JP2022006512A - combine - Google Patents

Abstract

To provide a combine in which a grain discharge position can be finely adjusted easily.SOLUTION: A combine 1 of the present invention includes a grain discharge auger 5 provided so as to turn with respect to a machine body, an actuator 14 for turning that turns the grain discharge auger 5, and a control part 40 for controlling the actuator 14 for turning. The control part 40 includes fine adjustment turning range setting means for setting an arbitrary turning range of the grain discharge auger 5 as a fine adjustment turning range and fine adjustment turning control means that when the grain discharge auger 5 is caused to turn within the fine adjustment turning range, causes the grain discharge auger 5 to turn at a fine adjustment turning speed lower than a turning speed when the grain discharge auger 5 is caused to turn outside the fine adjustment turning range.SELECTED DRAWING: Figure 13

Description

The present invention relates to a combine with a swivel grain discharge auger.

A combine having a grain discharge auger provided so as to be swivel with respect to the airframe, a swivel actuator for swiveling the grain discharge auger, and a control unit for controlling the swivel actuator is known (for example, a patent). See Document 1).

Japanese Unexamined Patent Publication No. 2000-270671

In this type of combine, when discharging grains to a truck or the like, it is necessary to align the grain discharge port of the grain discharge auger with the desired grain discharge position, but the turning speed of the grain discharge auger is fast. It may be difficult to fine-tune the grain discharge position due to excessive rotation or fluctuation of the turning speed due to the deflection of the grain discharge auger or the ascending / descending angle.

The present invention has been created for the purpose of solving these problems in view of the above circumstances, and the invention of claim 1 is a grain discharge auger provided so as to be rotatable with respect to the machine body. A combine including a swivel actuator for swiveling the grain discharge auger and a control unit for controlling the swivel actuator, wherein the control unit finely adjusts an arbitrary swivel range of the grain discharge auger. From the fine adjustment turning range setting means set as the turning range and the turning speed when turning the grain discharge auger outside the fine adjustment turning range when turning the grain discharge auger within the fine adjustment turning range. It is also characterized by comprising a fine adjustment turning control means for turning the grain discharging auger at a low turning speed for fine adjustment.
The invention of claim 2 is the combine according to claim 1, wherein the control unit uses a turning speed correction value capable of turning the grain discharge auger at a constant speed within the fine adjustment turning range. It is characterized by comprising a turning speed compensating means for controlling a turning actuator.
The invention of claim 3 is the combine according to claim 1 or 2, wherein the fine adjustment turning range setting means responds to the operation of the setting operation tool during the turning of the grain discharge auger. It is characterized by setting a range.
The invention of claim 4 is the combine according to claim 1 or 2, wherein the fine-tuning swivel range setting means is swiveled by a grain-discharging operating tool for operating the grain-discharging auger to eject grains. It is characterized in that the position is set as a reference turning position and the turning range including the reference turning position is set as the fine adjustment turning range.

According to the invention of claim 1, when the grain discharge auger is swiveled within the finely adjusted swivel range that can be arbitrarily set, the swivel speed is lower than the swivel speed when the grain discharge auger is swiveled outside the fine adjustment swivel range. Since the grain discharge auger is swiveled at the swirling speed for fine adjustment, the fine adjustment operation of the grain discharge position becomes easy.
According to the second aspect of the present invention, within the fine adjustment turning range, the turning actuator is controlled by using the turning speed correction value capable of turning the grain discharge auger at a constant speed, so that the grain is discharged by the fluctuation of the turning speed. It is possible to prevent the fine adjustment operation of the position from being hindered.
According to the third aspect of the present invention, the fine adjustment turning range can be set according to the operation of the setting operating tool during the turning of the grain discharge auger.
According to the invention of claim 4, the turning position in which the grain discharging operating tool for operating the grain discharging auger is operated is set as the reference turning position, and the turning range including the reference turning position is set as the fine adjustment turning range. Can be set.

