inverter IV1 is at a low level (hereinafter referred to as "at L"), and its output is at a high level (hereinafter referred to as a).
Hjj ), transistors Q, , Q2 turn on and ground the falling output H8D.

Therefore, the solenoid 5H-D shown in FIG. 8 is energized and its tip rapidly descends.

Note that when the reaping section 3 is in the non-working position, the actuator 33 of the height sensor 4 is within the rotation angle θd, and swing≠Kd is on.

Moreover, the output of inverter IV1 simultaneously sets flip-flop circuit FF1, and even if the switch SW is returned to N, transistors Q, , Q2 are set to flip-flop circuit F.
In order to maintain the on state by the output of F1, the lowering operation of the tip continues.

When the actuator 33 of the height sensor 4 comes into contact with the ground 34 due to the lowering of the tip and rotates to the range of the rotation angle θn, the switch Kd is turned off, thereby turning the inverter v2
The input becomes ttH" and its output changes to 'L', NO
Since both dynamic inputs of R gate R1 are “L”, its output is tt
It becomes H″′.

As a result, flip-flop circuit FF2 is set.
The output turns on the transistor Qs 9Q4, producing an output DH, which turns on the lamp PL in FIG. 5 to indicate that the automatic cutting height control circuit is in operation.

Furthermore, the output of the flip-flop circuit FF2 resets the flip-flop circuit FF1, and the transistor Q
□ Since Q2 is turned off and the lowering output H8D is turned off, the lowering of the tip also stops.

On the other hand, the other output of flip-flop circuit FF2 is t
Applying t L pp to NOR gate R2pR3, a circuit from switch Ku* Kd to transistors Q□, Q, is prepared to enable automatic cutting height control.

If the height sensor 4 enters a depression, the switch Kd is turned on and the NAND gate A1 and NOR gate R2 are turned on.
is given a signal L#, and the output of the NAND gate A1 is t
tf(", and fixed ttH" through output and "H" output of NAND gate A8 and resistor r)
Therefore, the output of NAND gate A2 becomes tt i, tp.

This releases the reset state of the reset terminal R of the counter CUT□, and the counter CUT counts the clock pulses from the pulse generator CP G1. For example, when 32 pulses are counted, the output terminal Q6 becomes at.
Hpp roars.

Therefore, the output of inverter v3 becomes tt L", which causes all the inputs of NOR gate R2 to become L"
Therefore, its output becomes uH″′ and the transistor Q
t, turn on Q2 and lower the tip.

Then, when the counter CUT1 counts two more pulses, the output terminal Q2 becomes ttH''', and 'N
Since ANDNOR gate R1 becomes at Hzp, its output becomes tt L jj.

As a result, Takaka Z (t H
#, counter CUT1 is reset and output terminal Q
2- Both Qa becomes ′°L#, but this makes NA
The output of ND gate A3 becomes 1゛H''', and NAN
Since the output of the D gate A2 becomes ``LII'', the reset is canceled again and the counter CUS1 starts counting clock pulses.

Similarly, when the switch Kd is on, the transistor Qr-Q2 is on for only 2 pulses every 32 pulses of the clock pulse, and automatic lowering is performed intermittently. falls little by little,
When the actuator 33 contacts the ground 34 and rotates to the range of the backward rotation angle □θn, the switch Kd is turned off, so that each circuit returns to its initial state and then stops.

- On the other hand, when the height sensor 4 enters the white ground, the actuator 33' is pushed by the ground 34 and rotates to the range of rotation angle θU, turning on the switch Ku.

Then, tt L jj is given to the NAND gate A□ and the NOR gate R3, and the output of the NAND gate A1 becomes ttH", which causes the output of the NAND gate A2 to become t'L" since the other inputs also become ttH". ,
The reset of the counter CUT1 is canceled to start counting clock pulses.

Counter CUT. Similarly to the above, after counting 32 pulses, the output terminal Q6 is set to 'H', and the output of the inverter v3 is set to 'L'. As a result, all the inputs of the NOR gate R3 become 'LtL', so its output becomes ttH. ”
Therefore, transistor Q5-Qe is turned on.

Therefore, the rising output H8U is grounded and energized to the solenoid 5H-U in FIG. 5 to raise the tip.

Note that while the switch Ku is on, the transistors Q5-Qa are turned on for only 2 pulses every 32 clock pulses, and the automatic step-like rise is performed intermittently, increasing the distance to the ground. When the actuator 33 rotates within the range of the rotation angle θn due to an increase in G, the switch Ku is turned off, so that each circuit is restored and the upward movement is also stopped.

Next, when moving the combine harvester 1 after the reaping work,
To raise the tip to the non-working position, press switch SW.
Move from N to U.

Then, the input of the inverter IV becomes "L" and its output becomes "H", so the transistors Q5-Qa are turned on and the tip rises continuously and rapidly.

Also, at the same time, one input of the NAND gate is set to 'L'.
and let its output be at Hpp, which gives 7
In order to reset the lip-frog circuit FF2, transistors Q3-Q4 are turned off, the lamp PL connected to the output DH is turned off, and the cancellation of automatic cutting height control is notified.

