JP2002253038A - Operation apparatus for grain discharge auger in combine harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operation apparatus for a grain discharge auger in a combine harvester, with which the auger can be stopped at a target rotation position as accurately as possible when an automatic control is performed even in the case of the inclined position of a machine body. SOLUTION: The grain discharge auger 9 rotatably and liftably attached to a machine body is constituted to perform an automatic circulation control for controlling the action of an actuator M for rotation based on command information of an automatic rotation command means 21 for ordering a rotation command for automatically rotating the auger at a target rotation position. When the auger 9 is rotated to a side a set amount nearer than a target rotation position HP based on detection information of a rotation position detection means Ry for detecting the rotation position of the auger 9, the rotation action is stopped for a fixed time, then, the actuator M1 for rotation is operated so as to rotate the auger 9 at the target rotation position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a grain discharging auger provided to be capable of turning with respect to a body by a turning actuator and to be capable of moving up and down with respect to a body by a lifting actuator. Automatic turning command means for commanding a turning command for automatically turning to a turning position; and operation of the turning actuator for automatically turning the auger to the target turning position based on command information from the automatic turning command means. And an operating device for a grain discharging auger in a combine provided with control means for executing an automatic turning control for controlling the auger.

[0002]

2. Description of the Related Art Conventionally, an operating device of an auger for discharging grains in a combine of this type has been disclosed in, for example,
As disclosed in Japanese Patent Application Laid-Open No. 7-48884, there has been a configuration in which, as the automatic turning control, for example, an auger is automatically stored in a storage position where the auger is retired from the discharging operation position to the upper part of the body. That is, a storage position is set as the target turning position, and a turning actuator as a turning actuator is used to automatically turn the auger to the target turning position based on command information of an automatic switch as an example of the automatic turning command means. The automatic rotation control for controlling the operation of the electric motor was performed. Such a configuration reduces the complexity of the operation, for example, as compared with a manual command type operation configuration in which a turning operation and a stop operation are manually switched. A receiving device for receiving and supporting the auger is provided at the storage position, and after the automatic turning control is executed and stopped at the target turning position, the auger is lowered and stored in the receiving device. .

When executing the automatic turning control, the electric motor for turning is operated until the turning position of the auger detected by the turning position detecting means reaches the target turning position. When it comes to the position, the turning operation is stopped, and the lifting hydraulic cylinder as the lifting actuator is operated to lower the auger to be stored in the receiver.

[0004]

However, the above-mentioned auger is provided with a swivel shaft so as to protrude to the outside of the machine body when the grains are discharged so that the grains can be efficiently discharged to the truck bed. It is configured to extend laterally long from the core position to the grain discharge part at the tip, and has a large mass in order to have sufficient support strength. As a result, if the turning is stopped while the turning actuator is turning at a predetermined moving speed, a large inertial force may be applied. Then, if the turning operation of the turning actuator is stopped immediately when it is determined that the turning position detected by the turning position detecting means has reached the target turning position, it is caused by this large inertial force. As a result, the turning position may go too far from the target turning position. For example, when the turning position is automatically turned to the storage position, there is a possibility that an inconvenience such that the auger is not properly stored in the receiving device may occur.

Therefore, in order to prevent the excessive operation caused by the inertial force as described above, the following improved configuration has been considered. That is, in order to stop the auger at the target turning position by the inertial force, the target position for turning stop in the automatic turning control for stopping the auger is set to the target turning in anticipation of the overshoot caused by the inertial force. This is a configuration in which auger automatic turning control is executed in a state where the setting is made to be on the near side by a set amount from the position.