It is a left side view of the combine which concerns on one Embodiment of this invention. It is a top view of the combine which concerns on one Embodiment of this invention. It is a front view which shows the auger remote controller of the combine which concerns on one Embodiment of this invention. It is a top view which shows the control part of the combine which concerns on one Embodiment of this invention. It is a block diagram which shows the control composition of the combine which concerns on one Embodiment of this invention. It is a graph which shows the relationship between the auger turning position and the auger turning speed of the combine which concerns on one Embodiment of this invention. It is an operation explanatory diagram of the auger rotation control of the combine which concerns on one Embodiment of this invention, (a) is a timing chart which shows the rotation operation switch input, (b) is a timing chart which shows the rotation motor output, (c) is an auger. It is a timing chart which shows the tip displacement. It is a top view which shows the auger fine adjustment turning range of the combine which concerns on one Embodiment of this invention. It is a flowchart which shows the turning speed measurement control (1/4) of the combine which concerns on one Embodiment of this invention. It is a flowchart which shows the turning speed measurement control (2/4) of the combine which concerns on one Embodiment of this invention. It is a flowchart which shows the turning speed measurement control (3/4) of the combine which concerns on one Embodiment of this invention. It is a flowchart which shows the turning speed measurement control (4/4) of the combine which concerns on one Embodiment of this invention. It is a flowchart which shows the turning range setting control 1 of the combine which concerns on one Embodiment of this invention. It is a flowchart which shows the turning range setting control 2 of the combine which concerns on one Embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In FIGS. 1 and 2, 1 is a combine, and the combine 1 is a pretreatment section 2 for cutting stalks, a threshing section 3 for threshing and sorting grains from the cut culms, and selected grains. A grain tank 4 for storing grains, a grain discharge auger 5 for discharging grains in the grain tank 4 to the outside of the machine, a post-treatment unit 6 for post-treating threshed straw, a driver's seat 7, and the driver's seat 7. A control unit 8 provided with various operating tools and a crawler-type traveling unit 9 are provided.

A horizontal spiral (not shown) along the front-rear direction is installed in the lower part of the grain tank 4, and the grains in the grain tank 4 are reared by the grain tank 4 in response to the rotational drive of the horizontal spiral. It is discharged from the lower end. The vertical transport cylinder 10 of the grain discharge auger 5 is rotatably connected to the rear lower end portion of the grain tank 4, and further, the horizontal transport of the grain discharge auger 5 is connected to the upper end portion of the vertical transport cylinder 10. The cylinder 11 is connected so as to be able to move up and down.

The vertical transport cylinder 10 and the horizontal transport cylinder 11 are equipped with a spiral transport body (not shown) equivalent to the horizontal spiral, and these spiral transport bodies are rotationally driven in a series with the horizontal spiral. The grains in the grain tank 4 are transported to the horizontal transport cylinder 11 via the vertical transport cylinder 10 and are discharged from the discharge port 12 formed at the tip of the horizontal transport cylinder 11. The rotation drive and rotation stop of the horizontal spiral and the spiral carrier are operated based on the engagement / disengagement of the grain discharge clutch (not shown).

The grain discharge auger 5 (horizontal transport cylinder 11) can be operated to an arbitrary elevating position according to the drive of the elevating actuator 13 (for example, a hydraulic cylinder), and the turning actuator 14 (for example, an electric motor: FIG. 5) can be operated. It can be operated to any turning position according to the drive of (see). As shown in FIG. 2, the turning range of the grain discharging auger 5 includes the storage position D and the discharging positions A, B, and C set for automatic turning. In the turning ranges A to C, the grains can be discharged at an arbitrary turning position by a manual turning operation. Further, the turning range D to A is a descending prohibition range.

As shown in FIGS. 3 and 4, an auger remote controller 18 for operating the grain discharge auger 5 is arranged in the control unit 8. The auger remote control 18 of the present embodiment is a wired remote control, and the discharge position selection switch 19 for selecting and operating the discharge turning position of the grain discharge auger 5 and the selected discharge position are displayed on the operation surface 18a. The discharge position indicators 20A, 20B, 20C, the grain discharge switch 21 for turning the discharge clutch on / off, the discharge indicator 22 for displaying the discharge status, and the grain discharge auger 5 are automatically swiveled to the selected discharge swivel position. The swivel automatic switch 23, the ascending operation switch 24 and the descending operation switch 25 for manually raising and lowering the grain discharge auger 5, and the right swivel switch 26 and the left swivel switch 27 for manually swirling the grain discharge auger 5. And are provided.