As described above, the automatic mowing height control device operates, and stepwise raising and lowering are performed by detecting the distance from the ground by the height sensor 4.

・In contrast, in the present invention, when the actuator 33 in FIG. 7 reaches the rotation angle θe, both the switches Kus and Kd in FIG. 9 are turned on simultaneously by the cam mechanism in the switch box 32. Then, input the meat of NOR gate R4 inside the broken line.

"L"', and its °'H" output is the transistor Q5j
to Q6 to turn it on, and to both switches, up and down
While Kd is on, the solenoid S:E (-U is forcibly energized, and the direction that increases the height of the tip including the reaping section 3,
That is, by continuously controlling in the upward direction, the tip is rapidly raised.

Therefore, if the height sensor 4 detects an abnormally small ground clearance G in the posture shown in FIG. 3C, the tip will immediately rise, resulting in the state shown in FIG. You will never lose 3.

Note that the height sensor 4 is a switch Ku.

In addition to turning on Kd at the same time using a cam mechanism, a third switch is also set to turn on when the actuator 33 reaches the rotation angle θ9, and directly connects the transistor Qi-
, Qa may be given a forward bias,
Various configurations of the height sensor 4 and the control circuit can be selected and used.

FIG. 10 is a circuit diagram of the automatic handling depth control system electronic circuit in the control unit CTU, and the part within the broken line is the control circuit according to the present invention. explain.

First, as shown in the time chart in Figure 11, the culm sensor S
If SF is turned on due to detection of culm, AND gate A
□1. One inverted input of A1□ becomes L'', and these games A11 and A□2 prepare for operation.

Next, when only the switch Sd is turned on, the other inverting input of the AND gate A11 also becomes "L", but the NAN
D game) Since the inverted input from A and 4 is tt H”,
The output of the AND gate A1□ is ttL''.

On the other hand, as the output of inverter v1 changes from uL" to "H", the inverting input of ANDNO gate R3 becomes "H".
Therefore, its output becomes uL,n, and the output of inverter v2 becomes u Hpp, which is applied to one inverting input of OR gate R□1, but the other inverting input of the same gate R1□ becomes tt. As a result, the output of OR gate R01 becomes 'H', and OR gate R
12 to one inverting input.

OR game) The other inverting input of R□2 is connected to t by resistor r.
tH”, and t from OR gate R1,1.
tH” causes the output to change to at I,” and the counter C
The reset terminal R of UT is set from "Hn" to "L" to release the reset state and start counting operation.

Then, the counter CUT2 counts the clock pulses from the pulse generator CPG2, and when 48 clock pulses are counted as shown in FIG.
4Ki H", and NAN is connected via jumper 1 terminal tb.
This is applied to one input of D gates A14 and A15.

Then, as the 49th to 64th pulses, that is, 16 more pulses are counted, the output terminals Q, .about.Q successively generate ttH'' and hold it.

Therefore, the output of the NAND gate A14 becomes low from the 49th pulse, and this is applied to the inverting input of the AND gate A11, so that the gate Au receives all the inverted input inputs Z It I, and its output becomes becomes ttH'', turning on the transistor Q1□ and grounding the output FSD.

Therefore, the solenoid 5F-D in FIG. 8 is energized and the supply adjustment cylinder 10 starts operating toward the deep handling side.

However, when the counter CUT2 counts 64 clock pulses and the output terminal Q7 becomes ttH''', the NAN
The output of D gate A15 becomes "L", and the resistor "H" is grounded, and one inverting input of OR gate R12 is connected to tt L pi.
shall be.

As a result, the output of OR gate R1□ changes to "H",
Output terminals Q4 to Q to reset counter CUT2
7 all return to “L”°, NAND gate A□4 #
Each output of Al 5 becomes “H”, and AND gate A
The output of tt becomes tt L'', turning off transistor Qll and stopping the supply regulating cylinder 10.

In addition, as the output of NANb gate A15 becomes tt H", the inverted input of OR gate R1□ becomes "H" again, and the output of gate R12 becomes "L", releasing the reset state of counter CUT2. Therefore, the counter CUT2 starts counting clock pulses again, and repeats the above operation as long as the culm sensor SSF and the switch Sd are on.

That is, as shown in FIG. 11, the solenoid 5F-D is energized for only 16 periods every 48 clock pulses.

The supply adjustment cylinder 10 is operated intermittently.

Furthermore, when the switch Ss is turned on after the switch Sd is turned off, the output of the inverter IV1 becomes ttL", and both inverted inputs of the AND gate A13 become ttL", so its output becomes 'H', and the output of the inverter IV1 becomes ttL". The output becomes L'' and is applied to one inverting input of AND gate A□2.

On the other hand, one of each inverting input of OR gate R11 is tt H
”, the other is ttL, and its output is °tHn, so the output of OR gate R1□ is “L p
The counter CUT starts counting clock pulses, and at the 48th count, the output of the NAND gate AI4 is set to @L'' and transferred to the output of the AND gate A12, ttH''.

Therefore, the transistor Q12 is turned on, and this time, the crosspiece output FSS is grounded, and the solenoid 5F-S is energized to operate the supply adjustment cylinder 10 toward the crosspiece side.

