JP2022002480A - Harvesting machine - Google Patents

Abstract

To provide a harvesting machine in which jamming is easily and automatically released when a crop transfer device is jammed.SOLUTION: There is provided a crop transfer device 2 having a harvesting unit H and a transfer unit. The harvesting unit H includes a header 5 for receiving a crop, an auger 6 for performing rotation driving, is constituted so as to be lifted and lowered, and harvests a crop in a field. The transfer unit transfers the crop harvested by the harvesting unit H to a rear part of a machine body, and includes a jamming determination unit which determines whether the crop transfer device 2 is jammed or not, and a reverse rotation control unit which controls the auger 6 to perform reverse rotation driving when the jamming determination unit determines that the crop transfer device 2 is jammed.SELECTED DRAWING: Figure 7

Description

The present invention relates to a harvester including a harvesting and transporting apparatus having a harvesting section and a transporting section.

As the above-mentioned harvester, for example, the one described in Patent Document 1 is already known. The harvesting section (“cutting section” in Patent Document 1) in this harvester (“combine” in Patent Document 1) includes a rotation-driven auger (“horizontal feed auger” in Patent Document 1). Further, the transport unit (“feeder” in Patent Document 1) in this harvester transports the harvested product harvested by the harvester to the rear of the machine.

Japanese Unexamined Patent Publication No. 2017-3517

Here, in the harvest transfer device of the harvester described in Patent Document 1, clogging may occur due to a harvested product or the like. When the harvest transfer device is clogged, the clog can be cleared by reversely driving the auger.

At that time, the operator needs to perform an operation of switching the power transmission path from the power source to the auger in order to reversely drive the auger. The operation of switching the power transmission path is generally performed by operating an operating tool such as a lever.

However, if the operator's skill level is relatively low, it is assumed that the harvesting operation is continued without noticing that the harvesting and transporting device is clogged. Also, even if the harvest transfer device is noticed to be clogged, the operator may not know how to clear the clog.

An object of the present invention is to provide a harvester in which the clogging can be easily cleared automatically when the harvesting and transporting device is clogged.

A feature of the present invention is a harvesting and transporting device having a harvesting section and a transporting section, the harvesting section including a header for receiving the harvested material and a rotary-driven auger, and is configured to be able to move up and down with respect to the aircraft. At the same time, the crops in the field are harvested, and the transport unit transports the harvested product harvested by the harvesting unit to the rear of the machine body, and determines whether or not the harvest transport device is clogged. It is provided with a reversing control unit for reversing driving the auger when it is determined by the determination unit that the harvesting and transporting device is clogged.

According to the present invention, when the harvest transfer device is clogged, the jam determination unit determines that the harvest transfer device is clogged. Then, in that case, the reverse control unit drives the auger in reverse. That is, according to the present invention, the auger is automatically reverse-driven when the harvest transfer device is clogged. This makes it easier to clear the blockage.

Therefore, according to the present invention, it is possible to realize a harvester in which the clogging can be easily cleared automatically when the harvesting and transporting device is clogged.

Further, in the present invention, a height changing device for changing the height position of the auger with respect to the header and a height control unit for controlling the height position of the auger with respect to the header by controlling the height changing device. It is preferable that the height control unit raises the height position of the auger with respect to the header when the jamming determination unit determines that the harvest transfer device is clogged.

According to this configuration, the height position of the auger with respect to the header is automatically raised when the harvest transfer device is clogged. As a result, the gap between the bottom plate of the header and the auger is widened. As a result, when the crop or the like is clogged between the bottom plate of the header and the auger, the clogging can be easily cleared.

Further, in the present invention, the reversing control unit raises the harvesting unit and reversely drives the auger when the jamming determination unit determines that the harvesting and transporting device is clogged. It is preferable that the above is feasible.

When the auger is reversely driven when the harvest transport device is clogged, the clogged harvest or the like is discharged forward from the harvesting section.

Here, according to the above configuration, when the harvesting and transporting device is clogged, the clogged harvest or the like is discharged forward from the raised harvesting portion. At this time, if an unharvested crop (for example, a planted culm) exists in front of the machine, the discharged harvested product or the like is likely to be placed on the unharvested crop.

As a result, when the harvesting operation is restarted after the clogging of the harvesting and transporting device is cleared, the harvested crops and the like on the unharvested crops can be accepted by the harvesting unit. As a result, it is possible to reduce the harvest loss as compared with the case where the clogged harvest or the like is discharged to the ground and discarded.

Further, in the present invention, it is preferable that the reverse rotation control unit reversely drives the auger after moving the machine forward in the first clogging control.

According to this configuration, after the aircraft moves forward, the jammed crops and the like are discharged forward from the harvesting section. This makes it easier for the discharged crops and the like to be reliably placed on the unharvested crops. As a result, it becomes possible to reduce the harvest loss more reliably.

Further, in the present invention, when the jamming determination unit determines that the harvesting and transporting device is clogged, the reversing control unit reversely drives the auger after reversing the machine body at the time of the second clogging. It is preferable that the control can be executed.

As mentioned above, when the jammed crops are placed on the unharvested crops, when the harvesting run is resumed, the unharvested crops and the harvested crops on it are harvested. Will be accepted by. In this case, a relatively large amount of harvested products will be accepted by the harvesting department. Therefore, immediately after resuming harvesting, it is necessary to temporarily set the traveling speed of the aircraft to a relatively low speed so that clogging does not occur again. This tends to increase the time required for harvesting work.