As shown in FIG. 4, the control unit 8 includes a front operation panel 28 provided in front of the driver's seat 7, a side operation panel 29 provided on the left side of the driver's seat 7, and a rear provided behind the driver's seat 7. An operation panel 30 is provided. A joystick-type multi-steering lever 31 and the above-mentioned auger remote controller 18, which are also used as a steering operation tool for the aircraft and an elevating operation tool for the preprocessing unit 2, are arranged on the front operation panel 28, and the side operation panel 29 is arranged. A main shift lever 32, an auxiliary shift lever 33, and the like are arranged. Further, a measurement mode switch 34 and a setting switch 35, which will be described later, are arranged on the rear operation panel 30.

As shown in FIG. 5, the combine 1 includes a control unit 40 that controls the grain harvester auger 5. On the input side of the control unit 40, in addition to the actuator of the auger remote control 18, the measurement mode switch 34, and the setting switch 35 described above, the turning position detecting means for detecting the turning position of the grain discharge auger 5 (horizontal transport cylinder 11). Storage of the 41 (for example, potentiometer), the elevating and tilting detection means 42 (for example, the potentiometer) for detecting the elevating and tilting of the grain discharge auger 5 (horizontal transport cylinder 11), and the grain discharge auger 5 (horizontal transport cylinder 11). While the storage position detecting means 43 (for example, a potentiometer or a limit switch) for detecting the position is connected, on the output side of the control unit 40, in addition to the above-mentioned elevating actuator 13 and turning actuator 14, grains are grained. An actuator 44 for a grain discharge clutch that engages / disengages the discharge clutch and a notification means 45 that notifies an alarm with a buzzer sound or a lamp are connected. Further, the control unit 40 itself is configured by using a microcontroller or the like, and includes a timer 40a capable of measuring time and a non-volatile memory 40b in which the stored contents are not lost when the power is turned off.

The control unit 40 includes a turning speed calculation means, a turning speed correction value calculation means, a turning speed correction means, a fine adjustment turning range setting means, and a fine adjustment turning control means as a functional configuration realized by the cooperation of hardware and software. ..

As shown in FIG. 6, the turning speed calculating means calculates the turning speed of the grain discharging auger 5 for each turning direction and turning position of the grain discharging auger 5 (horizontal transport cylinder 11). For example, while the timer 40a is measuring the unit time T (for example, 1 second) while the grain discharge auger 5 is turning, the turning amount S (turning angle) per unit time is used as the detection value of the turning position detecting means 41. It is specified based on the above, and the turning amount S / unit time T is calculated as the turning speed.

When the grain discharge auger 5 is swiveled, even if a constant signal is output from the control unit 40 to the swivel actuator 14, the grain discharge auger 5 bends due to the rigidity of the auger support frame or the like (for example). Since vertical displacement of the lateral transport cylinder 11) may occur, the load acting on the swivel actuator 14 may fluctuate and the swivel speed may not be constant. As shown in FIG. 6, the fluctuation of the turning speed of the grain discharging auger 5 appears in substantially the opposite direction depending on the turning direction, and the fluctuation amount greatly differs depending on the turning position. Therefore, in the present embodiment, the grain discharge is performed. In the turning range (A to C) where the auger 5 can discharge grains, the right turning speed is calculated while turning the grain discharging auger 5 to the right, and the left turning speed while turning the grain discharging auger 5 to the left. Is calculated.

The turning speed correction value calculating means calculates the turning speed correction value based on the difference between the turning speed calculated by the turning speed calculating means and the target turning speed for each turning direction and turning position of the grain discharge auger 5. .. For example, the calculated turning speed value calculated by the turning speed calculating means is compared with the target turning speed value, and if the calculated turning speed value is lower than the target turning speed value, the turning speed correction for increasing the turning speed by the difference is used. On the other hand, when the calculated turning speed value is higher than the target turning speed value, the turning speed correction value for lowering the turning speed by the difference is calculated.

Further, the turning speed correction value calculating means of the present embodiment further corrects the turning speed correction value based on the elevating angle of the grain discharge auger 5. For example, since the fluctuation range of the turning speed due to bending differs between when the grain discharge auger 5 (horizontal transport cylinder 11) is horizontal and when it is rising, the fluctuation range of the turning speed due to bending is larger than when it is horizontal. However, the fluctuation range of the turning speed due to bending is small, and the turning speed correction value at the time of climb is reduced. Further, in the intermediate elevating angle between the horizontal angle and the ascending angle, it is preferable to correct the turning speed correction value proportionally according to the elevating angle.

