JP2840658B2 - Auger position control device in grain discharging device - Google Patents

Description

The present invention relates to an auger position control device for a grain discharging device mounted on a combine or the like, and more particularly, to an auger for discharging grains from a grain tank, and to this auger. Position of an auger in a grain discharging device, comprising a vertical moving device for vertically moving the rotating device and a turning device for turning left and right, and discharging the kernel from an outlet of the auger to an external tank mounted on a transport truck or the like. It relates to a control device.

(Prior Art) Conventionally, this type of auger position control device uses a setting volume for setting an auger discharge set position, and a sensor for detecting the auger moving angle, and the sensor controls the auger moving angle. While detecting, it is moved to the set position set by the volume, and at the position set by the volume, the grains in the grain tank are discharged from the tip discharge port of the auger to an external tank mounted on a transport rack or the like. I am trying to do it.

(Problems to be Solved by the Invention) By the way, the above-described grain discharging work is performed by moving the auger to the outside tank side when the grain tank is full, and To perform the discharge work of
Therefore, at the time of the grain discharging work, the relative position between the tip discharge port of the auger and the external tank fluctuates each time,
It is necessary to manually correct the position of the auger, and
The height of the auger cannot be automatically set because the height of the wall on the side of the outer tank cannot be detected.

The present invention has been made in view of the above problems, and an object thereof is to accurately and automatically set the auger to a predetermined grain discharge position on the outer tank side during the grain discharging work by the auger. It is another object of the present invention to provide an auger position control device in a grain discharging device, and another object is to automatically set the auger and to discharge grains from the auger at the grain discharging position. An object of the present invention is to provide an auger position control device in a grain discharging device that can be automatically performed.

(Means for Solving the Problems) In order to achieve the above object, the present invention provides an auger (7) for discharging grains from a grain tank (5) and a vertically moving device for vertically moving the auger (7). (8) and a turning device (9) for turning the auger, wherein the auger in the grain discharging device is configured to discharge the kernel from the tip discharge port (7a) of the auger (7) to the outside tank (T). In the position control device, a distance sensor (13) for detecting a distance to opposing side walls (a) and (b) of the outboard tank (T) is provided on a tip side of the auger (7) so as to be scannable. Calculating the position of the auger (7) with respect to the side walls (a) and (b) based on the detection result of the distance sensor (13);
A controller (20) having a turning stop output unit (26) for outputting a stop command to the turning device (9) when reaching a predetermined position between the side walls (a) and (b) when turning the auger (7); Is provided.

And the controller (20) is a distance sensor (13)
The height of the side wall in the outer tank (T) is calculated on the basis of the detection result, and a lowering command is output to the vertical movement device (8) after the turning of the auger (7) is stopped. It is preferable to include a descent control output unit (27) that outputs a descent stop at the position.

Further, the controller (20) preferably includes an auger drive output section (28) for outputting a drive command to the auger (7) after the auger (7) stops descending.

Further, a distance sensor (13) is provided at the tip of the auger (7) so as to be rotatable and scanable, and the rotational scan angle of the distance sensor (13) is changed according to the turning angle of the auger with respect to the grain tank (5). You may comprise so that it may be.

Then, the controller (20) detects the minimum value of the distance to the grain in the tank outside the machine (T) by the distance sensor (13) after the auger (7) stops descending, and this minimum value is equal to or less than a certain value. When turning, the turning output part (29) for turning the auger (7) and stopping after turning at a certain angle, the position of the auger (7) and the side wall on the front side in the turning direction of the grain tank (5). An auger drive stop output unit (30) for stopping the output from the turning output unit (29) when the distance becomes equal to or less than a predetermined value and stopping driving of the auger (7) may be provided.

Further, the controller (20) detects the distance to the grains in the external tank (T) using the distance sensor (13) after the stop of the auger (7) descent, and when the detected value does not change for a predetermined time or more. An auger automatic storage output unit (31) for stopping the driving of the auger (7) and automatically storing the auger (7) can also be provided.

(Operation) During the operation of discharging the grain from the grain tank (5) to the outside tank (T), automatic setting of the auger (7) to a predetermined grain discharge position with respect to the outside tank (T); Grain discharge from the auger (7) to the external tank (T) is automatically performed.

