JP2000083460A - Discharge auger controller for combine harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a discharge auger controller for a combine harvester, which allows the discharge auger to be easily handled for various works, e.g. assembling and maintenance, and to be stopped relatively accurately. SOLUTION: This controller controls rotation of a discharge auger 16, which discharges threshed grains out of a combine harvester, via a rotational mechanism 11, characterized by its function of setting a rotation standard, which is the reading of a detector immediately after the discharge auger 16 comes apart from the storage position and transmitted from the detector to the controller, to control rotation of the discharge auger 16 using the standard as the starting point, while controlling its angle of rotation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a discharge auger control device provided in a combine.

[0002]

2. Description of the Related Art A combine equipped with a long discharge auger in the front-rear direction for discharging grains in a Glen tank out of the machine is already known. However, a discharge auger provided in this combine is generally used. During a normal operation of a combine that does not discharge grains (cutting and threshing operation), the combiner is stored in a state of being substantially parallel to the fuselage and extending from the rear of the fuselage to the upper side of the driver's seat. When the work is performed, the user is turned within a predetermined turning range, and the discharging operation is performed within this turning range.

[0003]

At this time, the end point position (rotation limit position) of the discharge range is detected by a sensor such as a limit switch, and the discharge auger is set so as not to turn beyond the end point position. However, due to the assembly error of the discharge auger and the mounting error of the limit switch, it is relatively difficult to adjust the position of the switch at the stage of assembly and repair, and it is difficult to assemble and maintain. There was a disadvantage that it could not be performed.

There is also known a structure in which the rotation angle of the discharge auger is detected by a potentiometer or the like, and the rotation of the discharge auger is controlled based on the value of the potentiometer. It is difficult to set the reference value of the potentiometer or the like due to a potentiometer mounting error or an error of the potentiometer itself.

[0005]

According to the present invention, there is provided a discharge auger control device for a combine, which comprises a discharge auger 16 for discharging kernels after threshing to the outside of the machine body 3; A rotation mechanism 11 for driving the horizontal rotation of the rotation mechanism 16 between a predetermined storage position and a rotation limit position is interposed between the discharge auger 16 and the body 3 to control the rotation mechanism 11. In a combine provided with a device and a detector 24 for continuously detecting the rotation angle of the discharge auger 16,
The control device has a rotation reference value setting function for taking in the value of the detector 24 immediately after the discharge auger 16 has moved away from the storage position from the detector 24 as a rotation reference value, and the discharge auger using the rotation reference value as a starting point. A first feature is that a turning control function of controlling the turning angle by controlling the turning angle of the sixteen is provided.

A second feature is that a sensor 26 for detecting that the discharge auger 16 is at the storage position is provided.

Further, a rotation reference value setting function is provided for the detector 24.
The third feature is that an emergency setting function is provided in which a preset value is used as a rotation reference value when the rotation reference value set by (1) is lost.

When the turning direction of the discharge auger 16 is changed, a correction value for correcting the detection value from the detector 24 is set in the control device in advance, and the control device detects the detected value from the detector 24 after changing the turning direction. A fourth feature is that a correction control function is provided for correcting the value with the correction value and controlling the rotation in accordance with the corrected value.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIGS. 1 and 2 are left and right side perspective views of a self-removing combine to which the present invention is applied. In the combine, a body 3 is formed on a body frame 1 supported by a crawler traveling device 2 as in the prior art, and the body 3 is provided with a pre-processing unit 4 for performing a mowing operation or the like in a vertically swingable manner. A driver's seat 6 is provided on the right rear side of the pre-processing unit 4. A threshing unit 7 is provided from the left side of the driver's seat 6 to the rear of the fuselage 3, and is provided on the right side of the threshing unit 7 (the driver's seat 6).
Is provided with a Glen tank 8.

At this time, the threshing unit 7 has a structure in which the threshed grains are lifted and conveyed from the bottom into the Glen tank 8, and the grains are temporarily stored in the Glen tank 8.
The Glen tank 8 is configured so that the grains in the Glen tank 8 can be sent out of the machine by a transfer spiral provided laterally at the bottom of the Glen tank 8 as before, and the end of the transfer spiral is provided at the end of the Glen tank 8. A vertical spiral tube 9 equipped with a vertical spiral that inherits the grain from the transport spiral and transports it upward
(See FIG. 3), which allows the grains in the Glen tank 8 to be passed from the transfer spiral to the vertical spiral,
It is possible to lift and convey it above the vertical spiral cylinder 9.