Here, according to the above configuration, when the harvesting and transporting device is clogged, the clogged harvested material or the like is discharged from the harvesting portion to the ground. Therefore, it is not necessary to temporarily reduce the traveling speed of the aircraft to a relatively low speed immediately after restarting the harvesting operation. As a result, it is easy to shorten the time required for the harvesting work as compared with the case where the clogged harvested product or the like is placed on the unharvested crop.

Further, in the present invention, the harvesting unit includes a reel that scrapes the planted culm while being driven to rotate, and when the jamming determination unit determines that the harvesting and transporting device is clogged, the header is used. On the other hand, it is preferable to include a reel control unit for raising the reel.

According to this configuration, when the harvest transfer device is clogged, the reel is raised with respect to the header. As a result, it is easy to avoid a situation in which the reel interferes with the discharge when the jammed harvest or the like is discharged forward from the harvesting section.

Further, in the present invention, it is preferable to include a detection unit for detecting the rotation speed of the auger, and the clogging determination unit determines whether or not the harvest transfer device is clogged based on the detection result by the detection unit. be.

When the harvest or the like is clogged between the bottom plate of the header and the auger, the rotation speed of the auger tends to decrease. That is, the rotation speed of the auger is a value related to whether or not the harvest transfer device is clogged.

Here, according to the above configuration, the clogging determination unit determines whether or not the harvest transfer device is clogged based on the rotation speed of the auger. This makes it easy to realize a harvester that determines whether or not the harvesting and transporting device is clogged with a relatively simple configuration.

Further, in the present invention, it is preferable that the auger is provided with an electric motor that gives reverse power to the auger, and the reverse control unit drives the auger in reverse by driving the electric motor.

According to this configuration, in the power transmission path from the power source (for example, the engine) to the auger, it is not necessary to provide a forward / reverse switching mechanism capable of switching the power from the power source between the forward rotation direction and the reverse rotation direction. Therefore, it is possible to make the power transmission path from the power source to the auger a relatively simple configuration.

It is a left side view of the combine. It is a figure which shows the orbit running in a field. It is a figure which shows the cutting running along the cutting running path. It is a block diagram which shows the structure about the control part. It is a figure which shows the structure of a height changing device and the like. It is a figure which shows the change of the height position of an auger with respect to a header. It is a figure which shows the example when the 1st clogging control is executed. It is a figure which shows the example when the 2nd clogging control is executed.

A mode for carrying out the present invention will be described with reference to the drawings. In the following description, unless otherwise specified, the direction of the arrow F shown in FIGS. 1, 5 and 6 is referred to as “front” and the direction of arrow B is referred to as “rear”. Further, the direction of the arrow U shown in FIGS. 1, 5, and 6 is "up", and the direction of the arrow D is "down".

[Overall composition of combine harvester]
As shown in FIG. 1, the ordinary type combine 1 (corresponding to the “harvester” according to the present invention) includes a harvest transfer device 2, a crawler type traveling device 11, an operation unit 12, a threshing device 13, and a grain tank 14. , A grain ejection device 18, a satellite positioning module 80, and an engine E. The harvest transfer device 2 has a harvest unit H and a transfer unit 16.

That is, the combine 1 includes a harvesting and transporting device 2 having a harvesting section H and a transporting section 16.

The traveling device 11 is provided at the lower part of the combine 1. Further, the traveling device 11 is driven by the power from the engine E. The combine 1 can be self-propelled by the traveling device 11.

Further, the operation unit 12, the threshing device 13, and the grain tank 14 are provided on the upper side of the traveling device 11. An operator who monitors the work of the combine 1 can be boarded on the driving unit 12. The operator may monitor the work of the combine 1 from outside the combine 1.

The grain discharge device 18 is provided on the upper side of the grain tank 14. Further, the satellite positioning module 80 is attached to the upper surface of the operating unit 12.

The harvesting section H is provided in the front portion of the combine 1. The transport section 16 is provided on the rear side of the harvest section H. Further, the harvesting unit H includes a header 5, an auger 6, a cutting device 15, and a reel 17.

The reaping device 15 reaps the planted culm in the field. Further, the reel 17 is driven to rotate around the reel axis 17b along the left-right direction of the machine body to scrape the planted grain culm to be harvested.

That is, the harvesting unit H includes a reel 17 that scrapes the planted culm while being rotationally driven.

The cut grain culm (corresponding to the "harvest" according to the present invention) cut by the cutting device 15 is accepted in the header 5. Further, the auger 6 is configured in a cylindrical shape extending in the left-right direction of the machine body. The auger 6 is rotationally driven around an auger shaft 6b extending in the left-right direction of the machine body. As a result, the harvested culm received in the header 5 is sent to the transport unit 16 by the auger 6.

With this configuration, the harvesting unit H harvests the grains in the field (corresponding to the "crops" according to the present invention). Then, the combine 1 can be cut and run by the running device 11 while cutting the planted grain culms in the field by the cutting device 15.

The harvested culm harvested by the harvesting unit H is transported to the rear of the machine body by the transport unit 16. As a result, the harvested grain culm is transported to the threshing device 13.