However, in this case as well, the counter CUT2, the NAND gate A□6, and the OR gate R1□ operate intermittently for only 16 periods every 48th clock pulse.

As described below, the automatic handling depth control is performed intermittently in steps, but the switch Ku in FIG.

When Kd is turned on at the same time, that is, when the reaping section 3
When controlling continuously in the direction of increasing the height, the first
°'H'' is given to the * mark in Figure 1, AND game) A12
fixing the output to "L" and continuously applying "H" to the transistor Qll, energizing the solenoid 5F-D to continuously control the supply adjustment cylinder 10 in the deep treatment direction,
To prevent the occurrence of cross-cutting due to the above-mentioned causes.

FIG. 12 is a block diagram showing an embodiment of the second invention, but only necessary parts are omitted.

The height sensor 4 shown in the same figure has an additional third switch Ke that is activated when the actuator 33 shown in FIG. 7 rotates to the range of rotation angle θe. As described above, the automatic cutting height control system controls the height of the cutting section 3 to be larger than the normal range, but at the same time as the control starts, the timer T is energized via the switch Ke, and according to the set time of the timer T. The contact point t is turned off after a predetermined period of time.

Therefore, as shown in the time chart in Fig. 13A, when the switch Sd is on and the switch Ss is off, the culm sensor SSF'7! When I- turns on, the control unit CTU intermittently grounds the deep control unit FSD according to the clock pulse count, as described above, and intermittently energizes the solenoid 5F-D, but the height sensor 4 When the switch Ke is turned on at the same time as the other switch Kus Kd, the timer T starts at the same time as the reaping part 3 starts to rise, and in the example shown in the figure, time-up is completed after 0.5 seconds and the contact t is turned off. .

For this reason, a current is forcibly passed through the solenoid 5F-D together with the deep handling output FSD through the contact t, and during this time, the supply adjustment cylinder 10 is continuously controlled in the deep handling direction, and the Promptly move to a state that prevents occurrence.

Note that the setting time of the timer T is determined depending on the response speed of the supply adjustment cylinder 10 and the required correction amount;
．． In 5s, 7 to 8 cfn will be treated deeply.

In addition, the switch SM in Fig. 12 is used to control the depth of treatment by manual operation.
If you flip it to the side, it becomes a board.

. Note that, instead of using e as the switch in FIG. 12, the output of the NOR gate R4 in FIG. 9 starts the timer T and turns on the transistor Qll in FIG. 10, so that the transistor Qll is controlled by the time-up of the timer T. The circuit may be turned off, and the above-described cap path can be modified in various ways depending on the conditions.

As is clear from the above explanation, according to the present invention, the occurrence of cross-cutting due to the abnormal posture of the combine and the abnormal rise of the reaping part is prevented, so that threshing is always carried out efficiently and no unhandled grain is left. However, it is highly effective in improving the workability of combine harvesters.

Brief explanation of the drawings - Figure 1 is a side view showing a row of combii, Figure 2 is a diagram showing the direction change movement at a field corner, Figure 3 is a diagram showing changes in the posture of pine pine due to the unevenness of the ground, Figure 4 is a diagram of the driving situation for general reaping work, Figure 5 is a diagram of the driving situation of reaping work with a U-turn, and Figure 6 is a diagram of the driving situation for reaping work using a U-turn. The figure shows the state of the reaping work near the ridge, and the figure 7 and subsequent figures show the actual harvest of the present invention.
The figure is a side view of the height sensor, Figure 8 is a block diagram of the control device, Figure 9 is a circuit diagram of the automatic mowing height control system electronic circuit in the control unit shown in Figure 5, and Figure 10 is a block diagram of the control device in Figure 5. A circuit diagram of the automatic handling depth control system electronic circuit in the control unit shown in the figure, Figure 11 is a time chart showing the operation of the automatic handling depth control system, and Figure 12 is a block diagram of the second invention. , FIG. 13 is a time chart showing the operation of FIG. 12.

1... Combine harvester, 3... Reaping section,
4...Height sensor, 5...Hydraulic mechanism,
6... Hull culm conveyance device, 7... Hull culm conveyance chain, 8... Threshing section, 9... Depth sensor, 10...・・Supply adjustment cylinder, CTU・
...control unit), 5H-U, 5R-D
.

5F-D, 5F-8--・-Solenoid, Kup
Kci.

Ke s S dp S s...Switch,
R4...NOR gate, Ql...transistor, T...timer, t...
·contact.

Claims (1)

[Claims] 1. In a device that intermittently controls the handling depth of a combine harvester that automatically reaps culms and threshes, when the height of the reaping section is continuously controlled in the direction of increasing the height. A threshing machine depth control device characterized by comprising a control circuit that continuously controls the handling depth in the deep handling direction in conjunction with the control circuit. 2. In a device that intermittently controls the handling depth of a combine harvester that automatically reaps culms and threshes, when the height of the reaping section exceeds the normal range, the handling depth is stopped for a certain period of time determined by a timer. A threshing machine depth control device characterized by comprising a control circuit for controlling the threshing depth in a deep handling direction.