JP2007252290A - Position controller of grain-unloading auger in combine harvester - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a position controller of a grain-unloading auger in a combine harvester, which is capable of improving operation efficiency while being convenient in use. <P>SOLUTION: The position controller of the grain-unloading auger in the combine harvester is constituted as follows: A controlling means controls the operation of an auger-driving means so that when the grain-unloading auger is lifted to a lifted position for turning in an auger-storing process, the grain-unloading auger may be lifted in a mode of making the lifting speed lower than that in the lifting thereafter in the initial lifting by a set amount or for a set time from the start of the lifting. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention provides an auger driving means for driving the grain discharging auger up and down and turning with respect to the machine body, a position detecting means for detecting a raising and lowering position and a turning position of the grain discharging auger with respect to the machine body, and the position Control means for controlling the operation of the auger drive means based on detection information of the detection means, and when the storage means is commanded by a manually operated command means, the control means An auger storage process for operating the auger drive means to raise the auger to the upper position for turning at or near the upper limit of the raising / lowering range, then turn to the turning position for storage, and then lower to the storage height. The present invention relates to a position control device for a grain discharging auger in a combine that is configured to execute the above.

  The position control device of the grain discharging auger in the above combine is swung to a position away from the storage position and discharged to the storage position in order to discharge the grain stored in the grain tank to a grain transporting vehicle or the like. A grain discharging auger that is raised and lowered to a different height is automatically stored in a storage position based on a storage command by a manually operated command means. To the upper limit of the ascent / descent range, and then to the swivel rising position, and then swivel to the swivel position for storage, and then lowered to the stowage height to lower the grain discharge auger. It is designed to be placed in the storage position.

  As a conventional example of a position control device for a grain discharge auger in such a combine, when raising the grain discharge auger to the turning ascending position in the auger storage process, it is raised at a constant rising speed from the start of the rise. (For example, refer to Patent Document 1).

JP 2001-292625 A

  By the way, when the rise of the grain discharge auger is started by the auger storage process, the worker located near the grain discharge auger looks at the rise of the grain discharge auger and Since it will evacuate from the location where the auger exists, it is convenient in terms of use to raise the auger for discharging the grain at a slow speed. In addition, the operator who commanded the storage command by the command means, while confirming the rise of the grain discharge auger, assumes a subsequent movement path of the grain discharge auger and causes trouble such as contact with an obstacle. It is also confirmed that there is no possibility of causing storage, and if necessary, measures such as stopping the storage process will be taken, but also in this respect, the raising of the grain discharge auger should be performed slowly. However, it is convenient in terms of use.

  However, after a grain discharging operation, the combine often performs a mowing operation again. From this point of view, the combine discharging auger should be raised as fast as possible. However, it is desired to improve the work efficiency of the combine by allowing the auger for discharging the grain to be stored in the storage position in a short time.

  The present invention has been made in view of the above circumstances, and the purpose thereof is a position of a grain discharging auger in a combine capable of improving work efficiency while being advantageous in terms of use. The control device is provided.

  The position control device for the grain discharging auger in the combine according to the present invention includes an auger driving means for driving the grain discharging auger up and down and pivoting with respect to the body, and an elevation position of the grain discharging auger with respect to the body. And a position detecting means for detecting the turning position, and a control means for controlling the operation of the auger driving means based on the detection information of the position detecting means. The control means is a manually operated command means. When a storage command is issued, the grain discharge auger is raised to the upper turning position at or near the upper limit of the raising / lowering range, then turned to the turning turning position, and then lowered to the storage height. In order to achieve this, there is provided a position control device for a grain discharging auger in a combine which is configured to execute an auger storage process for operating the auger driving means, the first feature thereof. The configuration is such that, when the control means raises the grain discharge auger to the turning ascending position in the auger storage process, the initial rise from the start of the rise until the set amount or set time is raised. The operation of the auger driving means is controlled so as to raise the grain discharging auger in a form in which the rising speed is lower than the rising speed.

  According to the first characteristic configuration of the present invention, the initial increase in the storage process can be performed at a lower speed than the subsequent increase, and even when the increase speed after the initial increase is increased. In the initial ascent, the ascent rate can be made slow.

  Therefore, when storing the grain discharge auger by the auger storage process, the grain discharge auger is slowed down until the set amount or set time rises after the grain discharge auger starts to rise. So that an operator located near the grain discharge auger can see the rise of the grain discharge auger and evacuate from the location where the grain discharge auger is located, or command means. The operator who ordered the storage command at, may cause troubles such as contact with obstacles, assuming the movement path of the grain discharge auger after that while confirming the rise of the grain discharge auger It is possible to confirm that there is no problem, which is advantageous in terms of use, and since the rising speed after the initial rising can be increased, the speed can be increased quickly. After raising the grain discharge auger in the storage position in a short time by raising it to the revolving ascending position, it is possible to quickly start the cutting operation again after performing the grain discharging operation. It is also possible to improve work efficiency.

  As described above, according to the first feature of the present invention, the position control device for the grain discharging auger in the combine that can improve the working efficiency while being convenient in terms of use has been provided. .