The turning speed correction means controls the turning actuator 14 by using the turning speed correction value calculated by the turning speed correction value calculating means. For example, in the case of a motor in which the turning actuator 14 rotates at a constant speed, the turning speed correction means corrects the turning speed of the grain discharge auger based on the pulse width modulation control of the inching pulse that drives the motor. For example, in the case of making corrections for lowering the turning speed when turning right and increasing the turning speed when turning left, as shown in FIG. 7 (b), the motor responds to the switch input (FIG. 7 (a)). The pulse width output to is narrowed when turning right and widened when turning left. At this time, the displacement amount of the auger tip in the turning direction per pulse is the same in both the right turn and the left turn. When the turning actuator 14 is a motor capable of accelerating or decelerating the rotation speed, the turning speed correction means can correct the turning speed of the grain discharge auger 5 based on the rotation speed control of the motor.

According to the turning speed calculation means, the turning speed correction value calculation means, and the turning speed correction means as described above, the turning speed fluctuation caused by the bending of the grain discharging auger 5 is suppressed, and the grain discharging auger 5 is substantially constant. Since it can be swiveled at a high speed, not only the swivel operation and the stop operation of the grain discharge auger 5 become easy, but also the grain discharge position can be finely adjusted with high accuracy.

The fine adjustment turning range setting means sets an arbitrary turning range of the grain discharge auger 5 as the fine adjustment turning range. The fine adjustment swivel range means a swivel range in which the grain discharge auger 5 is swiveled at a slower fine adjustment swivel speed than when the grain discharge auger 5 is swiveled in another swivel range.

The fine adjustment turning range setting means of the present embodiment includes three setting patterns as a method of setting an arbitrary turning range of the grain discharge auger 5 as a fine adjustment turning range, and any one of the patterns can be arbitrarily selected. ..

In the first setting pattern, as shown in FIG. 8, the turning position where the operation of operating the grain discharging auger 5 to discharge the grain (the turning operation of the grain discharging switch 21) is performed is set as the reference turning position X, and the reference. The turning range including the turning position X is set as the fine adjustment turning range. For example, with the reference turning position X as the center, a range of predetermined angles θ1 in the right turning direction and the left turning direction is set as a fine adjustment turning range (see the flowchart of FIG. 13 for a specific processing procedure).

In the second setting pattern, the grain discharge position (any of A, B, and C) selected by the discharge position selection switch 19 is set as the reference turning position Y, and the turning range including the reference turning position Y is the fine adjustment turning range. Set as. For example, as shown in FIG. 8, the range of the predetermined angle θ1 in the right turning direction and the left turning direction is set as the fine adjustment turning range with the reference turning position Y as the center (the illustration of the specific processing procedure is omitted). ).

In the third setting pattern, the fine adjustment turning range is set according to the operation of the setting switch 35 during the turning of the grain discharge auger 5 (see the flowchart of FIG. 14 for the specific processing procedure). For example, if the ON operation of the setting switch 35 is determined during the right turn of the grain discharge auger 5 in the fine adjustment turning range setting mode, the turning position at that time is stored as the selection position 1, and then the setting switch 35 is set. When the OFF operation is determined, the turning position at that time is stored as the selection position 2, and the space between the selection position 1 and the selection position 2 is set as the fine adjustment turning range.

The fine adjustment turning control means is a fine adjustment turning speed lower than the turning speed when turning the grain discharge auger 5 within the fine adjustment turning range and turning the grain discharge auger 5 outside the fine adjustment turning range. Turn the grain discharge auger 5 with. Further, the fine adjustment turning control means of the present embodiment uses a turning speed correction value (calculated value of the turning speed correction value calculation means) capable of turning the grain discharge auger 5 at a constant speed within the fine adjustment turning range. While controlling the turning actuator 14, the turning actuator 14 is controlled without using the turning speed correction value outside the fine adjustment turning range. This can prevent the fine adjustment operation of the grain discharge position from being hindered by the fluctuation of the turning speed within the fine adjustment turning range, while the speed correction process is omitted and the quick turning is performed outside the fine adjustment turning range. Will be possible.

Next, a specific processing procedure of the control unit 40 that realizes the above-mentioned functional configuration will be described with reference to FIGS. 9 to 14. The turning speed measurement control shown in FIGS. 9 to 12 realizes the turning speed calculating means and the turning speed correction value calculating means described above, and the turning range setting control 1 shown in FIG. 13 realizes the above-mentioned fine adjustment turning range setting. The means (first setting pattern), the fine adjustment turning control means, and the turning speed correction means are realized, and the turning range setting control 2 shown in FIG. 14 realizes the above-mentioned fine adjustment turning range setting means (third setting pattern). ..