That is, the transport unit 16 transports the harvested grain culms harvested by the harvesting unit H to the rear of the machine body.

In the threshing device 13, the harvested grain culm is threshed. The grains obtained by the threshing treatment are stored in the grain tank 14. The grains stored in the grain tank 14 are discharged to the outside of the machine by the grain discharging device 18 as needed.

Further, as shown in FIG. 1, a communication terminal 4 is arranged in the driving unit 12. The communication terminal 4 is configured to be able to display various information. In the present embodiment, the communication terminal 4 is fixed to the driving unit 12. However, the present invention is not limited to this, and the communication terminal 4 may be configured to be detachable from the driving unit 12, and the communication terminal 4 may be located outside the combine 1. ..

Here, the combine 1 is circulated while harvesting grains in the outer peripheral region of the field as shown in FIG. 2, and then reaped in the inner region of the field as shown in FIG. , Is configured to harvest field grain.

In the present embodiment, the lap running shown in FIG. 2 is performed by manual running. Further, the cutting run in the inner region shown in FIG. 3 is performed by automatic running. That is, the combine 1 can run automatically.

The present invention is not limited to this, and the orbital traveling shown in FIG. 2 may be performed by automatic traveling.

Further, as shown in FIG. 1, the driving unit 12 is provided with a main speed change lever 19. The main shift lever 19 is artificially operated. When the operator operates the main shift lever 19 while the combine 1 is manually traveling, the vehicle speed of the combine 1 changes. That is, when the combine 1 is manually traveling, the operator can change the vehicle speed of the combine 1 by operating the main shift lever 19.

The operator can change the rotation speed of the engine E by operating the communication terminal 4.

Growth characteristics such as ease of threshing and ease of lodging differ depending on the type of crop. Therefore, the appropriate working speed differs depending on the type of crop. If the operator operates the communication terminal 4 and sets the rotation speed of the engine E to an appropriate rotation speed, the work can be performed at a work speed suitable for the type of crop.

[Structure related to power transmission]
As shown in FIG. 4, the combine 1 includes a cutting clutch C1. The power output from the engine E is distributed to the cutting clutch C1 and the traveling device 11. The traveling device 11 is driven by power from the engine E.

Further, the cutting clutch C1 is configured so that the state can be changed between an on state in which power is transmitted and an off state in which power is not transmitted.

When the cutting clutch C1 is in the engaged state, the power output from the engine E is transmitted to the transport unit drive shaft 16a. As a result, the transport unit drive shaft 16a rotates in the forward rotation direction. Here, the transport unit drive shaft 16a is a drive shaft of the transport unit 16. The transport unit 16 is driven in the normal rotation direction by rotating the transport unit drive shaft 16a in the normal rotation direction.

Further, as shown in FIG. 4, the power transmitted from the engine E to the transport unit drive shaft 16a is distributed to the one-way clutch C2, the cutting device 15, and the auger 6. As a result, the cutting device 15 is driven and the auger 6 is rotationally driven in the forward rotation direction.

The one-way clutch C2 is configured to transmit the rotational power in the forward rotation direction to the reel 17 and not to transmit the rotational power in the reverse rotation direction to the reel 17. Therefore, when the transport unit drive shaft 16a is rotating in the forward rotation direction, the rotational power of the transport unit drive shaft 16a is transmitted to the reel 17 via the one-way clutch C2. As a result, the reel 17 is driven.

Further, when the cutting clutch C1 is in the disengaged state, the power output from the engine E is not transmitted to the transport unit drive shaft 16a. At this time, the power output from the engine E is not transmitted to any of the reel 17, the cutting device 15, and the auger 6.

Further, as shown in FIG. 4, the combine 1 includes an electric motor 7. The electric motor 7 is configured to give reverse power to the transport unit drive shaft 16a. That is, the transport unit drive shaft 16a is rotated in the reverse direction by the power from the electric motor 7. The transport unit 16 is driven in the reverse direction by rotating the transport unit drive shaft 16a in the reverse direction.

Then, the power transmitted from the electric motor 7 to the transport unit drive shaft 16a is distributed to the one-way clutch C2, the cutting device 15, and the auger 6. As a result, the cutting device 15 is driven and the auger 6 is rotationally driven in the reverse direction.

Further, when the transport unit drive shaft 16a is rotating in the reverse direction, the one-way clutch C2 does not transmit the rotational power of the transport unit drive shaft 16a to the reel 17. Therefore, at this time, the reel 17 is not driven.

With the above configuration, the electric motor 7 gives the auger 6 reverse power. That is, the combine 1 includes an electric motor 7 that gives reverse power to the auger 6.

The transport unit 16 is configured to transport the cut grain culm to the rear of the machine body when it is driven in the forward rotation direction. Further, the transport unit 16 is configured to transport the cut grain culm to the front of the machine body when it is driven in the reverse direction.

Further, the auger 6 is configured to send the cut grain culm to the transport unit 16 when it is driven in the forward rotation direction. Further, the auger 6 is configured to send the cut grain culm to the front of the machine body when it is driven in the reverse direction.

[Structure related to control unit]
As shown in FIG. 4, the combine 1 includes a control unit 20. The control unit 20 includes a vehicle position calculation unit 21, an area calculation unit 22, a route calculation unit 23, and a travel control unit 24.