In the above-described improved configuration, when a target position for turning stop in automatic turning control is set, it is caused by an inertial force in a standard working state, for example, a state in which the body is set in a horizontal posture. Although it is conceivable to set the target turning position on the front side by an amount corresponding to the excessive operation, in a work vehicle such as a combine,
It is not always the case that the aircraft is in the horizontal posture during the work, and the aircraft may be inclined. For example, when the auger is turning in such a way that the auger moves downward in a tilted state, the force to stop the turning operation due to the load of the auger itself is weaker than in the horizontal posture, and as a result, In addition, the amount of overshoot caused by the inertial force is larger than in the horizontal posture. On the other hand, when the turning operation is performed so as to be directed to the upper side of the inclination, the force for stopping the turning operation is larger than that in the horizontal posture, and as a result,
The amount of overshoot caused by the inertial force is smaller than in the horizontal posture. Therefore, as in the above-described improved configuration, the automatic turning control of the auger is performed in a state in which the overturn amount due to the inertia force is set to be closer to the target turning position by the set amount than the target turning position. Even in such a case, when the attitude of the body is inclined, there is a high possibility that the vehicle cannot be stopped properly at the target turning position.

The present invention has been made in view of such a point, and an object of the present invention is to set an auger in executing the automatic turning control even when the attitude of the body is inclined. An object of the present invention is to provide an operating device of a grain discharging auger in a combine which can be stopped as accurately as possible at a turning position.

[0008]

According to the first aspect of the present invention, there is provided a grain discharging auger which is provided so as to be capable of turning operation with respect to the machine body by a turning actuator and is capable of operating up and down with respect to the machine body by a lifting actuator. Automatic turning command means for commanding a turning command for automatically turning the auger to the target turning position, and automatically turning the auger to the target turning position based on command information of the automatic turning command means. In an operating device of a grain discharging auger in a combine provided with control means for performing automatic turning control for controlling operation of a turning actuator, turning position detecting means for detecting a turning position of the auger is provided, In the automatic turning control, the control means sets the auger to the target turning position based on the detection information of the turning position detecting means. When the swivel is turned forward by a predetermined amount, the operation of the swivel actuator is stopped for a set time, and thereafter, the swivel actuator is operated to turn the auger to the target swivel position. It is characterized by the following.

That is, when executing automatic turning control for controlling the operation of the turning actuator to automatically turn the auger to the target turning position, the auger is moved from the target turning position on the basis of the detection information of the turning position detecting means. When the vehicle turns to the front side by the set amount, the operation of the turning actuator is stopped there, and after the set time has elapsed, the turning actuator is operated to turn the auger to the target turning position. Here, the set amount is set to a value larger than a turning movement amount that is excessively operated by inertia force when the auger stops turning, and as the set time, the operation of the turning actuator is stopped. When the turning movement continues due to the inertia force of the auger after the time, a time sufficient for the movement due to the inertia force to end is set.

As described above, by stopping the turning operation of the auger at a position closer to the set amount than the target turning position, even if an excessive operation due to the inertia force occurs when the rotation is stopped, the excessive operation due to the inertia force is generated. After the completion of the operation, the auger stops moving in a state where the auger is located in front of the target turning position on the operation side. At this time, not only when the auger is tilted and the auger turns upward, but also when the auger turns downward, the auger moves in a state in front of the target turning position. Will be stopped. Then, from the stopped state, the turning actuator is operated to turn the auger to the target turning position. At this time, the auger starts turning operation from the stopped state, and stops after a slight movement. Therefore, it is not possible to perform an excessive operation due to a large inertia force, and it is possible to accurately stop at the target turning position.

Therefore, even when the attitude of the machine body is inclined, the grain in the combine which can stop the auger as accurately as possible at the target turning position when executing the automatic turning control is provided. It has become possible to provide an operating device for the discharge auger.

According to a second aspect of the present invention, a grain discharging auger provided to be capable of turning operation with respect to the body by a turning actuator and to be capable of moving up and down with respect to the body by an elevating actuator is provided. Automatic turning command means for commanding a turning command for automatically turning to a position, and operating the turning actuator to automatically turn the auger to the target turning position based on command information of the automatic turning command means. In the operating device of the grain discharging auger in the combine provided with control means for performing automatic turning control to control, an operation state in which a movement resistance is given to the turning operation of the auger and a non-operation state in which the movement resistance is not given. And a turning position detecting means for detecting a turning position of the auger. But, in the automatic turning control,
Based on the detection information of the turning position detecting means, the resistance applying means is maintained in the non-operating state until the auger is turned by a set amount before the target turning position, and It is characterized in that the resistance applying means is switched to the operating state when the vehicle is turned to a position closer to the set amount than the target turning position.