The turning speed measurement control shown in FIGS. 9 to 12 is executed on a flat ground before or after the shipment of the combine 1 when there is a difference in the left and right turning speeds. At that time, it is assumed that the grain discharge auger 5 is stored in the storage position.

As shown in FIGS. 9 to 12, the control unit 40 first determines in the turning speed measurement control whether or not the start condition of the turning speed measurement control is satisfied (S101 to S104). The start conditions of the present embodiment include a running stop state (S101), a non-working state (cutting / threshing clutch disengaged state) (S102), and a measurement mode ON state (measurement mode switch 34 ON). (There is an operation) (S103), the turn automatic switch 23 is turned ON (S104), and the control unit 40 proceeds to the next step S105 if all of these determination results are YES. , Otherwise, it returns to the upper routine.

In step S105, the control unit 40 notifies the start of movement of the grain discharge auger 5 (for example, a buzzer sound of the notification means 45), and then raises the grain discharge auger 5 to a predetermined height (upper limit height) (for example, the buzzer sound of the notification means 45). S106), the right turn of the grain discharge auger 5 is started (S107). The control unit 40 determines whether or not the grain discharge auger 5 has reached the turning position A while determining the turning stop operation (S108) while the grain discharging auger 5 is turning to the right (S109). If the control unit 40 determines that there is a turning stop operation before the grain discharging auger 5 reaches the turning position A, it determines that the turning speed measurement control is stopped and the grain discharging auger 5 is turned. After stopping (S110), the process returns to the upper routine.

On the other hand, when the control unit 40 determines that the grain discharge auger 5 has reached the turning position A, the control unit 40 stops the right turning of the grain discharging auger 5 and starts the descent of the grain discharging auger 5 ( S111), it is determined whether or not the grain discharge auger 5 has descended to a predetermined height (horizontal height) (S112), and if the determination result is YES, after stopping the decline of the grain discharge auger 5. , The right turn speed measurement process and the measurement data storage process are started (S113), and the right turn of the grain discharge auger 5 is started (S114).

The control unit 40 determines whether or not the grain discharge auger 5 has reached the turning position C while determining the turning stop operation (S115) while the grain discharging auger 5 is turning to the right (S116). If the control unit 40 determines that there is a turning stop operation before the grain discharging auger 5 reaches the turning position C, it determines that the turning speed measurement control is stopped and the grain discharging auger 5 is turned. After stopping (S117), it returns to the upper routine.

On the other hand, when the control unit 40 determines that the grain discharge auger 5 has reached the turning position C, the control unit 40 stops the right turning of the grain discharging auger 5 and ends the speed measurement of the right turning (S117). .. Next, the control unit 40 again notifies the start of movement of the grain discharge auger 5 (S118), and then starts the measurement process of the left turning speed and the storage process of the measurement data (S119), and then the grain discharge auger. Start the left turn of 5 (S120).

The control unit 40 determines whether or not the grain discharge auger 5 has reached the turning position A while determining the turning stop operation (S121) while the grain discharging auger 5 is turning to the left (S122). If the control unit 40 determines that there is a turning stop operation before the grain discharging auger 5 reaches the turning position A, it determines that the turning speed measurement control is stopped and the grain discharging auger 5 is turned. After stopping (S123), it returns to the upper routine.

On the other hand, when the control unit 40 determines that the grain discharge auger 5 has reached the turning position A, the control unit 40 stops the left turning of the grain discharging auger 5 and ends the speed measurement of the left turning (S124). Next, the control unit 40 determines whether or not the grain discharge auger 5 has risen to a predetermined height (upper limit height) after the grain discharge auger 5 has started to rise (S125) (S126). When the determination result is YES, the grain discharge auger 5 is started to turn left (S127). The control unit 40 determines whether or not the grain discharge auger 5 has reached the storage position D while determining the turning stop operation (S128) while the grain discharge auger 5 is turning to the left (S129). If the control unit 40 determines that there is a turning stop operation before the grain discharging auger 5 reaches the storage position D, it determines that the turning speed measurement control is stopped and the grain discharging auger 5 is turned. After stopping (S130), it returns to the upper routine.