  According to a second characteristic configuration of the present invention, in the first characteristic configuration of the present invention, when the control means raises the grain discharging auger to the swivel rising position in the auger storage process, the initial rise is performed. When the rising position for turning is reached by the completion of the above, the grain discharging auger is lowered at a set amount or a set time at the same speed as the rising speed in the initial rising, and then the grain discharging auger The operation of the auger drive means is controlled so as to raise the grain discharging auger in such a manner that the auger is again raised to the turning raising position.

  According to the second characteristic configuration of the present invention, in the auger storage process, the grain discharging auger rises for a short time or a slight amount of ascent from the start of ascent and reaches the turning ascending position. Even if it is not possible to raise it, the grain discharge auger is lowered at a set rate or set time at the same slow speed as that of the initial rise, and then raised again to the turning up position. It will be.

  Therefore, even when the grain discharging auger is completed in the state where the grain discharging auger is located near the swivel rising position, the grain discharging auger is stored in the storing position by the auger storing process. By appropriately setting the set amount or set time for the lowering operation of the discharge auger, the time corresponding to the initial increase or a sufficient time has elapsed after the grain discharge auger starts to rise. Until, the grain discharge auger can be raised and lowered at a slow speed, so an operator located near the grain discharge auger sees the rise and fall of the grain discharge auger, The worker who has evacuated from the location where the grain discharge auger is located or has commanded the storage by the command means confirms the rise and fall of the grain discharge auger, and then moves the grain discharge auger. Route Assumed to, become what can be satisfactorily performed to confirm the that there is no possibility of causing a trouble such as contact with an obstacle, it's becomes advantageous in the use surface.

  Thus, according to the second characteristic configuration of the present invention, in the combine that can be advantageous in terms of use even when storing the grain discharging auger from a position close to the turning ascending position in the auger storage process. It came to obtain the position control device of the auger for grain discharge.

  According to a third characteristic configuration of the present invention, in the first characteristic configuration of the present invention, when the control means raises the grain discharging auger to the swivel raising position in the auger storage process, the initial rise is performed. When the turning-up ascending position is reached by the time when the turning is completed, when the grain discharging auger is turned to the storing turning position, the turning speed is lower in the initial turning than in the subsequent turning. The operation of the auger driving means is controlled so as to turn the grain discharging auger in the form as described above.

  According to the third characteristic configuration of the present invention, in the auger storage process, the grain discharging auger rises for a short time or a slight ascent amount from the start of ascent and reaches the turning ascending position, and the set amount or set time is slow. Even when it is not possible to raise the turning speed, the turning speed can be made slower than the turning speed after the turning time when turning the grain discharging auger to the storing turning position.

  Therefore, even when the grain discharging auger is completed in the state where the grain discharging auger is located near the swivel rising position, the grain discharging auger is stored in the storing position by the auger storing process. By appropriately setting the set amount or set time for the initial turning of the discharging auger, the time corresponding to the initial rising or sufficient time has elapsed since the grain discharging auger started to rise. Until then, the grain discharge auger can be slowly raised and swiveled so that an operator located near the grain discharge auger can see the rise and swivel of the grain discharge auger. The worker who has evacuated from the location where the grain discharging auger is located or has commanded the storage command by the command means confirms the rising and turning of the grain discharging auger, Travel As a result, it is possible to confirm that there is no possibility of causing trouble such as contact with an obstacle, which is advantageous in terms of use, and in the initial stage. Since the turning speed after the turning of the container is completed, the grain discharging auger can be stored in the storing position in the shortest possible time by quickly turning to the storing turning position so that the grain can be discharged. After performing the work, it is possible to promptly start the mowing work again, and to suppress a reduction in work efficiency.

  As described above, according to the third characteristic configuration of the present invention, when the auger for discharging the grain is stored from the position close to the ascending position for turning in the auger storage process, it is convenient in terms of use, but the work efficiency is improved. It came to obtain the position control apparatus of the grain discharge auger in the combine which can suppress the fall of the.

  A fourth feature configuration of the present invention is the portable wireless command unit according to any one of the first to third feature configurations of the present invention, wherein the command means commands the storage command by a radio signal. It is in the point comprised by.

  According to the fourth characteristic configuration of the present invention, when the auger for discharging the grain is stored in the storage position, the kernel is discharged until the operator carries the wireless command unit and moves to the storage position by the auger storage process. By moving to a position where the presence or absence of obstacles can be recognized well in the moving range of the auger for the auger, it is possible to confirm that there are no obstacles and then issue a storage command. If an inappropriate situation occurs, you can be sure of that.

  Therefore, the possibility of a storage command being issued in an inappropriate situation is reduced, and even if an inappropriate situation occurs after the initial rise by the auger storage process has been started, the operation of the grain discharging auger is prevented. Appropriate measures such as stopping can be surely performed.

  As described above, according to the fourth characteristic configuration of the present invention, the storage command can be instructed by moving to an appropriate position according to the work situation, and the work efficiency is improved while being convenient in terms of use. It came to obtain the position control apparatus of the auger for grain discharge in the combine which can aim at the improvement of.

  According to a fifth characteristic configuration of the present invention, in the fourth characteristic configuration of the present invention, the command means includes a fixed command unit provided in a driving boarding unit of the aircraft.