As shown in FIG. 3, a rotating mechanism 11 for horizontally rotating (turning) the vertical spiral cylinder 9 is formed at the upper end of the vertical spiral cylinder 9 and the rotating mechanism 11 is provided. Is attached with a long discharge tube 12 for discharging the grains transported by lifting as described above.
(Airframe 3) is free to turn. An elevating cylinder 13 is interposed between the discharge cylinder 12 and the vertical spiral cylinder 9, and the discharge cylinder 12 can vertically swing with respect to the vertical spiral cylinder 9 by the expansion and contraction operation of the elevating cylinder 13. I have.

At this time, the discharge tube 12 is provided with a discharge spiral (not shown) which rotates in conjunction with the vertical spiral, and a discharge port 14 opened downward is formed at the tip (front end). In other words, the discharge cylinder 12, the discharge spiral, the discharge port 14 and the like constitute a discharge auger 16 for discharging the grains in the Glen tank 8 to the outside of the machine body 3, and are lifted and transported above the vertical spiral cylinder 12 as described above. The produced kernels are conveyed to the tip of the discharge tube 12 by a discharge spiral and discharged
It is configured to be able to be discharged out of the machine.

During a normal combine operation (e.g., cutting and threshing operation) in which the grains are not discharged, the discharge auger 16 is configured such that the discharge cylinder 12 is substantially parallel to the machine body 3 in a side view and from the rear of the machine body 3. The discharge cylinder 12 is stored in the storage position in which the discharge cylinder 12 is positioned as described above by being rotated and swung so as to be stored in a state of being extended above the driver's seat 6 side.

The discharge auger 16 passes through the range from the storage position to the right discharge position in which the discharge tube 12 extends to the right side of the body 3, and once passes through the rear position in which the discharge tube 12 extends to the rear of the machine 3. The turning range is set by the control described later so that the turning agitator is horizontally rotated (turned). The discharge auger 16 moves the outlet 14 to an arbitrary predetermined position by the turning operation and the vertical swing. The grain can be discharged to the predetermined position.

Hereinafter, the turning position (horizontal position) of the discharge tube 12 when the discharge auger 16 is stored in the storage position is the storage position, and the turning position of the discharge tube 12 when the discharge position is in the right discharge position is the right turn. Position, the turning position of the discharge tube 12 when taking the rear position is the rear turning position, and the turning position of the discharge tube 12 when taking the left position where the discharging tube 12 extends to the left side of the body 3 is the left turning position. They will be referred to respectively.

Next, the structure and operation of the rotating mechanism 11 will be described. As shown in FIGS. 4 and 5, the rotating mechanism 11 includes a gear 21 integrally attached to the outer periphery of the vertical spiral cylinder 12, a motor 23 having a rotating shaft meshed with the gear 21 via a gear 22, It comprises a potentiometer 24 set on the rotation shaft side of the motor 23 (measuring the rotation angle of the rotation shaft), a limit switch 26 serving as a sensor for detecting the storage position of the discharge auger 16 (discharge cylinder 12), and the like.

The rotation of the motor 23 is controlled by a control device (not shown) provided on the side of the machine body 3 so that the vertical helical cylinder 9 is rotated via the gears 21 and 22 and the discharge auger 16 is moved. At the same time, the storage position of the discharge auger 16 is detected by turning on the limit switch 26 when the protrusion 9 a protruding from the vertical spiral cylinder 9 contacts the arm 26 a of the limit switch 26 at the storage position of the discharge auger 16. It has a structure that can be used.

At this time, the potentiometer 24 is
By measuring the rotation angle of No. 3, it functions as a detector that continuously detects the turning angle of the discharge auger 16. When the rotation of the discharge auger 16 exceeds the storage position and when the rotation of the discharge auger 16 exceeds the right discharge position, the rotation mechanism 11 contacts the contact portion 9 b protruding from the vertical helical cylinder 9 to rotate the discharge auger 16. Are also provided.