That is, when executing automatic turning control for controlling the operation of the turning actuator to automatically turn the auger to the target turning position, the resistance applying means is provided until the auger reaches the set turning position before the target turning position. Is inactive, the turning operation by the turning actuator is performed at a predetermined moving speed without receiving the movement resistance. Then, when the auger turns toward the set amount side from the target turning position on the basis of the detection information of the turning position detecting means, the resistance applying means switches to an operation state of applying a movement resistance to the turning operation of the auger. In addition, since the moving resistance is given to the turning operation of the auger by the turning actuator, the turning speed of the auger is gradually reduced, and when reaching the target turning position, the moving speed is slowed down. The power will be absorbed. Then, even when the operation of the turning actuator is stopped at the target turning position, the inertia force of the auger is small at that time, so that the auger can be accurately stopped at the target turning position without excessive operation. .

Therefore, even when the attitude of the airframe is inclined, the grain in the combine which makes it possible to stop the auger as accurately as possible at the target turning position when executing the automatic turning control. It has become possible to provide an operating device for the discharge auger.

According to a third aspect, in the first or second aspect, the swivel position is switchable between a holding state in which the auger is in the target swivel position and a release state in which the auger is released from holding. Holding means is provided, wherein the control means executes a descent control for operating the elevating actuator to lower the auger and store it in the storage holder after the automatic turning control is completed. And when the lowering control is executed, the turning position holding means is switched to the holding state.

That is, as the automatic swing control, a swing operation for automatically storing the auger in the storage position is executed. The automatic swing control is terminated, and the swing is stopped at the target swing position for storage. Then, the auger is actuated to lower the auger by actuating the lifting / lowering actuator and storing the auger in the storage holder. In this lowering operation, the turning position of the auger is held at the target turning position by the turning position holding means. Will be. When the automatic turning control is being executed, the turning position holding means is switched to the release state in which the position holding is released, so that there is no resistance to the turning operation.

Therefore, when the auger is lowered to the retracted position in a state where the automatic turning control is completed and stopped at the target turning position, for example, even when the body is inclined, It is possible to maintain the target turning position while avoiding the inconvenience that the turning position of the auger is displaced downwardly due to its own load, and to accurately store the auger in the storage holder, Means suitable for implementing claim 1 or 2 are obtained.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [First Embodiment] Hereinafter, a first embodiment of a grain discharging auger operating device in a combine according to the present invention will be described.
An embodiment will be described with reference to the drawings. 1 and 2
As shown in the figure, the combine is provided with a reaping unit 3 at a front portion of a body V provided on an upper part of a pair of right and left crawler traveling devices 1 so as to be swingable around a horizontal axis. ,
A control unit 2, a threshing unit 4 for threshing and sorting the harvested culm, a Glen tank 5 for storing the kernels collected and collected in the threshing unit 4,
And an auger 9 for discharging the grains for discharging the grains stored in the Glen tank 5 out of the machine.

A bottom screw conveyor 7 is provided at the bottom of the Glen tank 5 along the front-rear direction, and a vertical feed screw conveyor 8 is extended upward from the transport end of the bottom screw conveyor 7 to extend vertically. Above the screw conveyor 8, a base end of the auger 9 is provided so as to be swingable around a horizontal axis P1 and swingable around a vertical axis P2. FIG. 2 shows a state in which the auger 9 has been turned to the storage turning position HP, and the auger 9 is lowered in a state in which the auger 9 has been turned to the storage turning position HP, so that a receiving member as a storage holder is provided. The auger 9 is stored by being received by the user 30 (see FIG. 1).