  According to the fifth characteristic configuration of the present invention, the storage command can be commanded from both the portable command unit and the fixed command unit provided in the driving boarding part of the airframe, so two or more people can work. When the workers jointly perform the grain discharging operation, either the worker carrying the portable command unit or the operator located in the driving boarding unit may execute the auger storage process When it is determined to be good, the operator can issue a storage command. Therefore, when it becomes a situation where the grain discharging auger can be moved to the storage position, the auger storage process can be executed quickly, and the work efficiency is improved.

  As described above, according to the fifth characteristic configuration of the present invention, the auger storage process is promptly executed when it is possible to store the grain discharging auger in the storage position, although it is convenient in terms of use. As a result, the position control device for the grain discharging auger in the combine that can improve the work efficiency has been obtained.

  Hereinafter, an embodiment of a position control device for a grain discharging auger in a combine according to the present invention will be described with reference to the drawings.

  As shown in FIGS. 1 and 2, the combine is attached to the front part of the machine body V provided at the upper part of the pair of left and right crawler travel devices 1 in a state in which the cutting part 3 can swing around the horizontal axis. The aircraft V is stored in the driving board 2, the threshing unit 4 for threshing / sorting the harvested cereal, the grain tank 5 for storing the grains sorted and recovered by the threshing unit 4, and the grain tank 5 A grain discharging auger 9 and the like for discharging the dried grain out of the machine are equipped.

  A bottom screw conveyor 7 is provided at the bottom of the grain tank 5 along the front-rear direction, and a vertical feed screw conveyor 8 is extended from the conveying terminal end of the bottom screw conveyor 7 in a state where the bevel gear is linked upward. In the upper part of the vertical feed screw conveyor 8, the grain discharging auger 9 is swingable around the horizontal axis P1 and swiveled around the vertical axis P2 while being linked to the bevel gear. Equipped with.

  FIG. 2 shows a state in which the grain discharging auger 9 has been swung to the storing swivel position CE, and the grain discharging auger 9 is moved down to the storing swiveling position CE to serve as a storing holder. The catcher 30 is received and the auger 9 for discharging the grain is stored. Further, as shown in FIG. 2, a turnable range is set in advance, and based on detection information of a turn position detection sensor Ry described later, the grain discharge auger 9 has a left limit position LE and a right limit of the turnable range. When the position RE is reached, the turning motor M2 is controlled by a control device H to be described later so that the turning of the grain discharging auger 9 is automatically stopped.

  An output pulley 13 </ b> A of a belt tension type discharge clutch 13 that intermittently transmits power to the bottom screw conveyor 7 from the engine E provided at the right front part of the machine body is attached to the conveyance start end of the bottom screw conveyor 7. Further, the vertical feed screw conveyor 8 includes a vertical conveyor screw 8A linked to the bottom screw conveyor 7 via a bevel gear, and a cylindrical case 8B that covers and is connected to the grain tank 5 in communication.

  The grain discharging auger 9 (hereinafter simply referred to as an auger) includes an auger screw 9A and an outer case 9B covering the auger screw 9A. The outer case 9B is connected to the cylindrical case 8B of the vertical conveyor screw 8A via the rotating case 6. The rotating case 6 is connected to the cylindrical case 8B of the vertical feed screw conveyor 8 around the vertical axis P2. It is connected so as to be capable of relative rotation, and is connected to the outer case 9B of the auger 9 so as to be capable of relative rotation around the horizontal axis P1.

  An electric motor M1 for clutch operation (see FIG. 5) for switching the discharge clutch 13 between the on state and the off state is provided, and this electric motor M1 for clutch operation (hereinafter abbreviated as a clutch motor). Is driven in the forward direction so that the discharge clutch 13 is switched to the engaged state, and the clutch motor M1 is driven in the reverse direction to switch the discharge clutch 13 to the disconnected state.

  When the discharge clutch 13 is switched to the on state, the bottom screw conveyor 7, the vertical screw conveyor 8 and the auger 9 are driven by the power of the engine E transmitted via the discharge clutch 13 and stored in the grain tank 5. When the grain is discharged from the grain outlet 10 at the tip of the auger 9 and the discharge clutch 13 is switched to the cut state, the bottom screw conveyor 7, the vertical screw conveyor 8 and the auger 9 are driven. Therefore, it is configured to be in a stopped state where the grain is not discharged from the grain outlet 10 at the tip of the auger 9.

  The drive structure for the turning operation of the auger 9 will be described. As shown in FIG. 3, 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 the pinion gear meshes with the large-diameter gear 11. An electric motor M2 for turning which rotates 12 is fixed to the vertical feed screw conveyor 8, and as the electric motor M2 for turning (hereinafter abbreviated as a turning motor) is driven forward and backward, the auger 9 is moved along the vertical axis. A turning operation is performed around P2, and the turning is stopped when the turning motor M2 is stopped. 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 rotates simultaneously with the large-diameter gear 11 for turning driving by a gear 12 driven by a turning motor M2. It is designed to be operated dynamically.