As shown in FIG. 1, the satellite positioning module 80 receives GPS signals from the artificial satellite GS used in GPS (Global Positioning System). Then, as shown in FIG. 4, the satellite positioning module 80 sends the positioning data indicating the own vehicle position of the combine 1 to the own vehicle position calculation unit 21 based on the received GPS signal.

The own vehicle position calculation unit 21 calculates the position coordinates of the combine 1 over time based on the positioning data output by the satellite positioning module 80. The calculated position coordinates of the combine 1 over time are sent to the area calculation unit 22 and the travel control unit 24.

The area calculation unit 22 calculates the outer peripheral area SA and the work target area CA as shown in FIG. 3 based on the temporal position coordinates of the combine 1 received from the vehicle position calculation unit 21.

More specifically, the area calculation unit 22 calculates the traveling locus of the combine 1 in the orbital traveling on the outer peripheral side of the field based on the temporal position coordinates of the combine 1 received from the own vehicle position calculation unit 21. .. Then, the region calculation unit 22 calculates the region on the outer peripheral side of the field in which the combine 1 circulates while harvesting grains as the outer peripheral region SA, based on the calculated travel locus of the combine 1. Further, the area calculation unit 22 calculates the area inside the field from the calculated outer peripheral area SA as the work target area CA.

For example, in FIG. 2, the traveling path of the combine 1 for the orbital traveling on the outer peripheral side of the field is indicated by an arrow. In the example shown in FIG. 2, the combine 1 makes three laps. Then, when the cutting run along this running path is completed, the field is in the state shown in FIG.

As shown in FIG. 3, the region calculation unit 22 calculates the region on the outer peripheral side of the field in which the combine 1 orbits while harvesting grains as the outer peripheral region SA. Further, the area calculation unit 22 calculates the area inside the field from the calculated outer peripheral area SA as the work target area CA.

Then, as shown in FIG. 4, the calculation result by the area calculation unit 22 is sent to the route calculation unit 23.

Based on the calculation result received from the area calculation unit 22, the route calculation unit 23 calculates the mowing travel route LI, which is the travel route for the mowing operation in the work target area CA, as shown in FIG. As shown in FIG. 3, in the present embodiment, the cutting travel path LI is a plurality of mesh lines extending in the vertical and horizontal directions. Further, the plurality of mesh lines do not have to be straight lines and may be curved.

As shown in FIG. 4, the mowing travel path LI calculated by the route calculation unit 23 is sent to the travel control unit 24.

The travel control unit 24 is configured to be able to control the travel device 11. Then, the travel control unit 24 controls the automatic travel of the combine 1 based on the position coordinates of the combine 1 received from the own vehicle position calculation unit 21 and the harvesting travel route LI received from the route calculation unit 23. More specifically, as shown in FIG. 3, the traveling control unit 24 controls the traveling of the combine 1 so that the harvesting traveling is performed by the automatic traveling along the cutting traveling path LI.

[Flow of harvesting work by combine harvester]
In the following, as an example of the harvesting work by the combine 1, the flow when the combine 1 performs the harvesting work in the field shown in FIG. 2 will be described.

First, the operator manually operates the combine 1 and performs a cutting run so as to orbit along the boundary line of the field in the outer peripheral portion in the field as shown in FIG. In the example shown in FIG. 2, the combine 1 makes three laps. When this lap run is completed, the field is in the state shown in FIG.

The area calculation unit 22 calculates the travel locus of the combine 1 in the orbital travel shown in FIG. 2 based on the temporal position coordinates of the combine 1 received from the own vehicle position calculation unit 21. Then, as shown in FIG. 3, the area calculation unit 22 sets the outer peripheral region SA of the region on the outer peripheral side of the field in which the combine 1 orbits while cutting the planted culm, based on the calculated travel locus of the combine 1. Calculated as. Further, the area calculation unit 22 calculates the area inside the field from the calculated outer peripheral area SA as the work target area CA.

Next, the route calculation unit 23 sets the cutting travel route LI in the work target area CA as shown in FIG. 3 based on the calculation result received from the area calculation unit 22.

Then, when the operator presses the automatic running start button (not shown), automatic running along the cutting running path LI is started as shown in FIG. At this time, the traveling control unit 24 controls the traveling of the combine 1 so that the harvesting traveling is performed by the automatic traveling along the cutting traveling path LI.

When the automatic traveling in the work target area CA is started, as shown in FIG. 3, the combine 1 repeats traveling along the cutting travel path LI and changing the direction to cover the entire work target area CA. Perform a harvesting run to cover it.

In this embodiment, as shown in FIGS. 2 and 3, the carrier CV is parked outside the field. Then, in the outer peripheral region SA, the stop position PP is set at a position near the carrier CV.

The carrier CV can collect and transport the grains discharged by the combine 1 from the grain discharge device 18. At the time of grain discharge, the combine 1 stops at the stop position PP, and the grain is discharged to the carrier CV by the grain discharge device 18.

Then, when the cutting run along all the cutting running paths LI in the work target area CA is completed, the entire field is harvested.

In the present embodiment, in the work target area CA, the portion where the cutting run is completed is the outer peripheral area SA. The area calculation unit 22 is configured to calculate the outer peripheral area SA and the work target area CA over time during the execution of the cutting run in the field.