On the other hand, the operation panel 31 of the driver's seat 6 shown in FIG. 6 is provided with an operation section 32 for manually or automatically operating the turning of the discharge auger 16 as shown in FIGS. 7 (a) and 7 (b). The operating unit 32 has a turning position set by the turning set dial 33, a storage position (display is stored), a left turning position (display is turning 1), a rear position (display is turning 2), and a right position. An automatic turning switch 34 for automatically turning the discharge auger 16 to a turning position (display is turning 3);
An automatic storage switch 36 for automatically storing the discharge auger 16 in the storage position, an emergency stop switch 37 for urgently stopping the rotation of the discharge auger 16, a manual switch 38 for manually rotating the discharge auger 16, and the turning set dial 34, etc. Is provided.

At this time, the manual switch 38 is set to the lever 38a.
By tilting left and right, the discharge auger 16 can be stored (turned right from the right turning position toward the storage position) or discharged (left turned from the storage position toward the right turning position). To be able to do so, the discharge switch (instructing the discharge rotation) is turned on by tilting it to the left or right or the front and rear, and the storage switch (instructing the storage rotation) is turned on by tilting it to the other side.

Each of the switches 3
4, 36, 37, a dial 33, and the like are connected, and the control device drives the motor 23 in accordance with the operation (ON, OFF) of each switch and the like to rotate the discharge auger 16. The apparatus first activates and activates a rotation reference value setting function for setting a reference value (rotation reference value) of the discharge auger 16 from the value of the potentiometer 24 as described below. Based on the value, the turning control function for automatically or manually turning the discharge auger 16 is activated by the value of the potentiometer 24.

The above-described rotation reference setting function (operation flow) is repeatedly performed during the turning control of the discharge auger 16. First, as shown in FIG. Is O
In the case of FF, that is, when the discharge auger 16 is not at the storage position, it is checked whether or not the limit switch 26 was ON in the limit switch check at the time of the previous operation flow. If it is immediately after, the control device stores the value of the potentiometer at this time as a rotation reference value (AGST),
The rotation reference setting flag is set to 1 and the limit switch 2
Returning to the ON / OFF check of step 6, the rotation reference setting flow is repeated.

If the limit switch 26 is turned off in the last limit switch check at the time of the operation flow, the rotation reference setting flag is checked next. Since it can be determined that the vehicle is already separated and AGST is already set, the rotation reference setting flow is repeated while maintaining the value of AGST.

At this time, if the rotation reference setting flag is 0 (not 1) in the check of the rotation reference setting flag, A
Since it is determined that GST has not been set for some reason, the emergency setting function is activated, and the default reference value which is a preset rotation reference value (fixed value) in the emergency is set to A.
The control device stores (capture setting) as GST, sets the rotation reference setting flag to 1, and repeats the rotation reference setting flow again. Further, ON / OFF of the limit switch 26
If the check is ON, the start setting flag is set to 0, and the rotation reference setting flag is checked.

As a result, the value of the potentiometer at the start position of the rotation (turning) of the discharge auger 16 is usually set as AGST in the system (control device). The turning control can be performed relatively accurately and with a small error. For example, the turning control function for automatically turning the discharge auger 16 to a predetermined turning position is as follows: AGST is K1, the left turning position is the position turned α1 ° from the stored position, the rear turning position is the position turned α2 ° from the stored position, and the right turning is Rotate position from storage position to α3
{Set the turning position, and set the change values of the potentiometers corresponding to α1 ゜, α2 ゜, α3 ＋ to + β1, + β
It will be described as 2, + β3.

When the turning set dial 33 is set so as to automatically stop at the right turning position as described above, turning is stopped when the value of the potentiometer 24 becomes K1 + β1, and the turning set is automatically stopped at the backward turning position. When the dial 33 is set, the turning is stopped when the value of the potentiometer 24 becomes K1 + β2, and when the turning set dial 33 is set so as to automatically stop at the left turning position, the turning is performed when the value of the potentiometer 26 becomes K1 + β3. By setting the control device side (turn control function) so that it stops,
By turning on the automatic turning switch 32 by the turning control function,
By rotating the discharge auger 16 and managing the value of the potentiometer 24, the discharge auger 16 can be easily automatically stopped at the position designated by the rotation set dial 33.

As a result, even if there is some error in the assembly of the potentiometer 24, the turning device 11, or the discharge auger 16, the turning is controlled based on the AGST. Ogre 1
6 is automatically turned to each position (turning position) relatively accurately, so that the assembling property and the maintenance property are improved, and the error of each position at the time of stopping is reduced.
In particular, the left turning position is a turning limit position (a position where turning beyond this is not permitted).
By controlling the turning based on the ST, the turning beyond the turning limit position is prevented, and a sensor such as a limit switch for detecting the left turning position (turning limit position) becomes unnecessary, and the cost can be reduced. .

For example, when the engine is turned off during the turning of the discharge auger 16 and the engine is started again, the AGST stored in the system is stored.
Is lost. As a result, the AGST becomes unknown and the turning control (positioning of the discharge auger 16) is not performed accurately. However, in this case, the turning control is performed based on the default reference value preset by the emergency setting function according to the above flow. By using the preset value (default reference value) as the rotation reference value, a predetermined error occurs, but the discharge auger 16 can be stopped at a position close to the rotation limit position. A sensor such as a limit switch for detecting the left turning position (rotation limit position) is not required.

In particular, by setting, as a default reference value, an average value including a certain error of a value that can be taken by the AGST checked in advance, the error can be reduced relatively to reduce the discharge auger 16.
Can be positioned. Note that once the discharge auger 16 is stored in the storage position (storage posture), the positioning is performed by the limit sensor 26 in this case.
AGST can be set again.

As described above, the storage position of the discharge auger 16 is determined by the limit switch 26.
Since the AGST is set on the basis of the limit switch 26, errors and the like of the AGST are small, and the AGST is stabilized, so that the control device can perform relatively stable turning control.

On the other hand, for example, when the discharge auger 16 is turned in one predetermined direction, the turning is stopped once and the discharge auger 16 is turned again in the opposite direction. For example, as shown in FIG. After turning, stop once, and turn again in the reverse direction so that the turning angle becomes X2 ゜, the potentiometer 2 equivalent to | X1 ゜ −X2 ゜ |
A change in the value of 4 (eg, ΔY) must occur, but due to the hysteresis of potentiometer 24, only a value smaller than ΔY (ΔY ′) changes.

Therefore, if the subsequent turning control is performed based on the value of the detected potentiometer 24, the discharge auger 16 corresponding to .DELTA.Y 'as shown in FIG.
Is determined (misunderstanding), the error of the hysteresis occurs, and the position of the discharge auger 16, particularly the rotation limit position during the manual rotation operation (left rotation position)
Error occurs. In FIG. 9, when the turning angle of the discharge limit position (right turning position) is S ゜, the rotation stops at S ′Ｓ (S ′ <S) (when the potential value of the right turning position is AGST K1 and K1 + YS. The turning stops).

For this reason, the control device is also provided with an error control function for absorbing this hysteresis. Next, this error control function will be described with reference to FIG.
An example will be described in which, during manual storage and rotation, the case 6 is temporarily stopped and then discharged and rotated.

First, an error of the potentiometer 24 due to the hysteresis is set in advance as a correction value and stored in the control device side. Then, ON / OFF of the storage switch is checked, and the storage switch is ON. If the correction flag is not 1 (0) (when the correction value is not input), the correction value is called, the correction value is set as CAL, and the correction flag is set. Is set to 1.

Then, the limit switch 26 is turned on and off.
F is checked, and if ON, the storage flag is set to 0 to stop driving the motor 23, and the correction flag is set to 0 (rotation of the motor 23 in the storage rotation direction is not permitted), and the above-described flow (control) is repeated again. In the ON / OFF check of the limit switch 26, if the limit switch 26 is OFF, the motor 23 is rotated to retract and rotate the discharge auger 16, and the storage flag is set to 1 (rotation of the motor 23 in the storage rotation direction is permitted), and the above flow is repeated. repeat.

On the other hand, if the ON / OFF check of the storage switch is OFF, the ON / OFF of the discharge switch is checked. If the ON state is ON, the value of the potentiometer 24 corresponds to the value of the potentiometer 24 corresponding to the right turning position (FIG. 9). For example, it is checked whether or not a value greater than a value obtained by adding a correction value (CAL) to K1 + YS (hereinafter referred to as a correction limit value A, where CAL = correction value = a, where A = K1 + YS + a).

If the value of the potentiometer 24 is smaller than the correction limit value (K1 + YS + a), the motor 2
By driving the discharge auger 16, the discharge auger 16 is discharged and turned, the discharge flag is set to 1 (allowing the rotation of the motor 23 in the discharge turning direction), and the above flow is repeated again. If the value of the potentiometer 24 is equal to or larger than the correction limit value A, the discharge flag is set to 0 (rotation of the motor 23 in the discharge turning direction is not permitted) and the above flow is repeated.

If the discharge switch is turned off in the ON / OFF check, the storage flag is set to 0 and the discharge flag is set to 0, and the above flow is repeated. Accordingly, the discharge auger 16 can be manually turned to an arbitrary position, and the discharge auger 16 can be relatively accurately stopped at the rotation limit position (right turning position) by the correction value.

[0039]

According to the structure of the present invention configured as described above, the horizontal rotation of the discharge auger is controlled based on the rotation reference value set by the detector and the control device. For example, when stopping at a limit position (rotation limit position) at which the discharge operation is possible, even if there is a mechanical error or the like of the detector or the discharge auger, the error is absorbed by the rotation reference value, and The discharge auger can be stopped relatively accurately according to the detected value, in other words, the detector can be mounted relatively roughly, so that the assemblability and maintenance can be improved and the discharge auger can be stopped relatively accurately. There is an effect that it can be realized at the same time.

In particular, by providing a sensor for detecting that the discharge auger is at the storage position, the rotation reference value can be set more accurately. Also, when the rotation reference value set by the detector is lost due to stopping the engine during the rotation of the discharge auger, for example, by using a preset value as a detection reference value for control. However, there is also an effect that the discharge auger can be stopped relatively accurately including a predetermined error.

Further, a correction value for correcting the detection value from the detector when the turning direction of the discharge auger is changed is set in the control device in advance, and the correction value is corrected by the correction control function of the control device. By controlling the rotation along, there is an advantage that the discharge auger can be stopped at a predetermined position (for example, a rotation limit position) relatively accurately even when the turning direction of the discharge auger is changed.

[Brief description of the drawings]

FIG. 1 is a right side perspective view of a combine.

FIG. 2 is a left perspective view of the combine.

FIG. 3 is a side view of a main part of a discharge auger.

FIG. 4 is a plan view of a rotation mechanism.

FIG. 5 is a side view of a rotation mechanism.

FIG. 6 is a perspective view of a driver's seat.

FIGS. 7A and 7B are a plan view and a side perspective view of an operation unit.

FIG. 8 is an operation flowchart of a rotation reference setting function.

FIG. 9 is a graph showing a change in a potentiometer value according to auger rotation.

FIG. 10 is a flowchart at the time of manual control of a discharge auger.

[Explanation of symbols]

 3 Airframe 11 Rotating mechanism 16 Discharge auger 24 Potentiometer (detector) 26 Limit switch (sensor)

Continued on the front page F term (reference) 2B396 JA04 JC07 KA01 KC05 LE02 LE03 LE09 LE18 LR02 LR08 LR13 LR19 PA02 PA03 PA04 PA12 PA30 PA45 PA46 QG05 QG06 RA10 RA25

Claims (4)

[Claims] 1. A discharge auger (16) for discharging grains after threshing to the outside of a body (3) is provided, and the discharge auger (16) is horizontally rotated between a predetermined storage position and a rotation limit position. A rotating mechanism (11) to be driven is interposed between the discharge auger (16) and the machine body (3), and a control device for controlling the rotation mechanism (11) and a rotation of the discharge auger (16) are provided. In a combine provided with a detector (24) for continuously detecting a moving angle, the control device sets a value of the detector (24) immediately after the discharge auger (16) separates from the storage position as a rotation reference value. A combine having a rotation reference value setting function for taking in from the detector (24) side and a rotation control function for controlling the rotation by controlling the rotation angle of the discharge auger (16) based on the rotation reference value as a starting point. Discharge auger control device. 2. The combination discharge auger control device according to claim 1, further comprising a sensor for detecting that the discharge auger is in the storage position. 3. A rotation reference value setting function, comprising the steps of:
The discharge auger control device for a combine according to claim 1 or 2, further comprising an emergency setting function that uses a preset value as a rotation reference value when the rotation reference value set by (1) is lost. 4. A correction value for correcting the detection value from the detector (24) when the turning direction of the discharge auger (16) is changed is set in the control device in advance, and the control device detects the turning direction after the change. 4. The discharge auger control apparatus for a combine according to claim 1, further comprising a correction control function for correcting a detection value from the vessel (24) with a correction value and controlling rotation in accordance with the corrected value.