On the other hand, when the control unit 40 determines that the grain discharge auger 5 has reached the storage position D, the control unit 40 stops the left turn of the grain discharge auger 5 and starts the descent of the grain discharge auger 5 (S131). ), It is determined whether or not the grain discharge auger 5 has fallen to a predetermined height (stored height) (S132), and if the judgment result is YES, the fall of the grain discharge auger 5 is stopped (). After S133), after executing the update processing of the left turning speed data and the right turning speed data based on the measurement data (S134), the measurement mode is switched to the OFF state and the turning speed measurement control is terminated (S135).

The left turn speed data and right turn speed data update process (S134) based on the measurement data is based on, for example, the difference between the turn speed measurement data at the time of left turn and the reference turn speed data (constant speed turn speed data). After calculating the left turn correction value, the left turn correction value is added to the old left turn speed data to create new left turn speed data, which is overwritten with the old left turn speed data. In addition, after calculating the right turn correction value based on the difference between the turn speed measurement data at the time of right turn and the reference turn speed data (constant speed turn speed data), the right turn correction is added to the old right turn speed data. Add a value to create new right turn speed data and overwrite it with old right turn speed data.

The control unit 40 of the present embodiment controls the turning actuator 14 using the new right turning speed data and the new left turning speed data for low-speed turning within the fine-tuning turning range, and the fine-tuning turning range. Outside, the turning actuator 14 is controlled using normal right turning speed data and left turning speed data that are not corrected, but outside the fine adjustment turning range, the new right turning speed for high-speed turning is used. The turning actuator 14 may be controlled using the data and the new left turning speed data. Further, in the turning speed measurement control of the present embodiment, the turning speed at the time of turning right and the turning speed at the time of turning left are measured, but one of the turning speeds is measured and based on the measurement result. The other turning speed may be estimated.

As shown in FIG. 13, the control unit 40 first determines the ON operation of the grain discharge switch 21 in the turning range setting control 1 (S201), and if the determination result is NO, the discharge clutch is disengaged. (S202) and return to the upper routine. On the other hand, if the determination result in step S201 is YES, the control unit 40 switches the discharge clutch to the engaged state (S203), and makes fine adjustment turning including a predetermined turning angle range in the left-right direction with reference to the current turning position. Set the range (S204).

Next, the control unit 40 determines the ON operation of the right turn switch 26 and the left turn switch 27 (S205, S206), and if there is no operation, the control unit 40 returns to the upper routine, while the right turn switch 26 returns. If it is determined that the ON operation has been performed, the setting is changed from the normal right turning speed data (without correction processing) to the new right turning speed data for low speed turning (with correction processing), and then the grain discharge auger 5 is turned to the right. Turn (S207). After the start of the right turn, the control unit 40 determines whether or not the ON state of the right turn switch 26 is continuing (S208), and the turn position of the grain discharge auger 5 is within the fine adjustment turn range. If the turning position of the grain discharge auger 5 deviates from the fine adjustment turning range after repeating the judgment (S209), the normal right turning speed is obtained from the new right turning speed data (with correction processing) for low speed turning. Change the setting to data (without correction processing) (S210).

On the other hand, when the control unit 40 determines that the left turning switch 27 has been turned ON, the setting is changed from the normal left turning speed data (without correction processing) to the new left turning speed data for low speed turning (with correction processing). Then, the grain discharge auger 5 is turned to the left (S211). After the start of the left turn, the control unit 40 determines whether or not the ON state of the left turn switch 27 is continuing (S212), and whether or not the turn position of the grain discharge auger 5 is within the fine adjustment turn range. If the turning position of the grain discharge auger 5 deviates from the fine adjustment turning range after repeating the judgment (S213), the normal left turning speed data (correction processing) is used from the new left turning speed data (with correction processing) for low-speed turning. (None) is changed to (S214).

Further, when the control unit 40 determines in step S208 or step S212 that the ON state continuation of the right turn switch 26 or the left turn switch 27 is interrupted, the control unit 40 stops the turn of the grain discharge auger 5 (S215). ), The ON operation of the right turn switch 26 (S216) and the ON operation of the left turn switch 27 (S217) are determined. If it is determined that the turn switch 27 has been turned ON, the process proceeds to step S213.

As shown in FIG. 14, in the turning range setting control 2, the control unit 40 first determines the long press operation of the setting switch 35 (S301), and if the determination result is YES, the fine adjustment turning range setting mode. It is determined that the operation is to switch to, and the process proceeds to step S302. On the other hand, if the determination result is NO, the process returns to the upper routine.