The bottom screw conveyor 7 is provided with a bottom conveyor screw 7A, and power transmission from the engine E provided at the right front of the machine to the bottom screw conveyor 7 is intermittently provided at the starting end of the bottom conveyor screw 7A. The output pulley 13A of the belt tension type clutch 13 is mounted. Further, the vertical feed screw conveyor 8 has a vertical conveyor screw 8A interlockingly connected to a bottom conveyor screw 7A via a bevel gear.
And a cylindrical case 8B that covers it and is connected to the Glen tank 5 and is connected to the auger 9. The auger 9 has a conveyor screw 9A interlockingly connected to a vertical conveyor screw 8A via a bevel gear. The rotating case 6 is attached to the cylindrical case 8B of the conveyor screw 8A.
And a cylindrical case 9 </ b> B that is connected to and communicated with the power supply through a cylindrical case 9 </ b> B. Then, the rotating case 6 is connected to the cylindrical case 8B of the vertical feed screw conveyor 8 so as to be relatively rotatable around the vertical axis P2, and is relatively rotated around the horizontal axis P1 to the cylindrical case 9B of the auger 9. Connected as possible. At the tip of the cylindrical case 9 </ b> B of the auger 9, a grain outlet 10 in a downward state is formed. That is, the bottom conveyor screw 7A, the vertical conveyor screw 8A, and the conveyor screw 9A are driven by the power of the engine E transmitted through the clutch 13 to transfer the grains stored in the Glen tank 5 to the outlet 10 of the auger 9. It is configured to be discharged from.

The driving means for turning the auger 9 will be described. As shown in FIG. 3, a large-diameter gear 11 for turning drive is fixed to the outer surface of the rotating case 6 and is engaged with the large-diameter gear 11. The rotating electric motor M1 for rotatingly driving the pinion gear 12 is fixed to the vertical feed screw conveyor 8, and the auger 9 is rotated about the vertical axis P2 with the forward and reverse driving of the rotating electric motor M1. And
Further, it is configured to stop turning as the turning electric motor M1 stops operating. In the figure, Ry is a turning position detection sensor using a multi-rotation type potentiometer for detecting the turning position of the auger 9, and is rotated simultaneously with the turning drive gear 11 by the gear 13 driven by the turning electric motor M1. It is being operated. That is, the turning position detection sensor Ry constitutes a turning position detecting means for detecting the turning position of the auger 9.
In addition, as shown in FIG.
When the auger 9 reaches the left limit position LE and the right limit position RE of its turnable range based on the detection information of the turning position detection sensor Ry, the turning of the auger 9 is automatically stopped. The configuration is such that the electric motor M1 is controlled.

The turning electric motor M1 is provided with an electromagnetic brake 25 for stopping the rotation of its drive shaft. Although not shown, the electromagnetic brake 25 relatively moves a sliding contact member that rotates integrally with the drive shaft of the electric motor and a friction plate fixed to the case by an electromagnetically operated actuator such as an electromagnetic solenoid to press them together. While the turning operation of the auger 9 is stopped, the position of the electromagnetic brake 25 can be held at the stop position where the electromagnetic brake 25 is switched to the operating state (ON state). Is allowed. Therefore, the electromagnetic brake 25 is configured to function as turning position holding means.

Next, the driving means for raising and lowering the auger 9 will be described. As shown in FIG. 3, a lifting hydraulic cylinder 15 is provided between the base end of the auger 9 and the rotating case 6. The auger 9 is raised around the horizontal axis P1 as the elevating hydraulic cylinder 15 is extended, and the auger 9 is lowered around the horizontal axis P1 as the elevating hydraulic cylinder 15 is shortened. It is configured to be. Note that an upper limit switch 14 that is turned on when the auger 9 is at the upper limit position of the elevating operation range is provided (see FIG. 5).

Therefore, the auger 9 is driven by the turning electric motor M1 as a turning actuator so that the body V
With respect to the machine body V by means of the hydraulic cylinder 15 for raising and lowering as an actuator for raising and lowering.