That is, at the time of the grain discharging operation, the distance sensor (13) starts scanning at the same time as the auger (7) is swung toward the outside tank (T), and the distance sensor (13)
The distance between the tip side of the auger (7) and the opposing side walls (a) and (b) of the outboard tank (T) is detected, and based on the detected value, the control (20) controls the auger (7). Is calculated with respect to each of the side walls (a) and (b), and the turning of the auger (7) is controlled by driving the turning device (9) based on the calculation result, and the auger (7) Is turned to a predetermined position on each of the side walls (a) and (b), a stop command is output from a turning stop output unit (26) of the controller (20), and the auger ( The turning of 7) is stopped.

In addition, the controller (20) controls each of the side walls (a) and (b) based on a value detected by the distance sensor (13).
Is calculated, and based on the calculated value, a down command is output from the down control output section (27) of the controller (20) to the up / down movement device (8) after the auger (7) stops turning. Then, when the auger (7) is lowered and the auger (7) is lowered to a predetermined position with respect to each of the side walls (a) and (b), a stop command from the lowering control output unit (22) is issued. The auger (7) is lowered and stopped.

Further, after the auger (7) stops descending, a drive command is output from the auger drive output section (28) of the controller (20) to the auger (7), and the grain is discharged by the auger (7). Is performed.

Further, by changing the rotation scanning angle of the distance sensor (13) according to the turning angle of the auger (7) with respect to the grain tank (5), for example, the auger (7) can be moved from the outboard tank (T). When the vehicle is far away, the turning angle is reduced, and when approaching the predetermined grain discharge position of the external tank (T), the rotational scanning angle is increased to increase the rotational angle at a position away from the external tank (T). Fast control can be performed by shortening one rotation scanning time.

When the grain is discharged by the auger (7) after the auger (7) stops descending, the distance sensor (13) detects the minimum value of the distance to the grain in the external tank (T), When the minimum value becomes equal to or less than a certain value, an operation of turning the auger (7) and stopping after turning by a certain angle is performed by an output from the turning output unit (29) of the controller (20). The operation is sequentially performed until the distance between the position of the auger (7) and the side wall on the front side in the turning direction of the grain tank (5) becomes equal to or less than a certain value. , The turning output unit (2
The output from 9) is stopped and the auger drive (32)
Is stopped.

Further, when the auger (7) discharges the kernel after the descent of the auger (7), the distance to the kernel in the external tank (T) is measured by the distance sensor (13), and the detected value is obtained. If it does not change for a certain period of time, the auger driving device (32) is determined by the output from the auger automatic storage output unit (31) assuming that the kernels in the kernel tank (5) are gone.
Is stopped, and the auger (7) is automatically stored at the storage position on the grain tank side.

(Embodiment) Figs. 12 and 13 show a combine, in which a traveling device (2) is provided at a lower portion of a body (1), and a mowing device (3) is provided at a front side. On the upper side of (1), a threshing device (4) for threshing the grain stalks cut by the mowing device (3) is mounted, while the threshing device (4) is mounted.
A grain tank (5) for storing the grain that has been threshed by the threshing apparatus (4) is mounted on the side of.

Further, the grain tank (5) is provided with a grain discharging device for supplying the stored grains inside the grain tank to an external tank (T) mounted on a transport truck or the like. A vertically extending grain transport tube (6) having a screw (61) therein and an auger for grain discharge having a grain discharge screw (71) connected to the upper end of the vertical transport tube (6). (7), a vertical movement device (8) for moving the auger (7) up and down, and turning the auger (7) left and right between the vertical transport cylinder (6) and the auger (7). And a turning device (9) for performing the rotation.

Specifically, as clarified in FIG. 14, a first flange (10) is rotatably connected to an upper end side of the vertical transport cylinder (6), and an upper portion of the first flange (10) is provided. The second flange (11) is fixed to the side, and the second flange (11) and the base end side of the auger (5) are connected to be pivotable up and down by a rotation shaft (12). Further, a swing arm (81) is connected between the rotation shaft (12) and the auger (7), and a swing arm (81) and the second flange (11) are provided between the swing arm (81) and the second flange (11). An actuator (82) for vertically swinging the auger (7) about the rotation axis (12) is interposed, and the swinging arm (81) and the actuator (82) are used to move the vertically moving device ( 8), a rotary gear (91) is provided on the outer peripheral portion of the upper end of the first flange (10), and is connected to a transmission shaft (93) extending from the electric motor (92). ) Is provided with a drive gear (94) for rotationally driving the gear (91) (94), a motor (92) and a transmission shaft (93).
These constitute the turning device (9).