[Structure related to raising / lowering control of harvesting section, reel, and auger]
As shown in FIGS. 1, 4, and 5, the combine 1 includes a cutting cylinder 15A, a reel cylinder 17A, and a height changing device 6A.

Further, as shown in FIG. 4, the control unit 20 has a clogging control unit 25. The jam control unit 25 includes a reverse rotation control unit 26.

The reverse rotation control unit 26 is configured to be able to control the cutting cylinder 15A. When the reverse rotation control unit 26 controls the cutting cylinder 15A in the extension direction, the harvest transfer device 2 swings in the direction in which the front end portion of the harvest transfer device 2 rises. As a result, the harvesting section H rises with respect to the aircraft.

Further, when the reverse rotation control unit 26 controls the cutting cylinder 15A in the contraction direction, the harvest transfer device 2 swings in the direction in which the front end portion of the harvest transfer device 2 descends. As a result, the harvesting section H descends with respect to the aircraft.

With this configuration, the reverse rotation control unit 26 can control the raising and lowering of the harvesting unit H with respect to the machine body. Further, the harvesting unit H can be raised and lowered with respect to the machine body.

That is, the harvesting unit H includes a header 5 for receiving the harvested grain culm and a rotary-driven auger 6, and is configured to be able to move up and down with respect to the machine body, and harvests the grain in the field.

Further, as shown in FIG. 4, the jam control unit 25 includes a reel control unit 27.

The reel control unit 27 is configured to be able to control the reel cylinder 17A. When the reel control unit 27 controls the reel cylinder 17A in the extension direction, the reel 17 rises with respect to the header 5.

Further, when the reel control unit 27 controls the reel cylinder 17A in the contraction direction, the reel 17 descends with respect to the header 5.

With this configuration, the reel control unit 27 can control the raising and lowering of the reel 17 with respect to the header 5. Further, the reel 17 can be raised and lowered with respect to the header 5.

Further, as shown in FIG. 5, the height changing device 6A is composed of a telescopic cylinder. Further, as shown in FIG. 4, the clogging control unit 25 includes a height control unit 28. The height control unit 28 is configured to be able to control the height changing device 6A.

As shown in FIG. 5, the header 5 has a shaft support portion 51 and a device support portion 52. The device support portion 52 is provided so as to project outward from the side plate 53 of the header 5 in the left-right direction of the machine body. The device support portion 52 supports the height changing device 6A.

Further, the shaft support portion 51 is configured to be slidable up and down with respect to the side plate 53. The shaft support portion 51 is supported by the device support portion 52 via the height changing device 6A. The auger shaft 6b is supported by the shaft support portion 51.

When the height control unit 28 controls the height changing device 6A in the extension direction, the shaft support portion 51 and the auger shaft 6b rise with respect to the side plate 53, as shown in FIG. As a result, as shown in FIG. 6, the auger 6 rises with respect to the header 5.

Further, when the height control unit 28 controls the height changing device 6A in the contraction direction, the shaft support portion 51 and the auger shaft 6b descend with respect to the side plate 53, as shown in FIG. As a result, as shown in FIG. 6, the auger 6 descends with respect to the header 5.

In this embodiment, the shaft support portion 51, the device support portion 52, and the height changing device 6A are provided at the left end and the right end of the header 5, respectively. The shaft support portion 51, the device support portion 52, and the height changing device 6A at the left end of the header 5 and the shaft support portion 51, the device support portion 52, and the height changing device 6A at the right end of the header 5 have similar structures to each other. Have. The auger shaft 6b is provided so as to extend over the left and right shaft support portions 51.

With the above configuration, the height changing device 6A changes the height position of the auger 6 with respect to the header 5. Further, the height control unit 28 controls the height position of the auger 6 with respect to the header 5 by controlling the height changing device 6A.

As shown in FIG. 6, the higher the height position of the auger 6 with respect to the header 5, the wider the distance between the bottom plate 5a of the header 5 and the auger 6. In the present embodiment, when the height position of the auger 6 with respect to the header 5 is the lowest, the distance between the bottom plate 5a and the auger 6 is the first distance D1. Further, when the height position of the auger 6 with respect to the header 5 is the highest, the distance between the bottom plate 5a and the auger 6 is the second distance D2. The second interval D2 is wider than the first interval D1.

That is, the combine 1 is provided with a height changing device 6A that changes the height position of the auger 6 with respect to the header 5. Further, the combine 1 includes a height control unit 28 that controls the height position of the auger 6 with respect to the header 5 by controlling the height changing device 6A.

[Structure related to control when the harvest transfer device is clogged]
As shown in FIG. 4, the combine 1 includes a detection unit SE. Further, the control unit 20 has a clogging determination unit 29.

The detection unit SE detects the rotation speed of the auger 6 while the combine 1 is harvesting in the field. The detection result by the detection unit SE is sent to the clogging determination unit 29.

The clogging determination unit 29 determines whether or not the harvest transfer device 2 is clogged based on the detection result by the detection unit SE. More specifically, the clogging determination unit 29 determines whether or not the rotation speed of the auger 6 is less than a predetermined threshold value based on the detection result by the detection unit SE. Then, when the rotation speed of the auger 6 is equal to or higher than a predetermined threshold value, the clogging determination unit 29 determines that the harvest transfer device 2 is not clogged. Further, when the rotation speed of the auger 6 is less than a predetermined threshold value, the clogging determination unit 29 determines that the harvest transfer device 2 is clogged.