  Next, the drive configuration for the raising / lowering operation of the auger 9 will be described. As shown in FIG. 3, a single-acting lifting / lowering hydraulic cylinder 15 is provided between the base end of the auger 9 and the rotating case 6. As the elevating hydraulic cylinder 15 is extended, the auger 9 is raised around the horizontal axis P1, and as the elevating hydraulic cylinder 15 is shortened, the auger 9 is lowered around the horizontal axis P1. It is configured to be operated. In the figure, Rx is a lift position detection sensor using a linear potentiometer that detects the lift position of the auger 9, and the lift position of the auger 9 is determined by detecting the amount of protrusion and withdrawal of the piston rod of the lift hydraulic cylinder 15. It comes to detect. Further, an upper limit switch 14 that is turned on when the auger 9 is at the upper limit position Htop of the lifting operation range is provided.

Thus, in the present embodiment, the elevating hydraulic cylinder 15 for driving the auger 9 up and down with respect to the machine body V and the turning motor M2 for turning are provided, and the auger driving means includes the raising and lowering hydraulic cylinder 15 and the turning motor. It is comprised by M2.
The auger 9 includes a lift position detection sensor Rx that detects a lift position relative to the machine body V and a swing position detection sensor Ry that detects a swing position, and the position detection means includes a lift position detection sensor Rx and a swing position detection sensor Ry. Configured.

  When the grain is discharged, the auger 9 is adjusted in the raising / lowering operation range up to the upper limit position Htop, and the turning position is a turnable range from the left limit position LE to the right limit position RE. The grain is discharged from the grain outlet 10 while being adjusted at the use position Puse. And after a grain discharge | emission operation | work is complete | finished, the said receiving tool 30 is made to receive and the auger 9 is accommodated.

  When the auger 9 is stored, the raising and lowering operation and the turning operation of the auger 9 are controlled by a control device H, which will be described later, which executes an auger storage processing program. In the auger storage process, as shown in FIG. 9, the auger 9 located at the use position Puse first rises to a position P1 at which the raising / lowering position becomes the turning raising position Hr, as indicated by the arrow Y1, As shown by the arrow Y2 in FIG. 9, the turning position turns to the position P2 where the turning position becomes the storing turning position CE while the raising / lowering position is held at the turning rising position Hr, and then, as shown by the arrow Y3 in FIG. Then, the elevating position is lowered to the position where the storage height Horg is reached, that is, the storage position Pset. In the present embodiment, the turning lift position Hr is set to the lift position when the above-described upper limit switch 14 is turned on, that is, the upper limit position Htop.

  The driver boarding portion 2 is provided with a lever-type operation portion 20 for instructing an operation command for turning and raising / lowering the auger 9. The operation unit 20 on the combine body side will be described. As shown in FIG. 4, an operation lever 20A that is urged so as to return to the center position and can be swung in the front-rear direction and the left-right direction is provided. In the state where the operation lever 20A is tilted forward, the ascent command switch S1 is turned on to command the ascent command, and in the state where the operation lever 20A is tilted toward the near side, the descend command switch S2 is actuated and the descend command is issued. When the operation lever 20A is tilted to the left, the right turn command switch S3 is turned on and a right turn command is commanded. When the operation lever 20A is tilted to the right, the left turn command switch S4 is turned on. In operation, a left turn command is issued (see FIG. 5). Further, in the state where the operation lever 20A is returned to the center position, commands for turning operation and raising / lowering operation of the auger 9 are not instructed. It is possible to return to the center position by releasing the finger from the position and stop the ascending command, descending command, left turn command, and right turn command.

  As shown in FIGS. 2 and 5, a storage command for automatically moving the auger 9 to the storage position Pset and the auger 9 automatically at a target discharge position corresponding to the use position Puse are located near the operation unit 20. Automatic switch 21 for instructing an overhanging command to move, stop switch 22 for instructing a movement stop command for stopping auger 9 during movement, and discharge position setting for setting the target discharge position Consists of a volume 23 and a two-position switching toggle switch for instructing a grain discharge command for instructing the start of the grain discharge operation of the auger 9 or a discharge stop command for instructing a stop of the grain discharge operation of the auger 9 The clutch on / off switch 24 is provided. When the clutch on / off switch 24 is located at the off position, the discharge clutch 13 is turned off, and when the clutch on / off switch 24 is located at the on position, the discharge clutch 13 can be turned on.

  When the automatic switch 21 is pushed, the control device H, which will be described later, determines whether or not the auger 9 is located at the storage position Pset based on the detection information of the lift position detection sensor Rx and the turning position detection sensor Ry. In order to automatically move the auger 9 to the storage position Pset or the target discharge position in accordance with the position of the auger 9, the operation of the elevating hydraulic cylinder 15 and the turning motor M2 is controlled.

  That is, the automatic switch 21 can issue an overhang command when the auger 9 is positioned at the storage position Pset, and can issue a storage command when the auger 9 is not positioned at the storage position Pset. Thus, in this embodiment, the command means for commanding the storage command includes the automatic switch 21 as a fixed command unit provided in the driving boarding unit 2 of the machine body V.

  The combine is provided with a wireless remote controller 42 for instructing commands for the turning operation, the lifting operation and the grain discharging operation of the auger 9 by wireless signals. The wireless remote controller 42 is mainly used when an operator in the vicinity of the grain transport vehicle N operates when performing a grain discharging operation to the grain transport vehicle N.