The control section 2 is provided with a cross lever type manual operation tool 20 for instructing an operation command for turning and advancing and lowering the auger 9. The manual operation tool 20 will be described in further detail. As shown in FIG. 4, an operation lever 20A is provided which is urged to return to the center position. Is turned on and the ascending command is issued, and the operating lever 2
When 0A is tilted forward, the lowering switch SD is turned on and a lowering command is issued. When the operating lever 20A is tilted leftward, the right turning switch SL is turned on and a right turning command is issued. When the operation lever 20A is tilted to the right, the left turning switch SR is turned on to issue a left turning command (see FIG. 5). Also, the operation lever 20A
Is returned to the center position, a turning stop command for stopping the turning operation of the auger 9 and an elevating stop command for stopping the elevating operation of the auger 9 are issued.

An automatic switch 21 for automatically moving the auger 9 to the storage position or the target discharge position is provided near the manual operation tool 20.
A stop switch 22 for stopping the operation, a discharge position setting volume 23 for setting the target discharge position,
A clutch on / off switch 24 for turning on / off the clutch 13 is provided. The automatic switch 21 and the stop switch 22 are configured as a push-operation type, and are configured to be in an ON state only while the push operation is being performed, and are configured to return to an OFF state when the push operation is stopped. The clutch on / off switch 24 is constituted by a switch for maintaining the state in each of the on state and the off state.

Next, a control configuration for operating the auger 9 will be described. As shown in FIG. 5, a control device H using a microcomputer is provided.
The position detection sensor Ry, the upper limit switch 14,
The switches SU, SD, S provided on the manual operation tool 20
L, SR, the automatic switch 21, the stop switch 2
2. Each signal of the discharge position setting volume 23 and the clutch ON / OFF switch 24 is input. on the other hand,
From the control device H, the turning electric motor M1, the control valve 16 of the lifting hydraulic cylinder 15, the clutch 13
Each drive signal for the clutch motor M2 that operates is operated.

When the automatic switch 21 is turned on while the auger 9 is in the storage position, the control device H moves the auger 9 to the target discharge position. When the switch 21 is operated, automatic control for automatically moving the auger 9 to the storage position is executed. In order to return the auger 9 from a position other than the storage position to the storage position by this automatic control, the auger 9 is first raised to the upper limit position, and is turned to the storage turning position HP in the state of the upper limit position. When the auger 9 at the upper limit position is moved down for a predetermined time at the turning position HP for use to control the auger 9 to be lowered to the storage position, on the other hand, when the auger 9 is moved from the storage position to the target discharge position, first, the auger 9 is moved. 9 is raised to the upper limit position, and is controlled to turn to the target discharge position and stop in the state of the upper limit position.

The turning position HP for storage corresponds to a target turning position, and the automatic switch 21 corresponds to automatic turning command means for commanding a turning command for automatically turning the auger 9 to the target turning position. In order to return the auger 9 from a position other than the storage position to the storage position, the process of controlling the operation of the electric motor M1 for turning is automatically performed so that the auger 9 is raised to the upper limit position and automatically turned to the storage turning position HP in the state of the upper limit position. In response to the turning control, the process of lowering the auger 9 at the upper limit position at the storage turning position HP for a predetermined time and lowering the auger 9 to the storage position corresponds to the lowering control. Further, a control means 100 for executing automatic turning control using the control device H is provided.

In the automatic turning control, the control means 100 causes the auger 9 to move the auger 9 forward by a set amount from the storage turning position HP as the target turning position based on the detection information of the turning position detection sensor Ry. When the vehicle is turned, the operation of the electric motor for turning is stopped for a set time, and thereafter, the electric motor for turning is operated so as to turn the auger 9 to the turning position HP for storage. When the lowering control for operating the hydraulic cylinder for raising and lowering to lower the auger 9 and store it in the storage holder is executed after the completion of the above, the electromagnetic brake 25 is switched to the operating state and the turning position of the auger 9 is changed. It is configured to hold.