That is, the combine 1 includes a detection unit SE that detects the rotation speed of the auger 6. Further, the combine 1 includes a clogging determination unit 29 for determining whether or not the harvesting and transporting device 2 is clogged.

The jam determination unit 29 may be configured to determine whether or not the harvesting unit H is clogged in the harvesting and transporting device 2, or may determine whether or not the transporting unit 16 is clogged. It may be configured in.

When the jam determination unit 29 determines that the harvest transfer device 2 is clogged, the jam determination unit 29 sends a predetermined signal to the jam control unit 25 as shown in FIG. This signal is a signal indicating that the harvest transfer device 2 is clogged. When the jam control unit 25 receives this signal, the reverse control unit 26, the reel control unit 27, and the height control unit 28 in the jam control unit 25 execute control for clearing the jam of the harvest transfer device 2. .. In the following, the control for clearing the clogging of the harvest transfer device 2 will be described in detail.

As shown in FIG. 4, the reverse rotation control unit 26 is configured to be able to control the cutting clutch C1 and the electric motor 7. Then, the reverse rotation control unit 26 can execute the first clogging control when it is determined by the clogging determination unit 29 that the harvest transfer device 2 is clogged. The first clogging control is a control in which the harvesting portion H is raised and the auger 6 is reversely driven.

More specifically, when the first clogging control is executed, first, the reverse rotation control unit 26 raises the harvesting unit H with respect to the machine body by controlling the cutting cylinder 15A in the extension direction. Next, the reverse rotation control unit 26 sends a predetermined command to the travel control unit 24. This command commands the aircraft to move forward by a predetermined distance.

When the travel control unit 24 receives this command, the travel control unit 24 controls the travel device 11 to advance the aircraft by a predetermined distance.

Next, the reverse rotation control unit 26 switches the cutting clutch C1 from the on state to the off state, and drives the electric motor 7. As a result, the power in the forward rotation direction output from the engine E is cut off by the cutting clutch C1, and the auger 6 is driven in the reverse direction by the power in the reverse rotation direction output from the electric motor 7. As a result, the first clogging control is completed.

That is, the combine 1 includes a reversing control unit 26 that reversely drives the auger 6 when the jamming determination unit 29 determines that the harvesting and transporting device 2 is clogged. Further, the reverse rotation control unit 26 can execute the first jamming control that raises the harvesting unit H and reversely drives the auger 6 when the jamming determination unit 29 determines that the harvesting and transporting device 2 is clogged. be. Further, the reverse rotation control unit 26 reversely drives the auger 6 after moving the aircraft forward in the first jam control. Further, the reverse rotation control unit 26 drives the auger 6 in reverse direction by driving the electric motor 7.

Further, the reverse rotation control unit 26 can execute the second clogging control when it is determined by the clogging determination unit 29 that the harvest transfer device 2 is clogged. The second clogging control is a control in which the auger 6 is reversely driven after the aircraft is moved backward.

More specifically, when the second clogging control is executed, the reverse rotation control unit 26 first sends a predetermined command to the travel control unit 24. This command commands the aircraft to move backward by a predetermined distance.

When the travel control unit 24 receives this command, the travel control unit 24 controls the travel device 11 to move the aircraft backward by a predetermined distance.

The present invention is not limited to this, and the reversing control unit 26 controls the cutting cylinder 15A in the extension direction to raise the harvesting unit H with respect to the aircraft prior to moving the aircraft backward by a predetermined distance. It may be configured in.

Next, the reverse rotation control unit 26 switches the cutting clutch C1 from the on state to the off state, and drives the electric motor 7. As a result, the power in the forward rotation direction output from the engine E is cut off by the cutting clutch C1, and the auger 6 is driven in the reverse direction by the power in the reverse rotation direction output from the electric motor 7. As a result, the second clogging control is completed.

That is, the reverse rotation control unit 26 can execute the second jamming control that reversely drives the auger 6 after moving the machine backward when the jamming determination unit 29 determines that the harvest transfer device 2 is clogged. be.

In the present embodiment, the communication terminal 4 is configured to be able to select which of the first clogging control and the second clogging control is executed. More specifically, the communication terminal 4 can display a control selection screen (not shown). Then, when the control selection screen is displayed on the communication terminal 4, the operator arbitrarily selects either the first clogging control or the second clogging control by operating the communication terminal 4. can.

Then, as shown in FIG. 4, a signal indicating the selection content by the operator is sent from the communication terminal 4 to the clogging control unit 25. When the jamming determination unit 29 determines that the harvest transfer device 2 is clogged, the reversing control unit 26 receives one of the first clogging control and the second clogging control in response to this signal. Run. That is, the reverse rotation control unit 26 executes which of the first clogging control and the second clogging control is selected by the operator.

The present invention is not limited to this, and the reverse rotation control unit 26 automatically selects and executes the appropriate one of the first clogging control and the second clogging control according to the work situation. It may be configured in.

Further, as shown in FIG. 4, the reel control unit 27 can execute the reel ascending control when it is determined by the jam determination unit 29 that the harvest transfer device 2 is clogged. The reel raising control is a control for raising the reel 17 with respect to the header 5.

More specifically, when the reel raising control is executed, the reel control unit 27 raises the reel 17 with respect to the header 5 by controlling the reel cylinder 17A in the extension direction. This completes the reel rise control.