Then, when discharging the stored grains in the grain tank (5) to the external tank (T), the actuator (82) of the vertically moving device (8) is operated to activate the auger (7). Is once swung upward from a storage position straddling each upper part of the grain tank (5) and the threshing device (4), and then the motor (92) of the turning device (9) is operated to The discharge port (7a) provided at the tip of the auger (7) is pivoted to a predetermined discharge position of the external tank (T) as shown by the phantom line in FIGS. Thereafter, the outlet (7a) of the auger (7) is lowered to a predetermined position in the external tank (T), and the stored grains in the grain tank (5) are removed from the auger (7). And discharges it to the outside tank (T) side through the tip discharge port (7a). At the end, contrary to the case described above, the said auger by operation of the turning device (9) (7) pivoted moved to the old state, thereafter the auger (7)
Is stored in the storage position by the operation of the vertical movement device (8).

In addition, the above-mentioned grain discharging device automatically controls the movement of the auger (7) when feeding and discharging the stored grains in the grain tank (5) to the outside tank (T). The position control device of the auger (7) is configured as follows.

That is, as will be apparent from FIG. 2, which will be described later, the position control device is provided on the tip side of the auger (7) up to the opposing side walls (a) and (b) of the outer tank (T). When a distance sensor (13) for detecting the distance of the auger is provided so as to be rotatable, a controller (20) for automatically moving and controlling the auger (7) based on the detection result of the distance sensor (13) is provided. .

The distance sensor (13), as shown in FIG.
During the turning movement of the auger (7) toward the outside tank (T) side, while performing rotational scanning, the first and second side walls (a) and (b) of the outside tank (T) oppose each other. The distance is sequentially detected, and the sensor (13) moves away from the first side wall (a) above the outer tank (T) with respect to the first side wall (a), for example, with the turning movement of the auger (7). (A), a position (B) immediately above the first side wall (a), and an intermediate upper position (C) between the side walls (a) and (b). The distances from (B) and (C) to the side walls (a) and (b) are respectively detected to obtain distance data to be output to the controller (20).

FIGS. 3 and 4 each show the sensor (1
The distance measured in 3), and the vertical axis is the same sensor (13)
When the sensor (13) reaches the position (A), the rotation data of the sensor (13) is taken along with the rotation scanning of the sensor (13), as shown in FIG. When the distances LVN1 and LVN2 to the side walls (a) and (b) closest to the sensor (13) are detected as peaks, and when the sensor (13) reaches the position (B),
As shown in FIG. 4, the distances LVN1 and LVN2 to the side walls (a) and (b) are detected as peaks with the rotation scanning of the sensor (13). At this time, the sensor (13)
Is located at the position (B) directly above the first side wall (a), the LVN1 becomes the shortest distance LVmin and is stored in the controller (20). Further, even when the sensor (13) reaches the position (C), as shown in FIG. 5, with the rotation scanning of the sensor (13), each of the side walls (a) and (b) is moved. Are detected as peaks, and if the difference between the detected LVN1 and LVN2 is less than a certain value t, the controller (2
0), it is determined that the auger (7) has reached the middle portion of each of the side walls (a) and (b), that is, the grain discharge position, and as described later, the auger (7) is output from the controller (20). ) Is stopped, and at the position (C), the sensor (13) measures a straight line LP to the bottom wall of the outboard tank (T), and this straight line distance LP is the maximum distance LV.
It is stored in the controller (20) as max.

As shown in FIG. 1, the controller (20) has, on its input port side, an automatic set switch (21) for automatically moving and moving the auger (7) to a predetermined discharge work position. An automatic storage switch (22) for automatically storing the auger (7) from the discharge operation position to a predetermined storage position.
And connecting the distance sensor (13) that is activated by turning on the automatic set switch (21), while manually operating the actuator (82) of the vertical movement device (8) in the vertical direction. Two first and second switches (23A) and (23B), and two first and second switches (24A) and (24B) for manually switching the electric motor (92) of the turning device (9) left and right. And a safety limiter switch (25A) (25B) for restricting left and right turning movement of the auger (7) above a predetermined position.