  More specifically, as shown in FIG. 6 and FIG. 7, the wireless remote controller 42 is configured as a small and lightweight device so that the operator can easily carry it. It is configured to transmit as a radio signal corresponding to each command by the switch.

  The wireless remote controller 42 includes an ascending command switch 43 for instructing an ascending command for raising the auger 9, a descending command switch 44 for instructing a descending command for lowering the auger 9, and a left-handed turning operation for turning the auger 9 counterclockwise. Left turn command switch 45 for instructing a turn command, right turn command switch 46 for instructing a right turn command for turning the auger 9 to the right, and movement for automatically moving the auger 9 to the storage position Pset or the target discharge position An automatic switch 47 for instructing a command, a call switch 48 for instructing a call command for ringing the call alarm 16 provided in the driving boarding portion 2 of the combine body, and a grain discharge command for starting the grain discharging operation of the auger 9 Remote switch command to stop the turning up and down operation of the auger 9 and the auger 9 and to stop the grain discharging operation of the auger 9 Ryosuru stop switch 50, a power switch 51 for switching the on-off of power supply are provided respectively.

  Each of these switches is configured to be urged to return to an off state so that it is turned on when a finger is pressed and turned off when the finger is released. The power switch 51 is provided with a pilot lamp 52 that lights up when the power is on.

  Further, the radio remote controller 42 oscillates a signal having a specific frequency that is set differently for each switch when the switch is turned on in response to the operation of each command switch. Is transmitted through the transmission antenna 54 as a constant output radio wave, a power control circuit 56 for intermittently supplying power to the signal transmitter 53 based on an on / off command by the power switch 51, and signal transmission And a battery 55 serving as an operating power source for the power supply control circuit 56.

  For example, when the lift command switch 43 is pressed and turned on with a finger, a lift signal is commanded by transmitting a radio signal having a frequency corresponding to the lift command, and a radio signal corresponding to the lift command is maintained while the command continues. Is output, and when the lift command switch 43 is released and turned off, the transmission of the radio signal having the frequency corresponding to the lift command is terminated and the lift command is stopped. When the discharge switch 49 is turned on by pushing it with a finger, a grain discharge command is instructed by transmitting a radio signal having a frequency corresponding to the grain discharge command, and when the finger is released from the discharge switch 49 and turned off. Then, the transmission of the radio signal having the frequency corresponding to the grain discharge command ends, and the grain discharge command stops.

  Further, when the automatic switch 47 is pressed and turned on with a finger, a movement command is issued by transmitting a radio signal having a frequency corresponding to the movement command. When the automatic switch 47 is released and turned off, the movement command is issued. The transmission of the radio signal of the corresponding frequency is terminated and the movement command is stopped.

  When the stop switch 50 is pressed and turned on, a radio signal having a frequency corresponding to the remote stop command is transmitted to instruct a remote stop command. When the stop switch 50 is released and turned off, the remote stop command is issued. The transmission of the radio signal having the frequency corresponding to the above is terminated and the remote stop command is stopped.

  The left turn command switch 45 is provided on the right side facing the front of the wireless remote controller 42, and the right turn command switch 46 is provided on the left side facing the front of the wireless remote control 42, and is displayed on both command switches. The contents of each are opposite to the installation position of each command switch. This is because the turning direction by the right turning operation and the left turning operation is defined based on the reference in which the forward direction of the combine is the 12 o'clock direction, and the turning direction of the auger 9 when turning is operated by each command switch. While displaying based on the definition of the direction, it is easy to grasp intuitively when an operator who uses the wireless remote controller 42 commands the turning operation of the auger 9 from the tip side of the auger 9 at a position away from the combine main body. This is because each command switch is arranged so as to be turned in the direction.

  When the wireless signal corresponding to the movement command is output by the pressing operation of the automatic switch 47, the control device H, which will be described later, controls the lift position detection sensor Rx and the turning as in the case where the automatic switch 21 on the machine body is pressed. After determining whether or not the auger 9 is located at the storage position Pset based on the detection information of the position detection sensor Ry, the auger 9 is automatically moved to the storage position Pset or the target discharge position according to the position of the auger 9. Therefore, the operation of the lifting hydraulic cylinder 15 and the swing motor M2 is controlled.

  In this way, when the wireless remote controller 42 is turned on by pressing the automatic switch 47 with a finger, a wireless signal corresponding to the movement command is output, and when the auger 9 is not positioned at the storage position Pset, the auger 9 is moved to the storage position Pset. Therefore, it functions as a portable wireless command unit that commands a storage command with a radio signal.

  As shown in FIG. 1 and FIG. 2, a receiving antenna 57 and a receiver 58 for receiving radio signals transmitted from the radio remote controller 42 are provided in the vicinity of the operation unit 20 of the combine main body. A signal processing device 59 is provided for determining which command information is the received signal according to the received frequency, and converting it into a control signal corresponding to the command information.