Next, the automatic control of the auger 9 by the control means 100 will be described with reference to the flowcharts shown in FIGS. Note that the manual operation tool 2 as described above is used.
When a command of 0 is given, the moving operation of the auger 9 based on the manual operation tool 20 is executed prior to the automatic control. In this automatic control, first, the input signal of the automatic switch 21 is checked, and when the automatic switch 21 is turned on, it is determined whether or not the auger 9 is at the storage position based on the detection information of the turning position detection sensor Ry. Is determined (steps 1 and 2). If the auger 9 is at the storage position, an overhang process for moving the auger 9 to the target discharge position set by the discharge position setting volume 23 is executed. That is, the lifting operation by the lifting hydraulic cylinder is performed until the auger 9 is raised to the upper limit position (steps 3, 4, and 4).
5). After reaching the upper limit position and stopping the ascent operation, the turning electric motor is operated to turn the auger 9 and turn when the auger 9 reaches the target discharge position set by the discharge position setting volume 23. Stop the operation and end the operation of moving the auger 9 (steps 6, 7,
8). Thereafter, when the clutch on / off switch 24 is turned on, the grain discharging process is performed.

If the auger 9 is at a position different from the storage position when the automatic switch 21 is turned on, an automatic storage process is executed as an automatic turning control for returning the auger 9 to the storage position. That is, the lifting operation by the lifting hydraulic cylinder 15 is performed until the auger 9 rises to the upper limit position (steps 9, 10, 11), and after reaching the upper limit position and stopping the lifting operation, the turning electric motor M1 is turned off. By operating the auger 9, the auger 9 is turned (step 12).
In this turning operation, the turning operation is performed from the position when the turning operation is started toward the storage turning position HP.
Based on the detection information of the turning position detection sensor Ry at that time, the direction in which the turning movement amount decreases (either the right direction or the left direction) is set as the turning direction.

Regardless of whether the vehicle turns rightward or leftward, based on the detection information of the turning position detection sensor Ry, it reaches the set position closer to the set amount than the turning position HP for storage. If it is determined that the turning has been performed, the operation of the turning electric motor M1 is stopped to stop turning (steps 13 and 14). The set position on the near side of the set amount is defined as the turning position H for storing the grain discharge port 10 of the auger 9 for storage.
It is set at a position that is separated from the front side in the turning movement direction by several tens of centimeters as compared with the position at P. The turning angle of the auger 9 is about several degrees to 10 degrees. Swiveling position H for storage
The separation distance between P and the set position does not exceed the storage turning position HP even if the turning operation of the auger 9 is stopped and the turning operation is excessively performed by the inertial force of the auger 9. It is set to such a sufficient separation distance. In FIG. 2, the position indicated by RP corresponds to the set position when turning right, and the position indicated by LP corresponds when turning left.

When the set standby time (an example of the set time) elapses after the turning is stopped at the set position, the turning electric motor M1 is operated again to turn the auger 9 to the retracted turning position. Perform the operation (Step 1
5, 16). When it is determined that the auger 9 has reached the storage turning position HP based on the detection information of the turning position detection sensor Ry, the turning operation is stopped (step 1).
7, 18). As the set standby time, when excessive turning movement is performed due to the inertial force of the auger 9 when the turning is stopped, the excessive turning operation by the inertial force ends and the movement stops. A little longer than the time of
For example, the time is set to about several seconds.

After the turning is stopped at the storage turning position HP, the electromagnetic brake 25 is switched to the ON state to hold the turning position of the auger 9 at the storage turning position (this state is the holding state). (Steps 19 and 20). The lowering operation for operating the lifting hydraulic cylinder 15 so as to lower the auger 9 is executed (Steps 19 and 20). Then, the descending operation is executed only for the set descending time, and when the set descending time elapses, the descending operation is stopped and the electromagnetic brake 25 is returned to the off state to terminate the automatic control (steps 21, 22, 23). ). Therefore, the electromagnetic brake 25 functions as the turning position holding means SH. Note that the set descent time is set to the same time as the time required for the auger 9 to descend from the upper limit position to the storage position where the auger 9 is stored by the receiving device.