The auger (7) is provided to the controller (20) based on the detection result of the distance sensor (13).
The distances LVN1 and LVN2 with respect to the side walls (a) and (b) are calculated, and the auger (7) turns, and the intermediate position between the side walls (a) and (b), that is, the grain discharge position (second) (Fig. C), the turning device (9) is provided with a turning stop output unit (26) for outputting a stop command to the turning device (9), and after the turning auger (7) is stopped by the turning stop output unit (26). When the distance LP to the bottom wall of the outside tank (T) detected by the sensor (13) reaches the maximum value LPmax, a lowering command is output to the actuator (82) of the vertical movement device (8). Then, the tip discharge port (7a) of the auger (7) is lowered to a predetermined position of the external tank (T), that is, the position (H) in FIG. 2 where LPmax−LVmin + α is obtained. A descending control output section (27) for outputting a descending stop when the time reaches H) is provided. In the above equation, α is a predetermined constant and is an integer.

The controller (20) further includes an auger drive output section (28) for outputting a drive command to the auger (7) after the auger (7) is lowered to the (H) position and stopped. After the lowering of the auger (7), the distance sensor (13) detects the minimum value of the distance to the grains in the tank outside the machine (T), and when this minimum value falls below a certain value, the auger (7) is detected. ), When the distance between the turning output unit (29) for turning and turning after turning at a certain angle and the position of the auger (7) and the side wall on the front side in the turning direction of the grain tank (5) becomes less than a certain value. Stopping the output from the turning output unit (29),
An auger drive stop output unit (30) for stopping the driving of the auger (7) and a distance sensor (13) after the auger (7) stops descending detect a distance to a grain in the external tank (T). Then, when the detected value does not change for a certain period of time or more, an auger automatic storage output section (31) for stopping the driving of the auger (7) and automatically storing the auger (7) is provided.

An output port of the controller (20) includes an up-down drive (8) and a turning device (9), and an auger driving device (rotating a grain discharge screw (71) of the auger (7)). 32) and connect.

Next, the control of the auger by the above-described position control device will be described with reference to the flowchart shown in FIG.

First, it is determined whether or not the automatic set switch (21) is turned on at the start of the start (step 1), that is, whether or not the auger (7) is in an automatic control mode (step 2). Only when the judgment result in step 2 is YES, the auger (7) is raised for a predetermined time in step 3, and then, in step 4, the auger (7) is started to turn by the turning device (9). At the same time, rotational scanning by the distance sensor (13) is started. Next, in step 5, it is determined whether or not the valley value (minimum value) detected by the distance sensor (13) is equal to or less than a predetermined value, that is, whether the sensor (13) is on each side wall of the outboard tank (T). (A) It is determined whether or not (b) is detected. If the result is YES, in step 6, the detection value LVN detected by the sensor (13) is changed to the previously detected valley value detected in step 5, that is, LVmin. It is determined whether or not the detection value LVmin is smaller than the detection value L at the position B in FIG. 2 when the sensor (13) detects at the position A in FIG.
It is determined whether or not VN is smaller than VN. In the case of YES, that is, when the sensor (13) is turned from the A position to the B position and LVmin> LVN, in step 7, the LVN is reduced to a valley. Stored as the value LVmin. In addition, in the case of NO in steps 5 and 6, the determination from step 5 is repeated in each case. Further, in step 8, it is determined whether the difference between the distances to the side walls (a) and (b) detected by the sensor (13), that is, whether or not LVN1−LVN2 is equal to or smaller than a predetermined value t, is determined. In the case of, the determination from step 5 is repeated, and in the case of yes, in step 9, the auger (7) reaches the grain discharging device C in the middle of the side walls (a) and (b). Judging, the turning of the auger (7) by the turning device (9) is stopped by the output from the turning stop output unit (26), and the sensor (13) detects the turning of the auger (7) at the intermediate position between the LVN1 and LVN2. The distance LP to the bottom wall of the outside tank (T) is detected, and this distance LP is stored in the controller (20) as the maximum value LPmax. Also, in step 10,
The rotation scanning of the center (13) is stopped, and the sensor (13) is fixed so as to face directly below, so that the subsequent detection work can be quickly performed.
At 11, the output from the lowering control output section (27) activates the up / down moving device (8) to start the lowering of the auger (7). Next, in step 12, the same sensor (13) as the lowering of the auger (7)
The distance LP to the bottom wall of the outboard tank (T) is detected, and it is determined whether LP ≦ LPmax−LVmin + α, that is, the tip outlet (7a) of the auger (7) is set in FIG. It is determined whether or not the predetermined discharge height position H has been reached, and only in the case of YES, in step 13, the lowering of the auger (7) by the lowering control output unit (27) is stopped. Thereafter, the auger drive unit (32) is operated by the output from the auger drive output unit (28), and the grain is discharged by the auger (7), and the grain discharge operation is completed in step.