That is, the combine 1 includes a reel control unit 27 that raises the reel 17 with respect to the header 5 when the jamming determination unit 29 determines that the harvest transport device 2 is clogged.

In this embodiment, the reel rise control is executed at the same time as the first jam control or the second jam control.

Further, as shown in FIG. 4, the height control unit 28 can execute the auger rise control when it is determined by the clogging determination unit 29 that the harvest transfer device 2 is clogged. The auger rise control is a control for raising the height position of the auger 6 with respect to the header 5.

More specifically, when the auger rise control is executed, the height control unit 28 raises the height position of the auger 6 with respect to the header 5 by controlling the height changing device 6A in the extension direction. This completes the auger rise control.

That is, the height control unit 28 raises the height position of the auger 6 with respect to the header 5 when the jam determination unit 29 determines that the harvest transfer device 2 is clogged.

In this embodiment, the auger rise control is executed at the same time as the first clogging control or the second clogging control.

[Flow of control at the time of first clogging]
In the following, as an example of the case where the first clogging control is executed during the harvesting operation, the case where the combine 1 is controlled as shown in FIG. 7 will be described.

In the example shown in FIG. 7, the combine 1 is controlled in the order of step S01 to step S06.

First, the harvest transfer device 2 is clogged (step S01). As a result, it is assumed that the rotation speed of the auger 6 is less than a predetermined threshold value. At this time, the clogging determination unit 29 determines that the harvest transfer device 2 is clogged. As a result, the reverse rotation control unit 26 executes the first clogging control. Further, the reel control unit 27 executes reel ascending control. Further, the height control unit 28 executes the auger rise control.

In this example, the reverse rotation control unit 26 controls to temporarily stop the traveling of the combine harvester 1 via the traveling control unit 24 when executing the first jam control.

Next, the harvesting portion H rises due to the first clogging control (step S02). At the same time, the reel 17 is raised with respect to the header 5 by the reel raising control. At the same time, the height position of the auger 6 with respect to the header 5 is raised by the auger rise control.

Next, the body of the combine 1 advances by a predetermined distance by the first clogging control (step S03). Then, the auger 6 is reversely driven by the first clogging control (step S04). As a result, the harvested grain culms and the like clogged in the harvesting and transporting device 2 are discharged forward from the harvesting section H. As a result, the discharged cut grain culms and the like are placed on the unharvested planted culms.

Next, the reverse rotation control unit 26 controls the combine 1 to move backward by a predetermined distance via the travel control unit 24 (step S05). The forward distance in step S03 and the reverse distance in step S05 may be the same or different from each other.

Next, the reversing control unit 26 lowers the harvesting unit H (step S06). At the same time, the reel control unit 27 lowers the reel 17 with respect to the header 5. At the same time, the height control unit 28 lowers the height position of the auger 6 with respect to the header 5.

When the control up to step S06 is completed, the combine 1 resumes the harvesting run.

In the example described above, the first clogging control is completed by steps S02 to S04. That is, step S05 and step S06 are not included in the first clogging control. However, the present invention is not limited to this, and steps S05 and S06 may be included in the first clogging control.

[Flow of control at the time of second clogging]
In the following, as an example of the case where the second clogging control is executed during the harvesting operation, the case where the combine 1 is controlled as shown in FIG. 8 will be described.

In the example shown in FIG. 8, the combine 1 is controlled in the order of step S11 to step S15.

First, the harvest transfer device 2 is clogged (step S11). As a result, it is assumed that the rotation speed of the auger 6 is less than a predetermined threshold value. At this time, the clogging determination unit 29 determines that the harvest transfer device 2 is clogged. As a result, the reverse rotation control unit 26 executes the second clogging control. Further, the reel control unit 27 executes reel ascending control. Further, the height control unit 28 executes the auger rise control.

In this example, the reverse rotation control unit 26 controls to temporarily stop the traveling of the combine harvester 1 via the traveling control unit 24 when the second jamming control is executed.

Next, the harvesting portion H rises due to the second clogging control (step S12). At the same time, the reel 17 is raised with respect to the header 5 by the reel raising control. At the same time, the height position of the auger 6 with respect to the header 5 is raised by the auger rise control.

Next, the combine harvester 1 moves backward by a predetermined distance by the second jam control (step S13). Then, the auger 6 is reversely driven by the second clogging control (step S14). As a result, the harvested grain culms and the like clogged in the harvesting and transporting device 2 are discharged forward from the harvesting section H. As a result, the discharged cut grain culms and the like fall to the ground in the harvested area.

As described above, in this example, the second clogging control includes a control for raising the harvesting portion H before the aircraft moves backward. However, the present invention is not limited to this, and the control at the time of the second clogging may not include the control for raising the harvesting portion H. That is, it is not necessary to control the harvesting portion H to be raised before the aircraft moves backward.

Next, the reversing control unit 26 lowers the harvesting unit H (step S15). At the same time, the reel control unit 27 lowers the reel 17 with respect to the header 5. At the same time, the height control unit 28 lowers the height position of the auger 6 with respect to the header 5.

When the control up to step S15 is completed, the combine 1 resumes the cutting run.

In the example described above, the second clogging control is completed by steps S12 to S14. That is, step S15 is not included in the second clogging control. However, the present invention is not limited to this, and step S15 may be included in the second clogging control.