  The combine main body is provided with a control device H as control means for controlling the operation of the lifting hydraulic cylinder 15 and the swing motor M2 based on the detection information of the lift position detection sensor Rx and the swing position detection sensor Ry. The control device H is configured using a microcomputer. As shown in FIG. 5, the turning position detection sensor Ry, the upper limit switch 14, and the command switches S1, S2, S3, S4 of the operation unit 20, Each signal of the automatic switch 21, the stop switch 22, the discharge position setting volume 23, and the clutch on / off switch 24 is input through an electric wire, and the control corresponding to the operation of each command switch is executed. ing.

  The control device H is configured such that command information transmitted from the wireless remote controller 42 is input via the signal processing device 59, and the control device H operates the command from the wireless remote controller 42 and the operation of the operation unit 20 and the like. The operation of the lifting hydraulic cylinder 15 and the swing motor M2 is controlled based on the command from the combine main body.

  Then, when the storage command is instructed by the automatic switch 47 of the wireless remote controller 42 or the automatic switch 21 on the machine body side, the control device H raises the auger 9 to the turning ascending position Hr as shown in FIG. Next, an auger storage process is performed in which the lifting hydraulic cylinder 15 and the swing motor M2 are operated so as to turn to the storage turning position CE and then lower to the storage height Horg.

  In the auger storage process, the controller H raises the auger 9 to the turning ascending position Hr as shown by the arrow Y1 in FIG. The auger 9 is raised in a form in which the ascent speed is set to an initial ascent speed VL that is lower than the high speed ascent speed VH, which is the ascent speed in the subsequent ascent, and it reaches the turning ascent position Hr until the initial ascent is completed. If it has reached, that is, if it has reached the turning ascent position Hr from the start of ascent until the initial ascent time T1 is increased, the auger 9 is lowered at the initial ascent speed VL for the preliminary lowering time T2, and then the auger 9 is lowered. The operation of the elevating hydraulic cylinder 15 and the swing motor M2 is controlled so as to raise the auger 9 in such a manner that 9 is again raised to the turning lift position Hr. .

  The auger storage process executed by the control device H when a storage command is instructed by the automatic switch 47 of the wireless remote controller 42 or the automatic switch 21 on the machine body after the grain discharging operation by the auger 9 is completed. Of the raising / lowering operation and turning operation of the auger controlled by the program, the raising / lowering operation until the turning operation is started will be described based on the flowchart shown in FIG. 8 and the graph shown in FIG.

  After the processing shown in the flowchart of FIG. 8 is completed, as described above, the auger 9 is swung (moved as indicated by arrow Y1 in FIG. 9) to the storing swivel position CE in the state of being located at the swivel rising position Hr. Thereafter, the operation of the lifting hydraulic cylinder 15 and the swing motor M2 is controlled by the control device H so as to be lowered (moved by the arrow Y2 in FIG. 9) to the storage height Horg.

  In the auger storage process, the auger 9 is first raised. The rising speed at this time is the initial rising speed VL (step # 1). Simultaneously with the start of the rise, the count of the rise time Tup is started (step # 2). When the rise time Tup reaches the preset initial rise time T1, in other words, the initial rise speed VL is increased by the initial rise time T1. Then, the ascending speed is changed to the high ascending speed VH (step # 9), and when the upper limit switch 14 is turned on (step # 10), that is, when reaching the turning ascending position Hr, the ascending operation is stopped (step # 10). # 11).

  As described above, when the initial ascent speed VL can be increased by the initial ascent time T1, that is, when the auger storage process is started, the ascending / descending position of the auger 9 is set to a distance below the turning ascent position Hr. When located at a position separated by × T1 or more (position illustrated by Ha in FIG. 9), the change in the raising / lowering position of the auger 9 until reaching the turning ascent position Hr is as shown in FIG. It becomes a mode.

  Returning to FIG. 8, when counting of the rising time Tup is started (step # 2), the upper limit switch 14 is turned on until the rising time Tup reaches the initial rising time T1, and it is determined to be true in step # 4. In other words, when reaching the turning ascending position Hr from the start of the ascent at the initial ascent speed VL until the initial ascent time T1 elapses, the ascending / descending direction is switched to the opposite direction, the ascending operation is stopped and the descending The operation is started (step # 5). The rising speed at this time is the initial rising speed VL. Simultaneously with the start of the descent operation, counting of the descent time Tdw is started (step # 6). When the descent time Tdw reaches the preliminary descent time T2, it is determined to be true in step # 7, and the ascending / descending direction is switched to the opposite direction. The descending operation is stopped and the ascending operation is started. The ascent speed at this time is the high ascent speed VH (step # 8).

  As described above, when the initial ascent speed VL cannot be increased by the initial ascent time T1, that is, when the auger storage process is started, the ascending / descending position of the auger 9 is set at a distance downward from the turning ascent position Hr. In the case of being located at a position within VL × T1 (positions exemplified by Hb and Hc in FIG. 9), the auger 9 is raised and lowered from the start of the auger storage process until the turning operation of the auger 9 is started. The change of the position is as shown in FIG. 10 (b), and the auger 9 is moved up and down in the order of rising by the initial rising speed VL and rising by the high speed rising speed VH.