When the control unit 40 proceeds to step S302, it starts automatic turning from the storage position D of the grain discharge auger 5 toward the turning position C, and determines the ON operation of the setting switch 35 (S303). When the control unit 40 determines that the setting switch 35 has been turned ON, the control unit 40 sets and saves the current turning position of the grain discharge auger 5 as the selection position 1 (S304), and then determines whether or not the setting switch 35 has been turned OFF. The judgment and the judgment (S306) as to whether or not the grain discharge auger 5 has reached the turning position C are reviewed.

If the control unit 40 determines that the setting switch 35 has been turned off before the grain discharge auger 5 reaches the turning position C, the control unit 40 sets and saves the current turning position of the grain discharging auger 5 at the selection position 2. (S307), the turning range between the selected position 1 and the selected position 2 is saved as a fine adjustment turning range (S308). On the other hand, when the grain discharge auger 5 reaches the turning position C without the setting switch 35 being turned off, the control unit 40 sets and saves the turning position C as the selection position 2 (S309), and then sets and saves the selection position. The turning range between 1 and the selected position 2 is saved as a fine adjustment turning range (S308).

According to the present embodiment configured as described above, the grain discharge auger 5 provided so as to be swivel with respect to the machine body, the swivel actuator 14 for swiveling the grain discharge auger 5, and the swivel actuator 14 are controlled. A combine 1 including a control unit 40 for setting a fine adjustment turning range setting means for setting an arbitrary turning range of the grain discharge auger 5 as a fine adjustment turning range, and a fine adjustment turning range within the fine adjustment turning range. When turning the grain discharge auger 5 with, fine adjustment turning to turn the grain discharge auger 5 at a fine adjustment turning speed slower than the turning speed when turning the grain discharge auger 5 outside the fine adjustment turning range. Since the control means is provided, the fine adjustment operation of the grain discharge position becomes easy.

Further, since the control unit 40 includes a turning speed correction means for controlling the turning actuator 14 using a turning speed correction value capable of turning the grain discharge auger 5 at a constant speed within the fine adjustment turning range, the turning speed can be adjusted. It is possible to prevent the fine adjustment operation of the grain discharge position from being hindered by the fluctuation.

Further, since the fine adjustment turning range setting means (third setting pattern) sets the fine adjustment turning range according to the operation of the setting switch 35 during the turning of the grain discharge auger 5, the fine adjustment turning range with a high degree of freedom is set. Can be set.

Further, the fine adjustment turning range setting means (first setting pattern) sets the turning position in which the grain discharging switch 21 for operating the grain discharging auger 5 to discharge the grain is operated as the reference turning position, and includes the reference turning position. Since the turning range is set as the fine adjustment turning range, it is possible to eliminate the need for a special operation for setting the fine adjustment turning range.

1 Combine 4 Grain tank 5 Grain discharge auger 10 Vertical transport cylinder 11 Horizontal transport cylinder 13 Lifting actuator 14 Swing actuator 18 Auger remote control 34 Measurement mode switch 35 Setting switch 40 Control unit 41 Swing position detecting means

Claims (4)

A grain discharge auger that can be swiveled with respect to the aircraft,
A swivel actuator that swivels the grain discharge auger,
A combine that includes a control unit that controls the turning actuator.
The control unit
A fine adjustment turning range setting means for setting an arbitrary turning range of the grain discharge auger as a fine adjustment turning range, and a fine adjustment turning range setting means.
When the grain discharge auger is swirled within the fine adjustment swivel range, the grain discharge is performed at a fine adjustment swivel speed slower than the swivel speed when the grain discharge auger is swiveled outside the fine adjustment swivel range. A combine characterized by having a fine adjustment turning control means for turning an auger. The claim is characterized in that the control unit includes a turning speed correction means for controlling the turning actuator by using a turning speed correction value capable of turning the grain discharge auger at a constant speed within the fine adjustment turning range. Item 1. The combine according to item 1. The combine according to claim 1 or 2, wherein the fine-tuning turning range setting means sets the fine-tuning turning range according to the operation of the setting operating tool during the turning of the grain discharge auger. The fine adjustment turning range setting means sets the turning position in which the grain discharging operating tool for operating the grain discharging auger to discharge the grain is operated as the reference turning position, and sets the turning range including the reference turning position as the fine adjustment turning. The combine according to claim 1 or 2, wherein the combine is set as a range.

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