With the configuration described above, when the harvest transfer device 2 is clogged, the jam determination unit 29 determines that the harvest transfer device 2 is clogged. Then, in that case, the reverse rotation control unit 26 reversely drives the auger 6. That is, according to the configuration described above, the auger 6 is automatically reversely driven when the harvest transfer device 2 is clogged. This makes it easier to clear the blockage.

Therefore, with the configuration described above, it is possible to realize a combine 1 in which the clogging is easily cleared automatically when the harvesting and transporting device 2 is clogged.

It should be noted that the above-described embodiment is merely an example, and the present invention is not limited to this, and can be appropriately modified.

[Other embodiments]
(1) The traveling device 11 may be a wheel type or a semi-crawler type.

(2) In the above embodiment, the cutting travel route LI calculated by the route calculation unit 23 is a plurality of mesh lines extending in the vertical and horizontal directions. However, the present invention is not limited to this, and the cutting travel path LI calculated by the route calculation unit 23 does not have to be a plurality of mesh lines extending in the vertical and horizontal directions. For example, the cutting travel path LI calculated by the route calculation unit 23 may be a spiral travel route. Further, the cutting travel path LI does not have to be orthogonal to another cutting travel route LI. Further, the cutting travel path LI calculated by the route calculation unit 23 may be a plurality of parallel lines parallel to each other.

(3) In the above embodiment, the operator manually operates the combine 1 and, as shown in FIG. 2, performs a cutting run so as to orbit along the boundary line of the field in the outer peripheral portion of the field. However, the present invention is not limited to this, and the combine 1 may be configured to automatically travel and perform cutting traveling so as to orbit along the boundary line of the field in the outer peripheral portion of the field. Further, the number of laps at this time may be a number other than three laps. For example, the number of laps at this time may be one lap.

(4) Own vehicle position calculation unit 21, area calculation unit 22, route calculation unit 23, travel control unit 24, jam control unit 25, reverse rotation control unit 26, reel control unit 27, height control unit 28, jam determination unit. A part or all of the 29 may be provided outside the combine 1, and may be provided, for example, in a management server provided outside the combine 1.

(5) The height changing device 6A may not be provided. That is, it may be configured so that the height position of the auger 6 with respect to the header 5 cannot be changed.

(6) The reverse rotation control unit 26 may be configured so that the first clogging control cannot be executed.

(7) The reverse rotation control unit 26 may be configured so that the second clogging control cannot be executed.

(8) The reverse rotation control unit 26 may be configured so that the aircraft does not move forward before the auger 6 is reversely driven in the first jam control.

(9) The combine 1 may be configured so that it cannot run automatically. For example, when the harvest transfer device 2 is not clogged, the harvesting operation is performed manually by the operator, and when the harvest transfer device 2 is clogged, the reverse control unit 26 described in the above embodiment automatically controls the harvest operation. It may be a configuration to be executed.

INDUSTRIAL APPLICABILITY The present invention can be used for a harvester equipped with a harvesting and transporting device having a harvesting section and a transporting section.

1 combine (harvester)
2 Harvesting and transporting device 5 Header 6 Auger 6A Height changing device 7 Electric motor 16 Transporting section 17 Reel 26 Reverse control control section 27 Reel control section 28 Height control section 29 Clog determination section H Harvesting section SE detection section

Claims (8)

Equipped with a harvesting and transporting device having a harvesting section and a transporting section,
The harvesting section includes a header for receiving the harvested material and a rotary-driven auger, and is configured to be able to move up and down with respect to the airframe, and harvests the crops in the field.
The transport unit transports the harvested product harvested by the harvesting unit to the rear of the machine.
A clogging determination unit that determines whether or not the harvest transfer device is clogged, and a clogging determination unit.
A harvester including a reversing control unit that reversely drives the auger when it is determined by the clogging determination unit that the harvesting and transporting device is clogged. A height changing device that changes the height position of the auger with respect to the header, and
A height control unit for controlling the height position of the auger with respect to the header by controlling the height changing device is provided.
The harvester according to claim 1, wherein the height control unit raises the height position of the auger with respect to the header when the jam determination unit determines that the harvest transfer device is clogged. A claim that the reverse control unit can execute a first jam control that raises the harvest unit and reversely drives the auger when the jam determination unit determines that the harvest transfer device is clogged. Item 2. The harvester according to item 1 or 2. The harvester according to claim 3, wherein the reverse control unit reversely drives the auger after moving the machine forward in the first clogging control. When the jamming determination unit determines that the harvesting and transporting device is clogged, the reversing control unit can execute a second jamming control that reversely drives the auger after moving the machine backward. The harvester according to any one of claims 1 to 4. The harvesting section includes a reel that squeezes the planted culm while being rotationally driven.
The harvester according to any one of claims 1 to 5, further comprising a reel control unit that raises the reel with respect to the header when the jam determination unit determines that the harvest transfer device is clogged. It is equipped with a detector that detects the rotation speed of the auger.
The harvester according to any one of claims 1 to 6, wherein the jam determination unit determines whether or not the harvest transfer device is clogged based on the detection result by the detection unit. Equipped with an electric motor that gives reverse power to the auger,
The harvester according to any one of claims 1 to 7, wherein the reverse control unit reversely drives the auger by driving the electric motor.

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