  In the present embodiment, the preliminary lowering time T2 is set to a value obtained by a calculation processed by the microcomputer each time an auger storage process is performed. Specifically, the time calculated by subtracting the elapsed time Tup from when the upper limit switch 14 is turned on after reaching the turning ascent position Hr from the initial ascent time T1 is set (T2 = T1-Tup). It has become.

  For example, when the execution of the auger storage process is started and the position at which the auger 9 starts the raising operation (hereinafter, sometimes referred to as a rising initial position) is Hb shown in FIG. The initial ascent is performed for Tup, and the subsequent descending time at the initial ascending speed VL is performed for the preliminary descending time T2 corresponding to Tup. Similarly, when the initial rising position is Hc shown in FIG. 9, the initial increase at the initial increase speed VL is performed by Tup ′, and the subsequent decrease time at the initial increase speed VL corresponds to the Tup ′. This is performed for the fall time T2 ′. In any case, the total time of rising and falling at the initial rising speed VL is the initial rising time T1.

  In this way, by calculating the remaining time that could not be increased at the initial rising speed VL out of the initial rising time T1 that was scheduled to increase at the initial rising speed VL, and lowering at the initial rising speed VL for that time, The total time of rising and falling at the initial rising speed VL can be set as the initial rising time T1, for example, when the rising at the initial rising speed VL is performed for a time slightly short of the initial rising speed T1. When the auger 9 is housed from the position where the raising / lowering position of the auger 9 is close to the turning raising / lowering position Hr by shortening the lowering time at the initial rising speed VL, the time until the turning is started is extremely large. I try not to be long.

  As described above, according to the configuration of the present embodiment, when the auger 9 is moved to the storage position Porg, the auger 9 is raised at the initial rising speed VL set to a relatively low speed during the initial rising time T1 ( Therefore, the auger 9 is operated at a high speed VH at a high speed after the auger storage process is started even if the high speed ascent speed VH or the turning speed is increased to improve the work efficiency. Until the movement is started, the auger 9 is raised and lowered at the initial ascent speed VL, so that an operator located near the auger 9 sees the rise of the auger 9 and retreats from the location where the auger 9 exists. In addition, there is no possibility that the operator who has instructed the storage command will not cause troubles such as contact with an obstacle, assuming the subsequent movement path of the auger 9 while confirming the rise of the auger 9. It can be carried out to confirm the good.

  As described above, the position control device for the grain discharge auger in the combine according to the present invention is advantageous in terms of use, but can improve the work efficiency.

[Another embodiment]
Hereinafter, other embodiments are listed.

(1) In the above-described embodiment, the turning elevating position Hr is set to coincide with the upper limit position Htop. However, the turning elevating position Hr is a position near the upper limit position Htop. It may be set to be.

(2) In the above embodiment, an example in which the ascent speed when the auger 9 is lowered to the turning ascent position Hr again after the auger 9 is lowered in the auger storage process is the high speed rising speed VH is exemplified. However, instead of this, the ascending speed when raising again to the turning ascending position Hr in the auger storage process is the same initial ascending speed VL as the ascending speed in the initial ascent, or other speeds. It may be a thing.

(3) In the above embodiment, the preliminary lowering time T2 as the set time for lowering from the turning ascending position Hr in the auger storage process is the elapsed time Tup from when the initial ascent is started until reaching the turning ascending position Hr. However, the present invention is not limited to this, but the preliminary lowering time T2 is set to the same time as the initial rising time T1 and the like is lowered from the turning ascending position Hr. Various setting times can be set.

  When the preliminary lowering time T2 is set to the same time as the initial rising time T1 (T2 = T1), the initial rising position is lower than the turning rising position Hr by VL × T1 as shown by Hb in FIG. When located in the region, as shown in FIG. 11 (a), the change in the ascending / descending position of the auger 9 from the start of the auger storage process to the start of the turning operation of the auger 9 is shown in FIG. The time when the initial ascending time T1 is added to the ascending time Tup from when the auger storage process is started to when the auger 9 starts ascending until the turning ascending position Hr is reached (Tup + During the period T1), the auger 9 rises and descends at the initial ascent speed VL and then rises at the high speed ascent speed VH, and the ascending initial position is located near the turning ascent position Hr. If you want an auger When the ascending / descending position of the auger 9 at the time when the auger storage processing is started is located at a position far from the turning ascending position Hr until the auger 9 moves at a high speed after the processing is started (for example, the ascending initial position) Can have a longer time margin).

  Further, the preliminary lowering time T2 is set to half the time calculated by subtracting the elapsed time Tup from the start of the initial ascent to the turning ascent position Hr to the initial ascent time T1 (T2 = (T1- Tup) × 1/2), and the rising speed when the lift is again raised to the turning lift position Hr may be set as the initial lift speed VL.

  In this case, the change in the ascending / descending position of the auger 9 from the start of the auger storage process to the start of the turning operation of the auger 9 is as shown in three examples in FIG. When the initial rising position is any of Ha, Hb, and Hc, when the auger storage process is started, the auger 9 is moved up and down at the initial upward speed VL during the initial increase time T1, and the auger storage process is started. The time from when the auger 9 is moved at a high speed can be set to a substantially constant time close to the initial rising time T1 regardless of the initial rising position.