The above distance sensor (13) starts the rotation scan only when the auger (7) is turned to the outside tank (T) side by a predetermined distance or more, and the turning of the auger (7) is performed. The rotational scanning angle of the sensor (13) is changed according to the position, that is, when the auger (7) is apart from the tank (T), the turning angle is reduced and the tank (T) is turned off. ), The rotary scan angle is increased when approaching the predetermined grain discharge position, so that erroneous detection by the sensor (13) when moving following the auger (7) is eliminated, and (13) for quick and accurate auger control.

That is, in the flowchart of FIG.
Between Step 5 and Step 5, the routine shown in FIG. 7 is interposed. In this routine, after the auger (7) has been raised for a certain period of time, when the auger (7) starts turning (step 15), the distance followed by the auger (7) in step 16 It is determined whether or not the turning angle of the sensor (13) is equal to or greater than a predetermined set value. Only in the case of YES, the rotational scan of the sensor (13) is started in step 17, and in step 18, At the beginning of scanning by the sensor (13), that is, when the auger (7) is separated from the tank (5) outside the machine, the auger (7) is rotated at a predetermined small rotation angle α, and near the end of scanning, ie, the auger (7) Is rotated at a large rotation angle of α + β when the vehicle approaches the predetermined grain discharge position of the external tank (5).

In the above-described operation of discharging the grain from the auger (7) to the outside tank (T) side, when the outside tank (T) is large, the tip discharge port (7a) of the auger (7) is used. ),
As shown in FIG. 8, the system is configured so that the grain is automatically discharged by sequentially moving from the D position to the E position and the F position.

Thus, also at the time of grain discharging work, similarly to the case described above, the distance sensor (13) detects the distance between the side walls (a) and (b) in the outboard tank (T), That is, as shown in FIG. 9, the distances LVN1 and LVN2 to the side walls (a) and (b) are respectively detected by the rotational scanning of the distance sensor (13), and the outside tank (T) is detected. The minimum value LMmin of the distance to the kernel in the inside is detected, and the distance data to be output to the controller (20) side is obtained.

Next, the control in the above case will be described based on the flowchart of FIG. In this figure, LMmi
n indicates the minimum value of the distance to the kernel discharged from the auger (7) among the detection values detected by scanning of the sensor (13), and LMV and LME indicate constants, respectively. LVN2 indicates the distance to the second side wall (b) of the outboard tank (T).

In the flowchart of FIG. 10, first, step 13 of the flowchart shown in FIG. 6, that is, after the lowering of the auger (7) is stopped, the process proceeds to step 19, and in this step 19, It is determined whether or not the auger driving device (32) is turned on, and only in the case of Yes, the rotational scanning by the sensor (13) is started in step 20, and thereafter, in step 21, the sensor ( 13) Minimum value LMmin detected in
Is determined to be smaller than the constant LMV. If no, the determination in step 21 is repeated. If yes, in step 22, the second side wall ( It is determined whether or not the distance LVN2 to b) is smaller than a constant LME. If the result is NO, that is, if the auger (7) has not yet reached the F position in FIG. The output from the section (29) turns the auger (7) and stops after turning at a certain angle, and the grain discharging work from the position D to the position F and from the position E to the position F in the same figure is continuously continued. You. In step 22, if the answer is yes, it is determined that the external tank (T) is full, and the auger drive (3) is output from the drive stop output unit (30).
2) is stopped (step 24), and the grain discharging operation is completed (step 25).

Further, in the above-described kernel discharging operation, when the detection value of the distance to the kernel by the sensor (13) does not change even after a certain period of time, the auger driving device (32) is turned on. , The auger (7) is automatically stored.

Next, the control in the above case will be described based on the flowchart of FIG.

In the flowchart of FIG. 11, first, step 13 of the flowchart shown in FIG. 6, that is, after the lowering of the auger (7) is stopped, the process proceeds to step 26. In this step 26, It is determined whether or not the auger driving device (32) is turned on. Only in the case of Yes, the rotation scanning by the sensor (13) is started in step 27, and thereafter, in step 28,
Whether the detected value LMVN of the minimum distance to the kernel detected by the sensor (13) is larger than a predetermined value M with respect to the previously detected minimum value LMVN-1 of the minimum distance to the kernel. Is determined, that is, if the increase in the grain is not recognized between the current value and the previous value, in step 29, after waiting for T + 1 for a predetermined time T, and further in step 30, the time T Is determined to be equal to or more than a predetermined constant TEND (for example, 5 seconds). If the answer is no, the control from step 28 is repeated. If the answer is yes, it is determined that the grain tank (5) has run out. In step 31, the auger driving device (32) is stopped, and
In step 32, the auger (7) is automatically stored by the output from the auger automatic storage output section (31), and the grain discharging operation is completed (step 33).