As described above, once the turning operation by the turning electric motor M1 is stopped before the turning position HP for storage by the set amount, the auger 9 is turned again to the turning position for storage. Electric motor for turning M1
Is operated, the inertia force of the auger 9 is absorbed when the auger 9 is once stopped, so that it is possible to stop at the storage turning position HP as accurately as possible.

[Second Embodiment] Next, a description will be given of a second embodiment of the operating device of the grain discharging auger 9 in the combine according to the present invention. In the second embodiment, except that the configuration of the control means 100 is different from that of the first embodiment,
The configuration is the same as that of the embodiment.

That is, when the control means 100 is performing a turning operation by the turning electric motor M1, an intermittent operation in which the electromagnetic brake 25 is alternately switched between an on state and an off state every set short time. By doing so, the electromagnetic brake 25 functions as resistance applying means TF such that the turning operation of the auger 9 is set to an operation state in which a movement resistance is applied, and the electromagnetic brake 25 is set to an inoperative state by maintaining the electromagnetic brake 25 in an off state. Thus, the operation is controlled. Further, in the automatic storing process in the first embodiment, the control means 100 causes the auger 9 to turn a set amount before the storing turning position HP based on the detection information of the turning position detection sensor Ry. Until the electromagnetic brake 25 is kept in the non-operating state (off state), and the auger 9 is in the retracted turning position HP.
The electromagnetic brake 25 is configured to be switched to the operating state (intermittent operating state) when the vehicle is turned more than the set amount.

The control operation of the control means 100 will be described below with reference to the flowcharts shown in FIGS. Steps 31 to 42 are the same as steps 1 to 12 in FIG. 7 of the first embodiment, and a description thereof will be omitted, and a process from step 43 will be described. That is, when it is determined in the automatic storing process that the vehicle has reached the set position on the near side by the set amount from the storing turning position HP based on the detection information of the turning position detection sensor Ry, the electromagnetic brake 25 is turned on. An intermittent operation that is alternately repeated between the state and the OFF state every set short time (several hundred msec) is performed to impart movement resistance to the turning operation of the auger 9 and gradually reduce the turning movement speed (step 43). , 44). This state corresponds to an operation state in which the turning operation of the auger 9 imparts movement resistance. When it is determined that the auger 9 has reached the storage turning position based on the detection information of the turning position detection sensor Ry, the turning operation is stopped (steps 45 and 4).
6).

After the turning is stopped at the storage turning position HP, the electromagnetic brake 25 is switched to a state where the ON state is continued, and the turning position of the auger 9 is changed to the storage turning position HP.
And a lowering operation of operating the lifting hydraulic cylinder 15 to lower the auger 9 is executed (steps 47 and 48). At this time, the electromagnetic brake 25 functions as a turning position holding means, and switches to a holding state in which the turning position is held in a state where the auger 9 is in the storage turning position. After the lowering operation is performed for the set lowering time, the lowering operation is stopped and the electromagnetic brake 25 is returned to the off state.
Is switched to a non-operation state in which no movement resistance is applied to the turning operation of the vehicle, and the automatic control is terminated (steps 49, 50, and 5).
1).

Therefore, in the second embodiment, the electromagnetic brake 25 is provided with resistance applying means TF capable of switching between an operating state in which the turning operation of the auger 9 is applied with a moving resistance and a non-operating state in which no moving resistance is applied, and In the state where the auger 9 is in the retracted pivoting position, the pivoting position retaining means SH is switchable between a retaining state for retaining the pivoting position and a releasing state for releasing the positional retention. .

[Other Embodiments] Hereinafter, other embodiments will be listed. (1) In the first and second embodiments, the electromagnetic brake 25 that frictionally holds the turning movement of the auger 9 by the electromagnetic actuator is used as the turning position holding means. However, the present invention is not limited to such a structure. An engagement type in which a turning position is held by engaging with a portion that moves along with turning, such as a gear portion of the large-diameter gear 11 for turning drive, and a holding release state is established by releasing the engagement. The rotation drive mechanism between the electric motor for rotation and the auger 9 may be provided with a reverse rotation prevention mechanism such as a worm gear mechanism for preventing rotation operation from the auger 9 side. It may be provided with a configuration, and can be executed in various forms. Further, a configuration in which such turning position holding means is not used may be adopted.

(2) In the above-described second embodiment, the electromagnetic brake 25 is used for both the turning position holding means and the resistance applying means. However, the present invention is not limited to such a structure. The means may be separately provided. The resistance applying means is not limited to the electromagnetic brake 25, but may be any structure that applies resistance to the turning movement of the auger 9. For example, when the auger 9 comes close to the storage turning position, it elastically contacts the auger 9. The present invention can be implemented in various forms, such as a configuration in which a resistance is applied to the movement by acting, and a configuration in which such a resistance applying unit is not used may be adopted.

(3) In the first and second embodiments, the turning actuator is constituted by an electric motor and the lifting actuator is constituted by a hydraulic cylinder. However, the present invention is not limited to this. May be constituted by an electric motor, or a hydraulic motor may be used as a turning actuator, and an electric cylinder may be used as an elevating actuator.

[Brief description of the drawings]

FIG. 1 is an overall side view showing a combine.

FIG. 2 is an overall plan view showing a combine;

FIG. 3 is an enlarged side view of a main part showing an operation configuration of turning and elevating the auger.

FIG. 4 is a plan view showing an operating tool for turning and raising and lowering the auger.

FIG. 5 is a block diagram of a control configuration.

FIG. 6 is a flowchart of a control operation according to the first embodiment.

FIG. 7 is a flowchart of a control operation according to the first embodiment.

FIG. 8 is a flowchart of a control operation according to the second embodiment.

FIG. 9 is a flowchart of a control operation according to the second embodiment.

[Explanation of symbols]

 9 Grain discharge auger 15 Lifting actuator 21 Automatic turning command means 100 Control means M1 Turning actuator Ry Turning position detecting means HP Target turning position SH Turning position holding means TF Resistance applying means V Airframe

Claims (3)

[Claims] 1. A grain discharging auger provided to be freely rotatable with respect to the machine body by a swiveling actuator and to be vertically movable with respect to the machine body by a lifting and lowering actuator, and automatically turning the auger to a target turning position. Automatic turning command means for issuing a turning command for the automatic turning control means for automatically turning the auger to the target turning position based on command information of the automatic turning command means. And an operating device of the grain discharging auger in the combine provided with control means for performing the turning operation, wherein turning position detecting means for detecting a turning position of the auger is provided, wherein the control means The auger is turned to a set amount before the target turning position based on the detection information of the turning position detecting means. An operating device for a grain discharging auger in a combine configured to stop operation of the turning actuator for a set time and thereafter to operate the turning actuator to turn the auger to the target turning position. . 2. A grain discharging auger provided to be capable of turning operation with respect to the machine body by a turning actuator and being capable of moving up and down with respect to the machine body by an elevating actuator, and automatically turning the auger to a target turning position. Automatic turning command means for issuing a turning command for the automatic turning control means for automatically turning the auger to the target turning position based on command information of the automatic turning command means. Control device for controlling the operation of the grain discharging auger in a combine provided with a control means for performing the operation of the auger, wherein the operating state of imparting movement resistance to the turning operation of the auger and the non-operation state of not imparting movement resistance are freely switchable. And a turning position detecting means for detecting a turning position of the auger. In the turning control, based on the detection information of the turning position detecting means, the resistance applying means is maintained in the non-operating state until the auger is turned by a set amount before the target turning position, and An apparatus for operating a grain discharging auger in a combine which is configured to switch the resistance applying means to the operating state when the auger is turned forward by a set amount from the target turning position. 3. A turning position holding means which is switchable between a holding state in which the auger is in the target turning position and a holding state in which the auger holds the turning position and a release state in which position holding is released, and wherein the control means comprises: After the automatic turning control is completed, the auger is configured to perform a descent control for operating the elevating actuator to lower the auger and store the auger in the storage holder, and when the descent control is performed, The operating device for an auger for discharging grains in a combine according to claim 1 or 2, wherein the turning position holding means is configured to switch to the holding state.