  Further, when the initial rising position is located within a region VL × T1 below the turning rising position Hr, such as Hb or Hc, the initial rising time T1 after the auger storage process is started. If it passes, the auger 9 will be located in the raising position Hr for rotation.

(4) In the above embodiment, the control device H exemplifies that the initial increase time T1 is increased as the set time from the start of rising, but instead, a set amount (for example, movement of the grain outlet) from the start of rising. The distance may be increased by 50 [cm]). Moreover, although the control apparatus H illustrated what lowered | hangs the preliminary fall time T2 as setting time from the turning raising position Hr, it changes to this and may make a set amount fall from the turning raising position Hr.

(5) In the above embodiment, when the control device H raises the auger 9 to the turning ascent position Hr in the auger storage process, the initial ascent time T1 elapses after the ascent at the initial ascent speed VL is started. When the auger 9 reaches the turning ascent position Hr, the auger 9 is lowered at the initial ascent speed VL for the preliminary lowering time T2, and then the auger 9 is again raised to the turning ascent position Hr at the high speed ascent speed VH. However, instead of this, the control device H is used for turning the auger 9 in the auger storage process. When ascending to the ascending position Hr, it reaches the turning ascending position Hr from when the ascent at the initial ascending speed VL is started until the initial ascent time T1 elapses. Then, as it is, the auger 9 may be configured to control the operation of the lifting hydraulic cylinder 15 and the swing motor M2 so as to swing to the storage swing position CE, or the control device H However, when the auger 9 is raised to the turning ascending position Hr in the auger storage process, if the turning up position Hr is reached by the time the initial ascent time T1 elapses after the ascending at the initial ascent speed VL is started, When the auger 9 is swung to the storing swivel position CE, in the initial turning, the auger 9 and the turning motor M2 are turned in order to turn the auger 9 at a lower speed than the subsequent turning. It may be configured to control the operation.

(6) In each of the above embodiments, the auger driving means is configured by an electric motor and a hydraulic cylinder. However, the present invention is not limited to this. For example, a hydraulic motor may be used instead of the electric motor, or a hydraulic cylinder may be used. Instead of this, an electric motor, an electric cylinder, or the like may be used.

Combine side view Overall plan view of combine Enlarged side view of the main part showing the operation configuration of turning and raising / lowering of the auger Plan view of the operation unit on the combine body side Control block diagram of the control device on the combine body side Perspective view of wireless remote control Wireless remote control block diagram The flowchart figure which shows a part of auger accommodation processing The figure which shows an example of the movement locus | trajectory of an auger by an auger accommodation process The graph which shows the change of the raising / lowering position of an auger in each case of the case where the raising / lowering position of an auger at the time of an auger accommodation process is (i) low and (b) high The graph which shows the change of the raising / lowering position of the auger corresponding to the setting content of the preliminary descent time in another embodiment

Explanation of symbols

V machine body H control means M2, 15 auger drive means Rx, Ry position detection means CE storing turning position Htop upper limit of lifting range Hr turning rising position Horg storing height VL, VH rising speed T1, T2 set time 2 9 Grain discharging auger 21 Fixed command section (command means)
42 Portable wireless command unit (command means)

Claims (5)

An auger drive means for driving the grain discharge auger up and down and turning with respect to the machine body;
Position detecting means for detecting the raising and lowering position and the turning position of the grain discharging auger with respect to the machine body;
Control means for controlling the operation of the auger drive means based on detection information of the position detection means is provided,
When the storage means is instructed by the manual operation type instruction means, the control means raises the grain discharging auger to the upper limit of the raising / lowering range or to the turning rising position in the vicinity thereof, and then for storage A position control device for a grain discharging auger in a combine configured to perform an auger storage process for operating the auger drive means to turn to a turning position and then lower the storage height.
When the control means raises the grain discharging auger to the turning ascending position in the auger storage process, the initial rise from the rise start until the set amount or set time is raised is higher than the subsequent rise. A position control device for a grain discharging auger in a combine which is configured to control the operation of the auger driving means in order to raise the grain discharging auger in a form in which the rising speed is low.   When the control means raises the grain discharge auger to the turning ascending position in the auger storage process, if the control means reaches the turning ascending position before the initial ascent is completed, The grain discharge auger is lowered in the set amount or set time at the same speed as the rising speed in the initial ascent, and then the grain discharge auger is again raised to the swivel ascending position. 2. The position control device for a grain discharging auger in a combine according to claim 1, wherein the operation of the auger driving means is controlled to raise the auger.   When the control means raises the grain discharge auger to the turning ascending position in the auger storage process, if the control means reaches the turning ascending position before the initial ascent is completed, When the grain discharge auger is swung to the storing swivel position, the auger drive is performed so as to swivel the grain discharge auger in a form in which the swivel speed is lower than the subsequent turn in the initial turn. 2. A position control device for a grain discharging auger in a combine according to claim 1, wherein said position control device is configured to control the operation of said means.   The position of the grain discharge auger in the combine according to any one of claims 1 to 3, wherein the command means is configured by a portable wireless command unit that commands the storage command by a radio signal. Control device.   5. The position control device for a grain discharging auger in a combine according to claim 4, wherein the command means comprises a fixed command unit provided in a driving boarding part of the aircraft.

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