If the result of the determination in step 28 is no,
That is, when the detection value LMVN detected by the sensor (13) is larger than the predetermined value M with respect to the detection value LMVN-1 detected last time, the time T is set to 0 in step 34, and In 35, it is determined whether the minimum value detected by the sensor (13), that is, the minimum value LMmin at which the distance of the auger (7) to the grain is minimum is smaller than a constant LMV, The control from step 28 is repeated, and in the case of YES, in step 36, it is determined whether the distance LVN2 to the second side wall (b) detected by the sensor (13) is smaller than a constant LME, In the case of no, that is, when the auger (7) has not yet reached the F position in FIG. 8, in step 37, the auger (7) is turned by a fixed angle to move from the D position to the E position in FIG. From position E to position F Grain discharge work of the over is continued. Also, in the case of YES in step 36, it is determined that the external tank (T) is full, and the auger driving device (32) is stopped by the output from the drive stop output unit (30) (step 38). ), And the grain discharging operation is terminated in the step 33.
In this case, the automatic storage of the auger (7) is not performed. That is, in this case, since the kernel remains in the kernel tank (5), the storage of the auger (7) is left to the operator, and the auger (7) waits in the finished state to store the kernel in the next external tank (T). Prepare for the grain discharge work.

(Effect of the Invention) As described above, in the position control position of the auger according to the present invention, the opposing side walls (a) and (b) of the outer tank (T) are provided at the tip side of the auger (7). A distance sensor (13) for detecting the distance of the auger is provided so as to be scannable, and the position of the auger (7) with respect to the side walls (a) and (b) is calculated based on the detection result of the distance sensor (13).
A controller (20) having a turning stop output unit (26) for outputting a stop command to the turning device (9) when reaching a predetermined position between the side walls (a) and (b) when turning the auger (7); When the auger (7) is turned to the predetermined grain discharging device between the side walls (a) and (b), the turning stop output unit (26) causes the turning device (9) to rotate the auger (7). The turning of the auger (7) can be automatically and accurately stopped at a predetermined grain discharging position.

The controller (20) calculates the height of the side wall of the outer tank (T) based on the detection result of the distance sensor (13), and stops the turning of the auger (7). ), A descent command is output, and a descent control output unit (27) that outputs a descent stop at a predetermined position with respect to the side wall height is provided, so that the controller (20) descent after the auger (7) stops turning. Control output section (2
From 7), a lowering command is output to the vertically moving device (8) to lower the auger (7), and the auger (7) is lowered to a predetermined position with respect to each of the side walls (a) and (b). At this time, the lowering is stopped by the stop command from the lowering control output section (22), and the auger (7) can be accurately and automatically set at a predetermined grain discharging position on the outer tank side.

Further, the controller (20) is provided with an auger drive output section (28) for outputting a drive command to the auger (7) after the auger (7) stops descending, so that the auger (7) can be moved to the grain discharge position. After the setting, the auger drive output section (28) can automatically discharge the grains from the auger (7).

Further, a distance sensor (13) is provided at the tip of the auger (7) so as to be rotatable and scanable, and the rotational scan angle of the distance sensor (13) is changed according to the turning angle of the auger with respect to the grain tank (5). By configuring to, for example,
By reducing the turning angle when the auger (7) is separated from the external tank (T), and increasing the rotational scanning angle when approaching the predetermined grain discharge position of the external tank (T), This makes it possible to shorten the scanning time for one rotation at a position distant from the external tank (T) and perform quick control.

Then, the controller (20) detects the minimum value of the distance to the kernel in the external tank (T) by the post-stop distance sensor (13) of the auger (7). A turning output unit (29) for turning the auger (7) and stopping after turning at a certain angle, a position of the auger (7) and a side wall on the front side in the turning direction of the grain tank (5) when The output from the turning output unit (29) is stopped when the distance becomes less than a certain value, and the auger drive stop output unit (30) for stopping the driving of the auger (7) is provided, so that a large-sized Auger (7) even for tanks outside the machine (T)
Can be automatically moved to a plurality of predetermined grain discharge positions to automatically discharge the grains.

Further, the controller (20) detects the distance to the grains in the tank outside the machine (T) using the distance sensor (13) after the auger (7) stops descending, and when the detected value does not change for a predetermined time or more. , The auger (7) is stopped and the auger automatic storage output section (31) for automatically storing the auger (7) is provided, so that the sensor (13) can be used even after a certain period of time has elapsed during the grain discharging operation. If the detected value of the distance to the kernel does not change, the auger driving device (32) can be turned off and the auger (7) can be automatically stored.

[Brief description of the drawings]

FIG. 1 is a block diagram of an auger position control device according to the present invention, FIG. 2 is an explanatory diagram for explaining a detection state by a distance sensor during a grain discharging operation, and FIGS. 3 to 5 are distances by the distance sensor. FIG. 6 is a flowchart showing the data, FIG. 6 is a flowchart of the position control device, FIG. 7 is a flowchart showing another embodiment, FIG. 8 is an explanatory diagram for explaining another example of grain discharging work, FIG. Is a graph showing distance data by the distance sensor, FIG. 10 is a flowchart at the time of the kernel discharging operation, FIG. 11 is a flowchart showing another embodiment, and FIG. 12 is an application example of the position control device. FIG. 13 is a rear view of the combine, and FIG. 14 is an enlarged side view of the relevant part. (5) ... grain tank (7) ... auger (8) ... vertical movement device (9) ... turning device (13) ... distance sensor (20) ... controller (26) ... turning stop output Unit (27) ... Lowering control output unit (28) ... Auger drive output unit (29) ... Swivel output unit (30) ... Auger drive stop output unit (31) ... Auger automatic storage output unit (32) … Auger drive output (T)… Outside tank (a, b)… Side wall

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) A01F 12/46

Claims (6)

(57) [Claims] An auger (7) for discharging grains from a grain tank (5), a vertical moving device (8) for vertically moving the auger (7), and a turning device (9) for turning. In an auger position control device for a grain discharging device configured to discharge grains from a tip discharge port (7a) of an auger (7) to an external tank (T), Distance sensor (13) for detecting the distance to opposing side walls (a) and (b) in the outboard tank (T)
And the side walls (a) and (b) of the auger (7) based on the detection result of the distance sensor (13).
When the auger (7) reaches a predetermined position between the side walls (a) and (b) when the auger (7) turns,
An auger position control device in a grain discharging device, comprising: a controller (20) having a turning stop output unit (26) for outputting a stop command to the turning device (9). 2. A controller (20) comprising: a distance sensor (1);
The height of the side wall in the outer tank (T) is calculated based on the detection result in 3), and after the auger (7) stops turning, a lowering command is output to the vertical movement device (8), and the height of the side wall is calculated. Control output unit that outputs a descent stop at a predetermined position
The auger position control device in the grain discharging device according to claim 1, further comprising (7). 3. The grain discharging device according to claim 2, wherein the controller (20) includes an auger drive output section (28) for outputting a drive command to the auger (7) after the auger (7) stops descending. Auger position control device. 4. A distance sensor (13) is provided at the tip of the auger (7) so as to be rotatable and scanable.
2. The auger position control device in a grain discharging device according to claim 1, wherein the rotation scanning angle of 3) is changed according to a turning angle of the auger with respect to the grain tank (5). 5. The controller (20) detects the minimum value of the distance to the grains in the tank (T) by the distance sensor (13) after the auger (7) stops descending, and this minimum value is constant. A turning output unit (29) for turning the auger (7) to turn the auger (7) at a predetermined angle and stopping after turning, and an auger (7).
When the distance between the position of the grain tank and the side wall on the front side in the turning direction of the grain tank (5) becomes equal to or less than a predetermined value, the output from the turning output unit (29) is stopped, and the driving of the auger (7) is stopped. The auger position control device in the grain discharging device according to claim 3, further comprising: an auger drive stop output unit (30). 6. The controller (20) detects the distance to the grains in the tank (T) by the distance sensor (13) after the auger (7) stops descending, and the detected value changes for a predetermined time or more. An auger automatic storage output unit (31) for stopping the driving of the auger (7) and automatically storing the auger (7) when not in operation
The auger position control device in the grain discharging device according to claim 3, further comprising: